#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_ |
Definition at line 51 of file grid_astar.h.
using GridAstar< DIM, NONCYCLIC >::Vec = CyclicVecInt<DIM, NONCYCLIC> |
Definition at line 54 of file grid_astar.h.
using GridAstar< DIM, NONCYCLIC >::Vecf = CyclicVecFloat<DIM, NONCYCLIC> |
Definition at line 55 of file grid_astar.h.
Definition at line 143 of file grid_astar.h.
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inlineexplicit |
Definition at line 148 of file grid_astar.h.
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inlineprotected |
Definition at line 328 of file grid_astar.h.
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inline |
Definition at line 123 of file grid_astar.h.
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inline |
Definition at line 127 of file grid_astar.h.
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inline |
Definition at line 136 of file grid_astar.h.
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Definition at line 158 of file grid_astar.h.
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inlineprotected |
Definition at line 175 of file grid_astar.h.
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inline |
Definition at line 153 of file grid_astar.h.
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inline |
Definition at line 131 of file grid_astar.h.
Definition at line 346 of file grid_astar.h.
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protected |
Definition at line 348 of file grid_astar.h.
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Definition at line 347 of file grid_astar.h.
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Definition at line 349 of file grid_astar.h.
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Definition at line 350 of file grid_astar.h.