planner_cspace::GridAstar< DIM, NONCYCLIC > Class Template Reference

#include <grid_astar.h>

Classes
class	Gridmap
class	GridmapUpdate
class	PriorityVec

Public Types
using	ProgressCallback = std::function< bool(const std::list< Vec > &, const SearchStats &)>
using	Vec = CyclicVecInt< DIM, NONCYCLIC >
using	Vecf = CyclicVecFloat< DIM, NONCYCLIC >
using	VecWithCost = typename GridAstarModelBase< DIM, NONCYCLIC >::VecWithCost

Public Member Functions
constexpr int	getDim () const
constexpr int	getNoncyclic () const
	GridAstar ()
	GridAstar (const Vec size)
void	reset (const Vec size)
bool	search (const std::vector< VecWithCost > &ss, const Vec &e, std::list< Vec > &path, const typename GridAstarModelBase< DIM, NONCYCLIC >::Ptr &model, ProgressCallback cb_progress, const float cost_leave, const float progress_interval, const bool return_best=false)
void	setQueueSizeLimit (const size_t size)
void	setSearchTaskNum (const size_t &search_task_num)

Protected Member Functions
bool	findPath (const std::vector< VecWithCost > &ss, const Vec &e, std::list< Vec > &path) const
bool	searchImpl (Gridmap< float > &g, const std::vector< VecWithCost > &sts, const Vec &en, std::list< Vec > &path, const typename GridAstarModelBase< DIM, NONCYCLIC >::Ptr &model, ProgressCallback cb_progress, const float cost_leave, const float progress_interval, const bool return_best=false)

Protected Attributes
Gridmap< float >	g_
reservable_priority_queue< PriorityVec >	open_
std::unordered_map< Vec, Vec, Vec >	parents_
size_t	queue_size_limit_
size_t	search_task_num_

Detailed Description

template<int DIM = 3, int NONCYCLIC = 2>
class planner_cspace::GridAstar< DIM, NONCYCLIC >

Definition at line 64 of file grid_astar.h.

Member Typedef Documentation

template<int DIM = 3, int NONCYCLIC = 2>

using planner_cspace::GridAstar< DIM, NONCYCLIC >::ProgressCallback = std::function<bool(const std::list<Vec>&, const SearchStats&)>

Definition at line 70 of file grid_astar.h.

template<int DIM = 3, int NONCYCLIC = 2>

using planner_cspace::GridAstar< DIM, NONCYCLIC >::Vec = CyclicVecInt<DIM, NONCYCLIC>

Definition at line 67 of file grid_astar.h.

template<int DIM = 3, int NONCYCLIC = 2>

using planner_cspace::GridAstar< DIM, NONCYCLIC >::Vecf = CyclicVecFloat<DIM, NONCYCLIC>

Definition at line 68 of file grid_astar.h.

template<int DIM = 3, int NONCYCLIC = 2>

using planner_cspace::GridAstar< DIM, NONCYCLIC >::VecWithCost = typename GridAstarModelBase<DIM, NONCYCLIC>::VecWithCost

Definition at line 69 of file grid_astar.h.

Constructor & Destructor Documentation

template<int DIM = 3, int NONCYCLIC = 2>

planner_cspace::GridAstar< DIM, NONCYCLIC >::GridAstar ( )

inline

Definition at line 154 of file grid_astar.h.

template<int DIM = 3, int NONCYCLIC = 2>

planner_cspace::GridAstar< DIM, NONCYCLIC >::GridAstar ( const Vec  size )

inlineexplicit

Definition at line 159 of file grid_astar.h.

Member Function Documentation

template<int DIM = 3, int NONCYCLIC = 2>

bool planner_cspace::GridAstar< DIM, NONCYCLIC >::findPath ( const std::vector< VecWithCost > &  ss, const Vec &  e, std::list< Vec > &  path  ) const

inlineprotected

Definition at line 385 of file grid_astar.h.

template<int DIM = 3, int NONCYCLIC = 2>

constexpr int planner_cspace::GridAstar< DIM, NONCYCLIC >::getDim ( ) const

inline

Definition at line 134 of file grid_astar.h.

template<int DIM = 3, int NONCYCLIC = 2>

constexpr int planner_cspace::GridAstar< DIM, NONCYCLIC >::getNoncyclic ( ) const

inline

Definition at line 138 of file grid_astar.h.

template<int DIM = 3, int NONCYCLIC = 2>

void planner_cspace::GridAstar< DIM, NONCYCLIC >::reset ( const Vec  size )

inline

Definition at line 147 of file grid_astar.h.

template<int DIM = 3, int NONCYCLIC = 2>

bool planner_cspace::GridAstar< DIM, NONCYCLIC >::search ( const std::vector< VecWithCost > &  ss, const Vec &  e, std::list< Vec > &  path, const typename GridAstarModelBase< DIM, NONCYCLIC >::Ptr &  model, ProgressCallback  cb_progress, const float  cost_leave, const float  progress_interval, const bool  return_best = false  )

inline

Definition at line 169 of file grid_astar.h.

template<int DIM = 3, int NONCYCLIC = 2>

bool planner_cspace::GridAstar< DIM, NONCYCLIC >::searchImpl ( Gridmap< float > &  g, const std::vector< VecWithCost > &  sts, const Vec &  en, std::list< Vec > &  path, const typename GridAstarModelBase< DIM, NONCYCLIC >::Ptr &  model, ProgressCallback  cb_progress, const float  cost_leave, const float  progress_interval, const bool  return_best = false  )

inlineprotected

Definition at line 185 of file grid_astar.h.

template<int DIM = 3, int NONCYCLIC = 2>

void planner_cspace::GridAstar< DIM, NONCYCLIC >::setQueueSizeLimit ( const size_t  size )

inline

Definition at line 164 of file grid_astar.h.

template<int DIM = 3, int NONCYCLIC = 2>

void planner_cspace::GridAstar< DIM, NONCYCLIC >::setSearchTaskNum ( const size_t &  search_task_num )

inline

Definition at line 142 of file grid_astar.h.

Member Data Documentation

template<int DIM = 3, int NONCYCLIC = 2>

Gridmap<float> planner_cspace::GridAstar< DIM, NONCYCLIC >::g_

protected

Definition at line 414 of file grid_astar.h.

template<int DIM = 3, int NONCYCLIC = 2>

reservable_priority_queue<PriorityVec> planner_cspace::GridAstar< DIM, NONCYCLIC >::open_

protected

Definition at line 416 of file grid_astar.h.

template<int DIM = 3, int NONCYCLIC = 2>

std::unordered_map<Vec, Vec, Vec> planner_cspace::GridAstar< DIM, NONCYCLIC >::parents_

protected

Definition at line 415 of file grid_astar.h.

template<int DIM = 3, int NONCYCLIC = 2>

size_t planner_cspace::GridAstar< DIM, NONCYCLIC >::queue_size_limit_

protected

Definition at line 417 of file grid_astar.h.

template<int DIM = 3, int NONCYCLIC = 2>

size_t planner_cspace::GridAstar< DIM, NONCYCLIC >::search_task_num_

protected

Definition at line 418 of file grid_astar.h.

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

• grid_astar.h