#include <grid_astar_model.h>

Inheritance diagram for planner_cspace::planner_3d::GridAstarModel3D:

Public Types
using	ConstPtr = std::shared_ptr< const GridAstarModel3D >

using	Ptr = std::shared_ptr< GridAstarModel3D >

using	Vec = CyclicVecInt< 3, 2 >

using	Vecf = CyclicVecFloat< 3, 2 >

Public Types inherited from planner_cspace::GridAstarModelBase< 3, 2 >
using	Ptr = typename std::shared_ptr< GridAstarModelBase< DIM, NONCYCLIC > >

using	Vec = CyclicVecInt< DIM, NONCYCLIC >

using	Vecf = CyclicVecFloat< DIM, NONCYCLIC >

Public Member Functions
float	cost (const Vec &cur, const Vec &next, const std::vector< VecWithCost > &start, const Vec &goal) const override

float	costEstim (const Vec &cur, const Vec &goal) const override

void	createEuclidCostCache ()

void	enableHysteresis (const bool enable)

float	euclidCost (const Vec &v) const

float	euclidCostRough (const Vec &v) const

	GridAstarModel3D (const costmap_cspace_msgs::MapMetaData3D &map_info, const Vecf &euclid_cost_coef, const int local_range, const BlockMemGridmapBase< float, 3, 2 > &cost_estim_cache, const BlockMemGridmapBase< char, 3, 2 > &cm, const BlockMemGridmapBase< char, 3, 2 > &cm_hyst, const BlockMemGridmapBase< char, 3, 2 > &cm_rough, const CostCoeff &cc, const int range, const float path_interpolation_resolution=0.5, const float grid_enumeration_resolution=0.1)

std::list< Vecf >	interpolatePath (const std::list< Vec > &path) const

const std::vector< Vec > &	searchGrids (const Vec &p, const std::vector< VecWithCost > &ss, const Vec &es) const override

void	updateCostParameters (const Vecf &euclid_cost_coef, const CostCoeff &cc, const int local_range)

Public Member Functions inherited from planner_cspace::GridAstarModelBase< 3, 2 >
virtual float	cost (const Vec &cur, const Vec &next, const std::vector< VecWithCost > &start, const Vec &goal) const=0

virtual float	costEstim (const Vec &cur, const Vec &next) const=0

virtual const std::vector< Vec > &	searchGrids (const Vec &cur, const std::vector< VecWithCost > &start, const Vec &goal) const=0

Protected Attributes
CostCoeff	cc_

const BlockMemGridmapBase< char, 3, 2 > &	cm_

const BlockMemGridmapBase< char, 3, 2 > &	cm_hyst_

const BlockMemGridmapBase< char, 3, 2 > &	cm_rough_

const BlockMemGridmapBase< float, 3, 2 > &	cost_estim_cache_

Vecf	euclid_cost_coef_

std::array< float, 1024 >	euclid_cost_lin_cache_

bool	hysteresis_

int	local_range_

costmap_cspace_msgs::MapMetaData3D	map_info_

Vec	max_boundary_

Vec	min_boundary_

MotionCache	motion_cache_

MotionCache	motion_cache_linear_

std::vector< std::vector< Vec > >	motion_primitives_

int	range_

Vecf	resolution_

RotationCache	rot_cache_

std::vector< Vec >	search_list_rough_

Friends
class	GridAstarModel2D

Detailed Description

Definition at line 72 of file planner_3d/grid_astar_model.h.

Member Typedef Documentation

◆ ConstPtr

using planner_cspace::planner_3d::GridAstarModel3D::ConstPtr = std::shared_ptr<const GridAstarModel3D>

Definition at line 77 of file planner_3d/grid_astar_model.h.

◆ Ptr

using planner_cspace::planner_3d::GridAstarModel3D::Ptr = std::shared_ptr<GridAstarModel3D>

Definition at line 76 of file planner_3d/grid_astar_model.h.

◆ Vec

using planner_cspace::planner_3d::GridAstarModel3D::Vec = CyclicVecInt<3, 2>

Definition at line 78 of file planner_3d/grid_astar_model.h.

◆ Vecf

using planner_cspace::planner_3d::GridAstarModel3D::Vecf = CyclicVecFloat<3, 2>

Definition at line 79 of file planner_3d/grid_astar_model.h.

Constructor & Destructor Documentation

◆ GridAstarModel3D()

planner_cspace::planner_3d::GridAstarModel3D::GridAstarModel3D	(	const costmap_cspace_msgs::MapMetaData3D &	map_info,
		const Vecf &	euclid_cost_coef,
		const int	local_range,
		const BlockMemGridmapBase< float, 3, 2 > &	cost_estim_cache,
		const BlockMemGridmapBase< char, 3, 2 > &	cm,
		const BlockMemGridmapBase< char, 3, 2 > &	cm_hyst,
		const BlockMemGridmapBase< char, 3, 2 > &	cm_rough,
		const CostCoeff &	cc,
		const int	range,
		const float	path_interpolation_resolution = `0.5`,
		const float	grid_enumeration_resolution = `0.1`
	)

explicit

Definition at line 50 of file grid_astar_model_3dof.cpp.

Member Function Documentation

◆ cost()

float planner_cspace::planner_3d::GridAstarModel3D::cost	(	const Vec &	cur,
		const Vec &	next,
		const std::vector< VecWithCost > &	start,
		const Vec &	goal
	)		const

override

Definition at line 170 of file grid_astar_model_3dof.cpp.

◆ costEstim()

float planner_cspace::planner_3d::GridAstarModel3D::costEstim	(	const Vec &	cur,
		const Vec &	goal
	)		const

override

Definition at line 305 of file grid_astar_model_3dof.cpp.

◆ createEuclidCostCache()

void planner_cspace::planner_3d::GridAstarModel3D::createEuclidCostCache ( )

Definition at line 137 of file grid_astar_model_3dof.cpp.

◆ enableHysteresis()

void planner_cspace::planner_3d::GridAstarModel3D::enableHysteresis ( const bool enable )

Definition at line 133 of file grid_astar_model_3dof.cpp.

◆ euclidCost()

float planner_cspace::planner_3d::GridAstarModel3D::euclidCost ( const Vec & v ) const

Definition at line 145 of file grid_astar_model_3dof.cpp.

◆ euclidCostRough()

float planner_cspace::planner_3d::GridAstarModel3D::euclidCostRough ( const Vec & v ) const

Definition at line 157 of file grid_astar_model_3dof.cpp.

◆ interpolatePath()

std::list< GridAstarModel3D::Vecf > planner_cspace::planner_3d::GridAstarModel3D::interpolatePath ( const std::list< Vec > & path ) const

Definition at line 341 of file grid_astar_model_3dof.cpp.

◆ searchGrids()

const std::vector< GridAstarModel3D::Vec > & planner_cspace::planner_3d::GridAstarModel3D::searchGrids	(	const Vec &	p,
		const std::vector< VecWithCost > &	ss,
		const Vec &	es
	)		const