Classes | Public Types | Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
GridAstar< DIM, NONCYCLIC > Class Template Reference

#include <grid_astar.h>

Classes

class  Gridmap
 
class  GridmapUpdate
 
class  PriorityVec
 

Public Types

using Vec = CyclicVecInt< DIM, NONCYCLIC >
 
using Vecf = CyclicVecFloat< DIM, NONCYCLIC >
 

Public Member Functions

constexpr int getDim () const
 
constexpr int getNoncyclic () const
 
 GridAstar ()
 
 GridAstar (const Vec size)
 
void reset (const Vec size)
 
bool search (const Vec &s, const Vec &e, std::list< Vec > &path, std::function< float(const Vec &, Vec &, const Vec &, const Vec &)> cb_cost, std::function< float(const Vec &, const Vec &)> cb_cost_estim, std::function< std::vector< Vec > &(const Vec &, const Vec &, const Vec &)> cb_search, std::function< bool(const std::list< Vec > &)> 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 Vec &s, const Vec &e, std::list< Vec > &path)
 
bool searchImpl (Gridmap< float > &g, const Vec &st, const Vec &en, std::list< Vec > &path, std::function< float(const Vec &, Vec &, const Vec &, const Vec &)> cb_cost, std::function< float(const Vec &, const Vec &)> cb_cost_estim, std::function< std::vector< Vec > &(const Vec &, const Vec &, const Vec &)> cb_search, std::function< bool(const std::list< Vec > &)> 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 GridAstar< DIM, NONCYCLIC >

Definition at line 51 of file grid_astar.h.

Member Typedef Documentation

template<int DIM = 3, int NONCYCLIC = 2>
using GridAstar< DIM, NONCYCLIC >::Vec = CyclicVecInt<DIM, NONCYCLIC>

Definition at line 54 of file grid_astar.h.

template<int DIM = 3, int NONCYCLIC = 2>
using GridAstar< DIM, NONCYCLIC >::Vecf = CyclicVecFloat<DIM, NONCYCLIC>

Definition at line 55 of file grid_astar.h.

Constructor & Destructor Documentation

template<int DIM = 3, int NONCYCLIC = 2>
GridAstar< DIM, NONCYCLIC >::GridAstar ( )
inline

Definition at line 143 of file grid_astar.h.

template<int DIM = 3, int NONCYCLIC = 2>
GridAstar< DIM, NONCYCLIC >::GridAstar ( const Vec  size)
inlineexplicit

Definition at line 148 of file grid_astar.h.

Member Function Documentation

template<int DIM = 3, int NONCYCLIC = 2>
bool GridAstar< DIM, NONCYCLIC >::findPath ( const Vec &  s,
const Vec &  e,
std::list< Vec > &  path 
)
inlineprotected

Definition at line 328 of file grid_astar.h.

template<int DIM = 3, int NONCYCLIC = 2>
constexpr int GridAstar< DIM, NONCYCLIC >::getDim ( ) const
inline

Definition at line 123 of file grid_astar.h.

template<int DIM = 3, int NONCYCLIC = 2>
constexpr int GridAstar< DIM, NONCYCLIC >::getNoncyclic ( ) const
inline

Definition at line 127 of file grid_astar.h.

template<int DIM = 3, int NONCYCLIC = 2>
void GridAstar< DIM, NONCYCLIC >::reset ( const Vec  size)
inline

Definition at line 136 of file grid_astar.h.

template<int DIM = 3, int NONCYCLIC = 2>
bool GridAstar< DIM, NONCYCLIC >::search ( const Vec &  s,
const Vec &  e,
std::list< Vec > &  path,
std::function< float(const Vec &, Vec &, const Vec &, const Vec &)>  cb_cost,
std::function< float(const Vec &, const Vec &)>  cb_cost_estim,
std::function< std::vector< Vec > &(const Vec &, const Vec &, const Vec &)>  cb_search,
std::function< bool(const std::list< Vec > &)>  cb_progress,
const float  cost_leave,
const float  progress_interval,
const bool  return_best = false 
)
inline

Definition at line 158 of file grid_astar.h.

template<int DIM = 3, int NONCYCLIC = 2>
bool GridAstar< DIM, NONCYCLIC >::searchImpl ( Gridmap< float > &  g,
const Vec &  st,
const Vec &  en,
std::list< Vec > &  path,
std::function< float(const Vec &, Vec &, const Vec &, const Vec &)>  cb_cost,
std::function< float(const Vec &, const Vec &)>  cb_cost_estim,
std::function< std::vector< Vec > &(const Vec &, const Vec &, const Vec &)>  cb_search,
std::function< bool(const std::list< Vec > &)>  cb_progress,
const float  cost_leave,
const float  progress_interval,
const bool  return_best = false 
)
inlineprotected

Definition at line 175 of file grid_astar.h.

template<int DIM = 3, int NONCYCLIC = 2>
void GridAstar< DIM, NONCYCLIC >::setQueueSizeLimit ( const size_t  size)
inline

Definition at line 153 of file grid_astar.h.

template<int DIM = 3, int NONCYCLIC = 2>
void GridAstar< DIM, NONCYCLIC >::setSearchTaskNum ( const size_t &  search_task_num)
inline

Definition at line 131 of file grid_astar.h.

Member Data Documentation

template<int DIM = 3, int NONCYCLIC = 2>
Gridmap<float> GridAstar< DIM, NONCYCLIC >::g_
protected

Definition at line 346 of file grid_astar.h.

template<int DIM = 3, int NONCYCLIC = 2>
reservable_priority_queue<PriorityVec> GridAstar< DIM, NONCYCLIC >::open_
protected

Definition at line 348 of file grid_astar.h.

template<int DIM = 3, int NONCYCLIC = 2>
std::unordered_map<Vec, Vec, Vec> GridAstar< DIM, NONCYCLIC >::parents_
protected

Definition at line 347 of file grid_astar.h.

template<int DIM = 3, int NONCYCLIC = 2>
size_t GridAstar< DIM, NONCYCLIC >::queue_size_limit_
protected

Definition at line 349 of file grid_astar.h.

template<int DIM = 3, int NONCYCLIC = 2>
size_t GridAstar< DIM, NONCYCLIC >::search_task_num_
protected

Definition at line 350 of file grid_astar.h.

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

planner_cspace
Author(s): Atsushi Watanabe
autogenerated on Tue Jul 9 2019 05:00:13