dijkstra.h
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35  * Author: Eitan Marder-Eppstein
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38 #ifndef _DIJKSTRA_H
39 #define _DIJKSTRA_H
40 
41 #define PRIORITYBUFSIZE 10000
42 #include <math.h>
43 #include <stdint.h>
44 #include <string.h>
45 #include <stdio.h>
46 
49 
50 // inserting onto the priority blocks
51 #define push_cur(n) { if (n>=0 && n<ns_ && !pending_[n] && getCost(costs, n)<lethal_cost_ && currentEnd_<PRIORITYBUFSIZE){ currentBuffer_[currentEnd_++]=n; pending_[n]=true; }}
52 #define push_next(n) { if (n>=0 && n<ns_ && !pending_[n] && getCost(costs, n)<lethal_cost_ && nextEnd_<PRIORITYBUFSIZE){ nextBuffer_[ nextEnd_++]=n; pending_[n]=true; }}
53 #define push_over(n) { if (n>=0 && n<ns_ && !pending_[n] && getCost(costs, n)<lethal_cost_ && overEnd_<PRIORITYBUFSIZE){ overBuffer_[ overEnd_++]=n; pending_[n]=true; }}
54 
55 namespace global_planner {
56 class DijkstraExpansion : public Expander {
57  public:
58  DijkstraExpansion(PotentialCalculator* p_calc, int nx, int ny);
60  bool calculatePotentials(unsigned char* costs, double start_x, double start_y, double end_x, double end_y, int cycles,
61  float* potential);
62 
68  void setSize(int nx, int ny);
70  void setNeutralCost(unsigned char neutral_cost) {
71  neutral_cost_ = neutral_cost;
73  }
74 
75  void setPreciseStart(bool precise){ precise_ = precise; }
76  private:
77 
84  void updateCell(unsigned char* costs, float* potential, int n);
86  float getCost(unsigned char* costs, int n) {
87  float c = costs[n];
88  if (c < lethal_cost_ - 1 || (unknown_ && c==255)) {
89  c = c * factor_ + neutral_cost_;
90  if (c >= lethal_cost_)
91  c = lethal_cost_ - 1;
92  return c;
93  }
94  return lethal_cost_;
95  }
96 
101  bool *pending_;
102  bool precise_;
103 
105  float threshold_;
108 };
109 } //end namespace global_planner
110 #endif
DijkstraExpansion(PotentialCalculator *p_calc, int nx, int ny)
Definition: dijkstra.cpp:42
void setSize(int nx, int ny)
Sets or resets the size of the map.
Definition: dijkstra.cpp:63
unsigned char lethal_cost_
Definition: expander.h:98
void updateCell(unsigned char *costs, float *potential, int n)
Updates the cell at index n.
Definition: dijkstra.cpp:192
float getCost(unsigned char *costs, int n)
Definition: dijkstra.h:86
unsigned char neutral_cost_
Definition: expander.h:98
void setPreciseStart(bool precise)
Definition: dijkstra.h:75
bool calculatePotentials(unsigned char *costs, double start_x, double start_y, double end_x, double end_y, int cycles, float *potential)
Definition: dijkstra.cpp:80
void setNeutralCost(unsigned char neutral_cost)
Definition: dijkstra.h:70


global_planner
Author(s): David Lu!!
autogenerated on Sun Mar 3 2019 03:44:42