#include <inflation.hpp>
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| void | computeCaches (const float &resolution, const InflationComputer &compute_cost) |
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| unsigned char | costLookup (int mx, int my, int src_x, int src_y) |
| | Lookup pre-computed costs. More...
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| double | distanceLookup (int mx, int my, int src_x, int src_y) |
| | Lookup pre-computed distances. More...
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| void | enqueue (const cost_map::Matrix &data_source, cost_map::Matrix &data_destination, unsigned int mx, unsigned int my, unsigned int src_x, unsigned int src_y) |
| | Given an index of a cell in the costmap, place it into a priority queue for obstacle inflation. More...
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Definition at line 75 of file inflation.hpp.
| cost_map::Inflate::Inflate |
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inline |
| void cost_map::Inflate::computeCaches |
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const float & |
resolution, |
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const InflationComputer & |
compute_cost |
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) |
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private |
| unsigned char cost_map::Inflate::costLookup |
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int |
mx, |
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int |
my, |
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int |
src_x, |
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int |
src_y |
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) |
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private |
Lookup pre-computed costs.
- Parameters
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| mx | The x coordinate of the current cell |
| my | The y coordinate of the current cell |
| src_x | The x coordinate of the source cell |
| src_y | The y coordinate of the source cell |
- Returns
Definition at line 124 of file inflation.cpp.
| double cost_map::Inflate::distanceLookup |
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int |
mx, |
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int |
my, |
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int |
src_x, |
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int |
src_y |
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) |
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private |
Lookup pre-computed distances.
- Parameters
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| mx | The x coordinate of the current cell |
| my | The y coordinate of the current cell |
| src_x | The x coordinate of the source cell |
| src_y | The y coordinate of the source cell |
- Returns
Definition at line 117 of file inflation.cpp.
| void cost_map::Inflate::enqueue |
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const cost_map::Matrix & |
data_source, |
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cost_map::Matrix & |
data_destination, |
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unsigned int |
mx, |
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unsigned int |
my, |
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unsigned int |
src_x, |
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unsigned int |
src_y |
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) |
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private |
Given an index of a cell in the costmap, place it into a priority queue for obstacle inflation.
- Parameters
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| data_destination | the costs (will be read and superimposed on this) |
| mx | The x coordinate of the cell (can be computed from the index, but saves time to store it) |
| my | The y coordinate of the cell (can be computed from the index, but saves time to store it) |
| src_x | The x index of the obstacle point inflation started at |
| src_y | The y index of the obstacle point inflation started at |
Definition at line 84 of file inflation.cpp.
| void cost_map::Inflate::operator() |
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const std::string |
layer_source, |
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const std::string |
layer_destination, |
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const float & |
inflation_radius, |
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const InflationComputer & |
inflation_computer, |
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CostMap & |
cost_map |
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Inflate...
- Parameters
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| layer_source | |
| layer_destination | |
| inflation_radius | |
| inscribed_radius | |
| cost_map | |
- Exceptions
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| std::out_of_range | if no map layer with name layer is present. |
Definition at line 21 of file inflation.cpp.
| Eigen::MatrixXf cost_map::Inflate::cached_distances_ |
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| unsigned int cost_map::Inflate::cell_inflation_radius_ |
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| std::priority_queue<CellData> cost_map::Inflate::inflation_queue_ |
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| Eigen::Matrix<bool, Eigen::Dynamic, Eigen::Dynamic> cost_map::Inflate::seen_ |
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private |
The documentation for this class was generated from the following files: