global_planner::DijkstraExpansion Class Reference

#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...
virtual	~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)
virtual	~Expander ()

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

DijkstraExpansion()

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

Definition at line 78 of file dijkstra.cpp.

~DijkstraExpansion()

global_planner::DijkstraExpansion::~DijkstraExpansion ( )

virtual

Definition at line 88 of file dijkstra.cpp.

Member Function Documentation

calculatePotentials()

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 116 of file dijkstra.cpp.

getCost()

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.

setNeutralCost()

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

inline

Definition at line 70 of file dijkstra.h.

setPreciseStart()

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

inline

Definition at line 75 of file dijkstra.h.

setSize()

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

Sets or resets the size of the map.

Parameters

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

Definition at line 99 of file dijkstra.cpp.

updateCell()

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 228 of file dijkstra.cpp.

Member Data Documentation

buffer1_

int* global_planner::DijkstraExpansion::buffer1_

private

block priority buffers

Definition at line 98 of file dijkstra.h.

buffer2_

int * global_planner::DijkstraExpansion::buffer2_

private

Definition at line 98 of file dijkstra.h.

buffer3_

int * global_planner::DijkstraExpansion::buffer3_

private

storage buffers for priority blocks

Definition at line 98 of file dijkstra.h.

currentBuffer_

int* global_planner::DijkstraExpansion::currentBuffer_

private

Definition at line 99 of file dijkstra.h.

currentEnd_

int global_planner::DijkstraExpansion::currentEnd_

private

Definition at line 100 of file dijkstra.h.

nextBuffer_

int * global_planner::DijkstraExpansion::nextBuffer_

private

Definition at line 99 of file dijkstra.h.

nextEnd_

int global_planner::DijkstraExpansion::nextEnd_

private

Definition at line 100 of file dijkstra.h.

overBuffer_

int * global_planner::DijkstraExpansion::overBuffer_

private

priority buffer block ptrs

Definition at line 99 of file dijkstra.h.

overEnd_

int global_planner::DijkstraExpansion::overEnd_

private

end points of arrays

Definition at line 100 of file dijkstra.h.

pending_

bool* global_planner::DijkstraExpansion::pending_

private

pending_ cells during propagation

Definition at line 101 of file dijkstra.h.

precise_

bool global_planner::DijkstraExpansion::precise_

private

Definition at line 102 of file dijkstra.h.

priorityIncrement_

float global_planner::DijkstraExpansion::priorityIncrement_

private

priority threshold increment

Definition at line 106 of file dijkstra.h.

threshold_

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:

• dijkstra.h
• dijkstra.cpp