#include <point_expander.h>

Classes
struct	greater1

class	Index

Public Member Functions
bool	findGoalOnMap (const Eigen::Vector2d &_start, const uint32_t &_cycles, float *_potential, const std::map< uint32_t, Eigen::Vector2d > &_goals, const uint32_t &_optimizationSteps, Eigen::Vector2d &_foundPoint, int32_t &_segIdx, const uint32_t &_radius)
	searches the first occurence of a point in the goals_ list and returns the index More...

float	getDistanceToObstacle (const Eigen::Vector2d &vec)
	returns the distance to the closest obstacle for a point More...

void	initialize (const cv::Mat &_map)
	initializes the point expander with a distance map More...

Private Member Functions
void	addPotentialExpansionCandidate (Index _current, int32_t _next_x, int32_t _next_y, float *_potential, uint32_t _distToObstacle)

template<class T , class S , class C >
void	clearpq (std::priority_queue< T, S, C > &q)

Index	findGoal (const Index &_start, const uint32_t &_cycles, float *_potential, const std::map< uint32_t, Index > &_goals, const uint32_t &_optimizationSteps, int32_t &segIdx, const uint32_t &_radius)

bool	isGoal (Index _p, const std::map< uint32_t, Index > &_goals, int32_t &segIdx)

Private Attributes
cv::Mat	distance_field_

float	neutral_cost_ = 1

int	ns_

int	nx_

int	ny_

std::priority_queue< Index, std::vector< Index >, greater1 >	queue_

Detailed Description

Definition at line 43 of file point_expander.h.

Member Function Documentation

void multi_robot_router::PointExpander::addPotentialExpansionCandidate	(	PointExpander::Index	_current,
		int32_t	_next_x,
		int32_t	_next_y,
		float *	_potential,
		uint32_t	_distToObstacle
	)

private

Definition at line 44 of file point_expander.cpp.

template<class T , class S , class C >

void multi_robot_router::PointExpander::clearpq ( std::priority_queue< T, S, C > & q )

inlineprivate

Definition at line 73 of file point_expander.h.

PointExpander::Index multi_robot_router::PointExpander::findGoal	(	const Index &	_start,
		const uint32_t &	_cycles,
		float *	_potential,
		const std::map< uint32_t, Index > &	_goals,
		const uint32_t &	_optimizationSteps,
		int32_t &	segIdx,
		const uint32_t &	_radius
	)

private

Definition at line 69 of file point_expander.cpp.

bool multi_robot_router::PointExpander::findGoalOnMap	(	const Eigen::Vector2d &	_start,
		const uint32_t &	_cycles,
		float *	_potential,
		const std::map< uint32_t, Eigen::Vector2d > &	_goals,
		const uint32_t &	_optimizationSteps,
		Eigen::Vector2d &	_foundPoint,
		int32_t &	_segIdx,
		const uint32_t &	_radius
	)

searches the first occurence of a point in the goals_ list and returns the index

used to find the closes segment to the start point. The goals are usually the centerpoints of the considered segments with the segment id. If a path is allready found the expander can be started again to find the nth furthest segment to optimize the path.

Parameters

_start	the start point on the map
_cycles	the maximum number of cycles used to compute a goal
_potential	the potential map to assign the weights
_goals	a map containing goal points mapped to an index
_optimizationSteps	the _optimizationSteps' goal node is taken to optimize paths
_foundPoint	the found goal point
_segIdx	the found index
_radius	the robot _radius

Returns: true if a point was found

Definition at line 148 of file point_expander.cpp.

float multi_robot_router::PointExpander::getDistanceToObstacle ( const Eigen::Vector2d & vec )

returns the distance to the closest obstacle for a point

Parameters

vec	the point which is used to calculate the distance to the closest obstacle

Definition at line 173 of file point_expander.cpp.

void multi_robot_router::PointExpander::initialize ( const cv::Mat & _map )

initializes the point expander with a distance map

Parameters

_map	a cv::Mat containing a distance_transformed map (e.g. opencv disttransform)

Definition at line 35 of file point_expander.cpp.

bool multi_robot_router::PointExpander::isGoal	(	Index	_p,
		const std::map< uint32_t, Index > &	_goals,
		int32_t &	segIdx
	)

private

Definition at line 132 of file point_expander.cpp.

Member Data Documentation

cv::Mat multi_robot_router::PointExpander::distance_field_

private

Definition at line 145 of file point_expander.h.

float multi_robot_router::PointExpander::neutral_cost_ = 1

private

Definition at line 146 of file point_expander.h.

int multi_robot_router::PointExpander::ns_

private

Definition at line 140 of file point_expander.h.

int multi_robot_router::PointExpander::nx_

private

Definition at line 140 of file point_expander.h.

int multi_robot_router::PointExpander::ny_

private

Definition at line 140 of file point_expander.h.

std::priority_queue<Index, std::vector<Index>, greater1> multi_robot_router::PointExpander::queue_

private

Definition at line 139 of file point_expander.h.

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

Classes

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Function Documentation

Member Data Documentation