Classes | Typedefs | Enumerations | Functions | Variables
dlux_global_planner Namespace Reference

Classes

class  CostInterpreter
 
class  DluxGlobalPlanner
 Plugin-based global wavefront planner that conforms to the nav_core2 GlobalPlanner interface. More...
 
class  PlannerNode
 Demonstration/debug tool that creates paths between arbitrary points. More...
 
class  PotentialCalculator
 Plugin interface for calculating a numerical score (potential) for some subset of the cells in the costmap. More...
 
class  Traceback
 Plugin interface for using the potential to trace a path from the start position back to the goal position. More...
 

Typedefs

using PotentialGrid = nav_grid::VectorNavGrid< float >
 

Enumerations

enum  CardinalDirection {
  CardinalDirection::STATIONARY = 0, CardinalDirection::NORTH = 1, CardinalDirection::SOUTH = 2, CardinalDirection::WEST = 4,
  CardinalDirection::NORTHWEST = 5, CardinalDirection::SOUTHWEST = 6, CardinalDirection::EAST = 8, CardinalDirection::NORTHEAST = 9,
  CardinalDirection::SOUTHEAST = 10
}
 
enum  UnknownInterpretation { UnknownInterpretation::LETHAL, UnknownInterpretation::EXPENSIVE, UnknownInterpretation::FREE }
 

Functions

static float calculateKernel (const PotentialGrid &potential_grid, unsigned char cost, unsigned int x, unsigned int y, CardinalDirection *upstream=nullptr)
 potential calculation that uses multiple values of the neighboring cells More...
 
bool operator& (CardinalDirection a, CardinalDirection b)
 
CardinalDirection operator+ (CardinalDirection a, CardinalDirection b)
 

Variables

const float HIGH_POTENTIAL = std::numeric_limits<float>::max()
 
const unsigned char LETHAL_COST = nav_core2::Costmap::INSCRIBED_INFLATED_OBSTACLE
 
const float LETHAL_COST_F = static_cast<float>(LETHAL_COST)
 

Typedef Documentation

Definition at line 48 of file potential.h.

Enumeration Type Documentation

Enumerator
STATIONARY 
NORTH 
SOUTH 
WEST 
NORTHWEST 
SOUTHWEST 
EAST 
NORTHEAST 
SOUTHEAST 

Definition at line 45 of file kernel_function.h.

Enumerator
LETHAL 
EXPENSIVE 
FREE 

Definition at line 44 of file cost_interpreter.h.

Function Documentation

static float dlux_global_planner::calculateKernel ( const PotentialGrid potential_grid,
unsigned char  cost,
unsigned int  x,
unsigned int  y,
CardinalDirection upstream = nullptr 
)
static

potential calculation that uses multiple values of the neighboring cells

The new potential is returned directly. Information about which cells were used in the computation can be returned using the upstream variable. For instance, if just the cell (x+1, y) was used in the calculation, upstream=EAST If (x+1, y) and (x, y+1) were used, upstream=SOUTHEAST.

Parameters
potential_grid[in]potential grid where neighboring values are read from
cost[in]The cost to traversing to this cell
x[in]The x coordinate of this cell we're calculating potential for
y[in]The y coordinate
upstream[out]Direction of cells used in computation (if not null initially)
Returns
potential for this cell

Definition at line 83 of file kernel_function.h.

bool dlux_global_planner::operator& ( CardinalDirection  a,
CardinalDirection  b 
)
inline

Definition at line 63 of file kernel_function.h.

CardinalDirection dlux_global_planner::operator+ ( CardinalDirection  a,
CardinalDirection  b 
)
inline

Definition at line 58 of file kernel_function.h.

Variable Documentation

const float dlux_global_planner::HIGH_POTENTIAL = std::numeric_limits<float>::max()

Default value for potential indicating it has not yet been calculated

Definition at line 46 of file potential.h.

const unsigned char dlux_global_planner::LETHAL_COST = nav_core2::Costmap::INSCRIBED_INFLATED_OBSTACLE

Definition at line 45 of file cost_interpreter.h.

const float dlux_global_planner::LETHAL_COST_F = static_cast<float>(LETHAL_COST)

Definition at line 46 of file cost_interpreter.h.



dlux_global_planner
Author(s):
autogenerated on Sun Jan 10 2021 04:08:52