#include <stdio.h>#include <stdlib.h>#include <string.h>#include <vector>#include <list>#include <set>#include <unistd.h>#include "global.h"#include "data_engine.h"#include "../include/LBFGS/LBFGS.h"
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Functions | |
| bool | crossObstacles (DataEngine *p_de, int cr, int cc, int lr, int lc) |
| double | energyFunc (const Eigen::VectorXd &x, Eigen::VectorXd &grad) |
| Eigen::Vector2d | fieldGradient (Eigen::Vector2d xy) |
| double | fieldIntensity (Eigen::Vector2d xy) |
| float | getValueDist (int r, int c) |
| double | getValueDistanceField (int r, int c) |
| Eigen::Vector2d | grho (Eigen::Vector2d xy) |
| void | initDistanceField (DataEngine *p_de) |
| bool | Optimize_Path (DataEngine *p_de, vector< iro::SE2 > &path) |
| double | rho (Eigen::Vector2d xy) |
Variables | |
| cv::Mat | dist |
| double | distanceField [map_rows][map_cols] |
| vector< int > | fixed_node_indexes |
| vector< int > | fixed_variabe_indexes |
Function Documentation
◆ crossObstacles()
| bool crossObstacles | ( | DataEngine * | p_de, |
| int | cr, | ||
| int | cc, | ||
| int | lr, | ||
| int | lc | ||
| ) |
Definition at line 194 of file path_optimization.h.
◆ energyFunc()
| double energyFunc | ( | const Eigen::VectorXd & | x, |
| Eigen::VectorXd & | grad | ||
| ) |
Definition at line 133 of file path_optimization.h.
◆ fieldGradient()
| Eigen::Vector2d fieldGradient | ( | Eigen::Vector2d | xy | ) |
Definition at line 109 of file path_optimization.h.
◆ fieldIntensity()
| double fieldIntensity | ( | Eigen::Vector2d | xy | ) |
Definition at line 99 of file path_optimization.h.
◆ getValueDist()
| float getValueDist | ( | int | r, |
| int | c | ||
| ) |
Definition at line 91 of file path_optimization.h.
◆ getValueDistanceField()
| double getValueDistanceField | ( | int | r, |
| int | c | ||
| ) |
Definition at line 78 of file path_optimization.h.
◆ grho()
| Eigen::Vector2d grho | ( | Eigen::Vector2d | xy | ) |
Definition at line 127 of file path_optimization.h.
◆ initDistanceField()
| void initDistanceField | ( | DataEngine * | p_de | ) |
Definition at line 54 of file path_optimization.h.
◆ Optimize_Path()
| bool Optimize_Path | ( | DataEngine * | p_de, |
| vector< iro::SE2 > & | path | ||
| ) |
Definition at line 282 of file path_optimization.h.
◆ rho()
| double rho | ( | Eigen::Vector2d | xy | ) |
Definition at line 121 of file path_optimization.h.
Variable Documentation
◆ dist
| cv::Mat dist |
Definition at line 18 of file path_optimization.h.
◆ distanceField
Definition at line 21 of file path_optimization.h.
◆ fixed_node_indexes
| vector<int> fixed_node_indexes |
Definition at line 19 of file path_optimization.h.
◆ fixed_variabe_indexes
| vector<int> fixed_variabe_indexes |
Definition at line 20 of file path_optimization.h.