navfn.h

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//
// Navigation function computation
// Uses Dijkstra's method
// Modified for Euclidean-distance computation
//
 
#ifndef _NAVFN_H
#define _NAVFN_H
 
#include <math.h>
#include <stdint.h>
#include <string.h>
#include <stdio.h>
 
// cost defs
#define COST_UNKNOWN_ROS 255            // 255 is unknown cost
#define COST_OBS 254            // 254 for forbidden regions
#define COST_OBS_ROS 253        // ROS values of 253 are obstacles
 
// navfn cost values are set to
// COST_NEUTRAL + COST_FACTOR * costmap_cost_value.
// Incoming costmap cost values are in the range 0 to 252.
// With COST_NEUTRAL of 50, the COST_FACTOR needs to be about 0.8 to
// ensure the input values are spread evenly over the output range, 50
// to 253.  If COST_FACTOR is higher, cost values will have a plateau
// around obstacles and the planner will then treat (for example) the
// whole width of a narrow hallway as equally undesirable and thus
// will not plan paths down the center.
 
#define COST_NEUTRAL 50         // Set this to "open space" value
#define COST_FACTOR 0.8         // Used for translating costs in NavFn::setCostmap()
 
// Define the cost type in the case that it is not set. However, this allows
// clients to modify it without changing the file. Arguably, it is better to require it to
// be defined by a user explicitly
#ifndef COSTTYPE
#define COSTTYPE unsigned char  // Whatever is used...
#endif
 
// potential defs
#define POT_HIGH 1.0e10         // unassigned cell potential
 
// priority buffers
#define PRIORITYBUFSIZE 10000
 
 
namespace navfn {
  int create_nav_plan_astar(COSTTYPE *costmap, int nx, int ny,
      int* goal, int* start,
      float *plan, int nplan);
 
 
 
  class NavFn
  {
    public:
      NavFn(int nx, int ny);    // size of map
 
      ~NavFn();
 
      void setNavArr(int nx, int ny); 
      int nx, ny, ns;           
      void setCostmap(const COSTTYPE *cmap, bool isROS=true, bool allow_unknown = true); 
      bool calcNavFnAstar();    
      bool calcNavFnDijkstra(bool atStart = false);     
      float *getPathX();                
      float *getPathY();                
      int   getPathLen();               
      float getLastPathCost();      
      COSTTYPE *costarr;                
      float   *potarr;          
      bool    *pending;         
      int nobs;                 
      int *pb1, *pb2, *pb3;             
      int *curP, *nextP, *overP;        
      int curPe, nextPe, overPe; 
      float curT;                       
      float priInc;                     
      void setGoal(int *goal);  
 
      void setStart(int *start);        
 
      int goal[2];
      int start[2];
      void initCost(int k, float v); 
      void updateCell(int n);   
      void updateCellAstar(int n);      
      void setupNavFn(bool keepit = false); 
      bool propNavFnDijkstra(int cycles, bool atStart = false); 
      bool propNavFnAstar(int cycles); 
      float *gradx, *grady;             
      float *pathx, *pathy;             
      int npath;                        
      int npathbuf;                     
      float last_path_cost_; 
      int calcPath(int n, int *st = NULL); 
      float gradCell(int n);    
      float pathStep;           
      void display(void fn(NavFn *nav), int n = 100); 
      int displayInt;           
      void (*displayFn)(NavFn *nav); 
      void savemap(const char *fname); 
  };
};
 
 
#endif  // NAVFN