Public Types | Public Member Functions | Public Attributes | Protected Attributes | Friends | List of all members
planner_cspace::planner_3d::GridAstarModel3D Class Reference

#include <grid_astar_model.h>

Inheritance diagram for planner_cspace::planner_3d::GridAstarModel3D:
Inheritance graph
[legend]

Public Types

using ConstPtr = std::shared_ptr< const GridAstarModel3D >
 
using Ptr = std::shared_ptr< GridAstarModel3D >
 
using Vec = CyclicVecInt< 3, 2 >
 
using Vecf = CyclicVecFloat< 3, 2 >
 
- Public Types inherited from planner_cspace::GridAstarModelBase< 3, 2 >
using Ptr = typename std::shared_ptr< GridAstarModelBase< DIM, NONCYCLIC >>
 
using Vec = CyclicVecInt< DIM, NONCYCLIC >
 
using Vecf = CyclicVecFloat< DIM, NONCYCLIC >
 

Public Member Functions

float cost (const Vec &cur, const Vec &next, const std::vector< VecWithCost > &start, const Vec &goal) const override
 
float costEstim (const Vec &cur, const Vec &goal) const override
 
void createEuclidCostCache ()
 
void enableHysteresis (const bool enable)
 
float euclidCost (const Vec &v) const
 
float euclidCostRough (const Vec &v) const
 
 GridAstarModel3D (const costmap_cspace_msgs::MapMetaData3D &map_info, const Vecf &euclid_cost_coef, const int local_range, BlockMemGridmapBase< float, 3, 2 > &cost_estim_cache, BlockMemGridmapBase< char, 3, 2 > &cm, BlockMemGridmapBase< char, 3, 2 > &cm_hyst, BlockMemGridmapBase< char, 3, 2 > &cm_rough, const CostCoeff &cc, const int range)
 
const std::vector< Vec > & searchGrids (const Vec &p, const std::vector< VecWithCost > &ss, const Vec &es) const override
 
- Public Member Functions inherited from planner_cspace::GridAstarModelBase< 3, 2 >
virtual float cost (const Vec &cur, const Vec &next, const std::vector< VecWithCost > &start, const Vec &goal) const =0
 
virtual float costEstim (const Vec &cur, const Vec &next) const =0
 
virtual const std::vector< Vec > & searchGrids (const Vec &cur, const std::vector< VecWithCost > &start, const Vec &goal) const =0
 

Public Attributes

PathInterpolator path_interpolator_
 

Protected Attributes

const CostCoeff & cc_
 
BlockMemGridmapBase< char, 3, 2 > & cm_
 
BlockMemGridmapBase< char, 3, 2 > & cm_hyst_
 
BlockMemGridmapBase< char, 3, 2 > & cm_rough_
 
BlockMemGridmapBase< float, 3, 2 > & cost_estim_cache_
 
Vecf euclid_cost_coef_
 
std::array< float, 1024 > euclid_cost_lin_cache_
 
bool hysteresis_
 
int local_range_
 
costmap_cspace_msgs::MapMetaData3D map_info_
 
Vec max_boundary_
 
Vec min_boundary_
 
MotionCache motion_cache_
 
MotionCache motion_cache_linear_
 
std::vector< std::vector< Vec > > motion_primitives_
 
int range_
 
Vecf resolution_
 
RotationCache rot_cache_
 
std::vector< Vec > search_list_rough_
 

Friends

class GridAstarModel2D
 

Detailed Description

Definition at line 69 of file planner_3d/grid_astar_model.h.

Member Typedef Documentation

using planner_cspace::planner_3d::GridAstarModel3D::ConstPtr = std::shared_ptr<const GridAstarModel3D>

Definition at line 74 of file planner_3d/grid_astar_model.h.

using planner_cspace::planner_3d::GridAstarModel3D::Ptr = std::shared_ptr<GridAstarModel3D>

Definition at line 73 of file planner_3d/grid_astar_model.h.

using planner_cspace::planner_3d::GridAstarModel3D::Vec = CyclicVecInt<3, 2>

Definition at line 75 of file planner_3d/grid_astar_model.h.

using planner_cspace::planner_3d::GridAstarModel3D::Vecf = CyclicVecFloat<3, 2>

Definition at line 76 of file planner_3d/grid_astar_model.h.

Constructor & Destructor Documentation

planner_cspace::planner_3d::GridAstarModel3D::GridAstarModel3D ( const costmap_cspace_msgs::MapMetaData3D &  map_info,
const Vecf &  euclid_cost_coef,
const int  local_range,
BlockMemGridmapBase< float, 3, 2 > &  cost_estim_cache,
BlockMemGridmapBase< char, 3, 2 > &  cm,
BlockMemGridmapBase< char, 3, 2 > &  cm_hyst,
BlockMemGridmapBase< char, 3, 2 > &  cm_rough,
const CostCoeff &  cc,
const int  range 
)
explicit

Definition at line 50 of file grid_astar_model_3dof.cpp.

