Potential calculator that explores using a distance heuristic (A*) but not the kernel function. More...

#include <astar.h>

Inheritance diagram for dlux_plugins::AStar:

Classes
struct	QueueEntry
	Helper Class for sorting indexes by their heuristic. More...

struct	QueueEntryComparator
	Comparator for sorting the QueueEntrys. More...

Public Member Functions
void	initialize (ros::NodeHandle &private_nh, nav_core2::Costmap::Ptr costmap, dlux_global_planner::CostInterpreter::Ptr cost_interpreter) override

unsigned int	updatePotentials (dlux_global_planner::PotentialGrid &potential_grid, const geometry_msgs::Pose2D &start, const geometry_msgs::Pose2D &goal) override

Public Member Functions inherited from dlux_global_planner::PotentialCalculator
	PotentialCalculator ()

virtual	~PotentialCalculator ()=default

Protected Types
using	AStarQueue = std::priority_queue< QueueEntry, std::vector< QueueEntry >, QueueEntryComparator >

Protected Member Functions
void	add (dlux_global_planner::PotentialGrid &potential_grid, double prev_potential, const nav_grid::Index &index, const nav_grid::Index &start_index)
	Calculate the potential for index if not calculated already. More...

float	getHeuristicValue (const nav_grid::Index &index, const nav_grid::Index &start_index) const
	Calculate the heuristic value for a particular cell. More...

Protected Attributes
bool	manhattan_heuristic_

double	minimum_requeue_change_

AStarQueue	queue_

bool	use_kernel_

Protected Attributes inherited from dlux_global_planner::PotentialCalculator
CostInterpreter::Ptr	cost_interpreter_

Detailed Description

Potential calculator that explores using a distance heuristic (A*) but not the kernel function.

Definition at line 49 of file astar.h.

Member Typedef Documentation

using dlux_plugins::AStar::AStarQueue = std::priority_queue<QueueEntry, std::vector<QueueEntry>, QueueEntryComparator>

protected

Definition at line 100 of file astar.h.

Member Function Documentation

void dlux_plugins::AStar::add	(	dlux_global_planner::PotentialGrid &	potential_grid,
		double	prev_potential,
		const nav_grid::Index &	index,
		const nav_grid::Index &	start_index
	)

protected

Calculate the potential for index if not calculated already.

Parameters

potential_grid	Potential grid
prev_potential	Potential of the previous cell
index	Coordinates of cell to calculate
start_index	Coordinates of start cell (for heuristic calculation)

Definition at line 103 of file astar.cpp.

float dlux_plugins::AStar::getHeuristicValue	(	const nav_grid::Index &	index,
		const nav_grid::Index &	start_index
	)		const

protected

Calculate the heuristic value for a particular cell.

Parameters

index	Coordinates of cell to calculate
start_index	Coordinates of start cell

Definition at line 132 of file astar.cpp.

void dlux_plugins::AStar::initialize	(	ros::NodeHandle &	private_nh,
		nav_core2::Costmap::Ptr	costmap,
		dlux_global_planner::CostInterpreter::Ptr	cost_interpreter
	)

overridevirtual

Reimplemented from dlux_global_planner::PotentialCalculator.

Definition at line 46 of file astar.cpp.

unsigned int dlux_plugins::AStar::updatePotentials	(	dlux_global_planner::PotentialGrid &	potential_grid,
		const geometry_msgs::Pose2D &	start,
		const geometry_msgs::Pose2D &	goal
	)

overridevirtual

Implements dlux_global_planner::PotentialCalculator.

Definition at line 55 of file astar.cpp.

Member Data Documentation

bool dlux_plugins::AStar::manhattan_heuristic_

protected

Definition at line 102 of file astar.h.

double dlux_plugins::AStar::minimum_requeue_change_

protected

Definition at line 104 of file astar.h.

AStarQueue dlux_plugins::AStar::queue_

protected

Definition at line 101 of file astar.h.

bool dlux_plugins::AStar::use_kernel_

protected

Definition at line 103 of file astar.h.

The documentation for this class was generated from the following files:

Classes

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Member Function Documentation

Member Data Documentation