#include <dijkstra.h>

Inheritance diagram for global_planner::DijkstraExpansion:

Public Member Functions
bool	calculatePotentials (unsigned char costs, double start_x, double start_y, double end_x, double end_y, int cycles, float potential)

	DijkstraExpansion (PotentialCalculator *p_calc, int nx, int ny)

void	setNeutralCost (unsigned char neutral_cost)

void	setPreciseStart (bool precise)

void	setSize (int nx, int ny)
	Sets or resets the size of the map. More...

	~DijkstraExpansion ()

Public Member Functions inherited from global_planner::Expander
void	clearEndpoint (unsigned char costs, float potential, int gx, int gy, int s)

	Expander (PotentialCalculator *p_calc, int nx, int ny)

void	setFactor (float factor)

void	setHasUnknown (bool unknown)

void	setLethalCost (unsigned char lethal_cost)

void	setNeutralCost (unsigned char neutral_cost)

Private Member Functions
float	getCost (unsigned char *costs, int n)

void	updateCell (unsigned char costs, float potential, int n)
	Updates the cell at index n. More...

Private Attributes
int *	buffer1_

int *	buffer2_

int *	buffer3_

int *	currentBuffer_

int	currentEnd_

int *	nextBuffer_

int	nextEnd_

int *	overBuffer_

int	overEnd_

bool *	pending_

bool	precise_

float	priorityIncrement_

float	threshold_

Additional Inherited Members
Protected Member Functions inherited from global_planner::Expander
int	toIndex (int x, int y)

Protected Attributes inherited from global_planner::Expander
int	cells_visited_

float	factor_

unsigned char	lethal_cost_

unsigned char	neutral_cost_

int	ns_

int	nx_

int	ny_

PotentialCalculator *	p_calc_

bool	unknown_

Detailed Description

Definition at line 56 of file dijkstra.h.

Constructor & Destructor Documentation

global_planner::DijkstraExpansion::DijkstraExpansion	(	PotentialCalculator *	p_calc,
		int	nx,
		int	ny
	)

Definition at line 42 of file dijkstra.cpp.

global_planner::DijkstraExpansion::~DijkstraExpansion ( )

Definition at line 52 of file dijkstra.cpp.

Member Function Documentation

bool global_planner::DijkstraExpansion::calculatePotentials	(	unsigned char *	costs,
		double	start_x,
		double	start_y,
		double	end_x,
		double	end_y,
		int	cycles,
		float *	potential
	)

virtual

Implements global_planner::Expander.

Definition at line 80 of file dijkstra.cpp.

float global_planner::DijkstraExpansion::getCost	(	unsigned char *	costs,
		int	n
	)

inlineprivate

updates the cell at index n

Definition at line 86 of file dijkstra.h.

void global_planner::DijkstraExpansion::setNeutralCost ( unsigned char neutral_cost )

inline

Definition at line 70 of file dijkstra.h.

void global_planner::DijkstraExpansion::setPreciseStart ( bool precise )

inline

Definition at line 75 of file dijkstra.h.

void global_planner::DijkstraExpansion::setSize	(	int	nx,
		int	ny
	)

virtual

Sets or resets the size of the map.

Parameters

nx	The x size of the map
ny	The y size of the mapsets or resets the size of the map

Reimplemented from global_planner::Expander.

Definition at line 63 of file dijkstra.cpp.

void global_planner::DijkstraExpansion::updateCell	(	unsigned char *	costs,
		float *	potential,
		int	n
	)

inlineprivate

Updates the cell at index n.

Parameters

costs	The costmap
potential	The potential array in which we are calculating
n	The index to update

Definition at line 192 of file dijkstra.cpp.

Member Data Documentation

int* global_planner::DijkstraExpansion::buffer1_

private

block priority buffers

Definition at line 98 of file dijkstra.h.

int * global_planner::DijkstraExpansion::buffer2_

private

Definition at line 98 of file dijkstra.h.

int * global_planner::DijkstraExpansion::buffer3_

private

storage buffers for priority blocks

Definition at line 98 of file dijkstra.h.

int* global_planner::DijkstraExpansion::currentBuffer_

private

Definition at line 99 of file dijkstra.h.

int global_planner::DijkstraExpansion::currentEnd_

private

Definition at line 100 of file dijkstra.h.

int * global_planner::DijkstraExpansion::nextBuffer_

private

Definition at line 99 of file dijkstra.h.

int global_planner::DijkstraExpansion::nextEnd_

private

Definition at line 100 of file dijkstra.h.

int * global_planner::DijkstraExpansion::overBuffer_

private

priority buffer block ptrs

Definition at line 99 of file dijkstra.h.

int global_planner::DijkstraExpansion::overEnd_

private

end points of arrays

Definition at line 100 of file dijkstra.h.

bool* global_planner::DijkstraExpansion::pending_

private

pending_ cells during propagation

Definition at line 101 of file dijkstra.h.

bool global_planner::DijkstraExpansion::precise_

private

Definition at line 102 of file dijkstra.h.

float global_planner::DijkstraExpansion::priorityIncrement_

private

priority threshold increment

Definition at line 106 of file dijkstra.h.

float global_planner::DijkstraExpansion::threshold_

private

block priority thresholds current threshold

Definition at line 105 of file dijkstra.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation