Class CellData

Class Documentation

class CellData

Storage for cell information used during queue expansion.

Public Functions

inline CellData(const double d, const unsigned int i, const unsigned int x, const unsigned int y, const unsigned int sx, const unsigned int sy)

Real Constructor.

Parameters:

  • d – The distance to the nearest obstacle

  • i – The index of the cell in the costmap. Redundant with the following two parameters.

  • x – The x coordinate of the cell in the cost map

  • y – The y coordinate of the cell in the cost map

  • sx – The x coordinate of the closest source cell in the costmap

  • sy – The y coordinate of the closest source cell in the costmap

inline CellData()

Default Constructor - Should be used sparingly.

Public Members

double distance_
unsigned int index_
unsigned int x_
unsigned int y_
unsigned int src_x_
unsigned int src_y_

Public Static Functions

static inline unsigned absolute_difference(const unsigned x, const unsigned y)