Member Function Documentation

float planner_cspace::planner_3d::GridAstarModel3D::cost ( const Vec &  cur,
const Vec &  next,
const std::vector< VecWithCost > &  start,
const Vec &  goal 
) const
override

Definition at line 153 of file grid_astar_model_3dof.cpp.

float planner_cspace::planner_3d::GridAstarModel3D::costEstim ( const Vec &  cur,
const Vec &  goal 
) const
override

Definition at line 276 of file grid_astar_model_3dof.cpp.

void planner_cspace::planner_3d::GridAstarModel3D::createEuclidCostCache ( )

Definition at line 122 of file grid_astar_model_3dof.cpp.

void planner_cspace::planner_3d::GridAstarModel3D::enableHysteresis ( const bool  enable)

Definition at line 118 of file grid_astar_model_3dof.cpp.

float planner_cspace::planner_3d::GridAstarModel3D::euclidCost ( const Vec &  v) const

Definition at line 130 of file grid_astar_model_3dof.cpp.

float planner_cspace::planner_3d::GridAstarModel3D::euclidCostRough ( const Vec &  v) const

Definition at line 142 of file grid_astar_model_3dof.cpp.

const std::vector< GridAstarModel3D::Vec > & planner_cspace::planner_3d::GridAstarModel3D::searchGrids ( const Vec &  p,
const std::vector< VecWithCost > &  ss,
const Vec &  es 
) const
override

Definition at line 294 of file grid_astar_model_3dof.cpp.

Friends And Related Function Documentation

friend class GridAstarModel2D
friend

Definition at line 72 of file planner_3d/grid_astar_model.h.

Member Data Documentation

const CostCoeff& planner_cspace::planner_3d::GridAstarModel3D::cc_
protected

Definition at line 92 of file planner_3d/grid_astar_model.h.

BlockMemGridmapBase<char, 3, 2>& planner_cspace::planner_3d::GridAstarModel3D::cm_
protected

Definition at line 89 of file planner_3d/grid_astar_model.h.

BlockMemGridmapBase<char, 3, 2>& planner_cspace::planner_3d::GridAstarModel3D::cm_hyst_
protected

Definition at line 90 of file planner_3d/grid_astar_model.h.

BlockMemGridmapBase<char, 3, 2>& planner_cspace::planner_3d::GridAstarModel3D::cm_rough_
protected

Definition at line 91 of file planner_3d/grid_astar_model.h.

BlockMemGridmapBase<float, 3, 2>& planner_cspace::planner_3d::GridAstarModel3D::cost_estim_cache_
protected

Definition at line 88 of file planner_3d/grid_astar_model.h.

Vecf planner_cspace::planner_3d::GridAstarModel3D::euclid_cost_coef_
protected

Definition at line 83 of file planner_3d/grid_astar_model.h.

std::array<float, 1024> planner_cspace::planner_3d::GridAstarModel3D::euclid_cost_lin_cache_
protected

Definition at line 99 of file planner_3d/grid_astar_model.h.

bool planner_cspace::planner_3d::GridAstarModel3D::hysteresis_
protected

Definition at line 81 of file planner_3d/grid_astar_model.h.

int planner_cspace::planner_3d::GridAstarModel3D::local_range_
protected

Definition at line 87 of file planner_3d/grid_astar_model.h.

costmap_cspace_msgs::MapMetaData3D planner_cspace::planner_3d::GridAstarModel3D::map_info_
protected

Definition at line 82 of file planner_3d/grid_astar_model.h.

Vec planner_cspace::planner_3d::GridAstarModel3D::max_boundary_
protected

Definition at line 98 of file planner_3d/grid_astar_model.h.

Vec planner_cspace::planner_3d::GridAstarModel3D::min_boundary_
protected

Definition at line 97 of file planner_3d/grid_astar_model.h.

MotionCache planner_cspace::planner_3d::GridAstarModel3D::motion_cache_
protected

Definition at line 95 of file planner_3d/grid_astar_model.h.

MotionCache planner_cspace::planner_3d::GridAstarModel3D::motion_cache_linear_
protected

Definition at line 96 of file planner_3d/grid_astar_model.h.

std::vector<std::vector<Vec> > planner_cspace::planner_3d::GridAstarModel3D::motion_primitives_
protected

Definition at line 85 of file planner_3d/grid_astar_model.h.

PathInterpolator planner_cspace::planner_3d::GridAstarModel3D::path_interpolator_

Definition at line 78 of file planner_3d/grid_astar_model.h.

int planner_cspace::planner_3d::GridAstarModel3D::range_
protected

Definition at line 93 of file planner_3d/grid_astar_model.h.

Vecf planner_cspace::planner_3d::GridAstarModel3D::resolution_
protected

Definition at line 84 of file planner_3d/grid_astar_model.h.

RotationCache planner_cspace::planner_3d::GridAstarModel3D::rot_cache_
protected

Definition at line 94 of file planner_3d/grid_astar_model.h.

std::vector<Vec> planner_cspace::planner_3d::GridAstarModel3D::search_list_rough_
protected

Definition at line 86 of file planner_3d/grid_astar_model.h.

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

planner_cspace
Author(s): Atsushi Watanabe
autogenerated on Wed May 12 2021 02:20:43