DynamicVoronoi Class Reference

A DynamicVoronoi object computes and updates a distance map and Voronoi diagram. More...

#include <dynamicvoronoi.h>

List of all members.

Classes
struct	dataCell
Public Member Functions
void	clearCell (int x, int y)
	remove an obstacle at the specified cell coordinate
	DynamicVoronoi ()
void	exchangeObstacles (std::vector< INTPOINT > newObstacles)
	remove old dynamic obstacles and add the new ones
float	getDistance (int x, int y)
	returns the obstacle distance at the specified location
unsigned int	getSizeX ()
	returns the horizontal size of the workspace/map
unsigned int	getSizeY ()
	returns the vertical size of the workspace/map
void	initializeEmpty (int _sizeX, int _sizeY, bool initGridMap=true)
	Initialization with an empty map.
void	initializeMap (int _sizeX, int _sizeY, bool **_gridMap)
	Initialization with a given binary map (false==free, true==occupied)
bool	isOccupied (int x, int y)
	checks whether the specficied location is occupied
bool	isVoronoi (int x, int y)
	returns whether the specified cell is part of the (pruned) Voronoi graph
void	occupyCell (int x, int y)
	add an obstacle at the specified cell coordinate
void	prune ()
	prune the Voronoi diagram
void	update (bool updateRealDist=true)
	update distance map and Voronoi diagram to reflect the changes
void	visualize (const char *filename="result.ppm")
	write the current distance map and voronoi diagram as ppm file
	~DynamicVoronoi ()
Private Types
enum	markerMatchResult { pruned, keep, retry }
enum	ObstDataState { invalidObstData = SHRT_MAX/2 }
enum	QueueingState {   fwNotQueued = 1, fwQueued = 2, fwProcessed = 3, bwQueued = 4,   bwProcessed = 1 }
enum	State {   voronoiKeep = -4, freeQueued = -3, voronoiRetry = -2, voronoiPrune = -1,   free = 0, occupied = 1 }
Private Member Functions
void	checkVoro (int x, int y, int nx, int ny, dataCell &c, dataCell &nc)
void	commitAndColorize (bool updateRealDist=true)
bool	isOccupied (int &x, int &y, dataCell &c)
markerMatchResult	markerMatch (int x, int y)
void	recheckVoro ()
void	removeObstacle (int x, int y)
void	reviveVoroNeighbors (int &x, int &y)
void	setObstacle (int x, int y)
Private Attributes
std::vector< INTPOINT >	addList
dataCell **	data
double	doubleThreshold
bool **	gridMap
std::vector< INTPOINT >	lastObstacles
BucketPrioQueue	open
int	padding
std::queue< INTPOINT >	pruneQueue
std::vector< INTPOINT >	removeList
int	sizeX
int	sizeY
double	sqrt2

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Detailed Description

A DynamicVoronoi object computes and updates a distance map and Voronoi diagram.

Definition at line 13 of file dynamicvoronoi.h.

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Member Enumeration Documentation

enum DynamicVoronoi::markerMatchResult [private]

Enumerator:

pruned
keep
retry

Definition at line 65 of file dynamicvoronoi.h.

enum DynamicVoronoi::ObstDataState [private]

Enumerator:

invalidObstData

Definition at line 64 of file dynamicvoronoi.h.

enum DynamicVoronoi::QueueingState [private]

Enumerator:

fwNotQueued
fwQueued
fwProcessed
bwQueued
bwProcessed

Definition at line 63 of file dynamicvoronoi.h.

enum DynamicVoronoi::State [private]

Enumerator:

voronoiKeep
freeQueued
voronoiRetry
voronoiPrune
free
occupied

Definition at line 62 of file dynamicvoronoi.h.

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Constructor & Destructor Documentation

DynamicVoronoi::DynamicVoronoi

(

)

DynamicVoronoi::~DynamicVoronoi

(

)

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Member Function Documentation

void DynamicVoronoi::checkVoro	(	int	x,
		int	y,
		int	nx,
		int	ny,
		dataCell &	c,
		dataCell &	nc
	)		[inline, private]

void DynamicVoronoi::clearCell	(	int	x,
		int	y
	)

remove an obstacle at the specified cell coordinate

void DynamicVoronoi::commitAndColorize

(

bool

updateRealDist = true

)

[private]

void DynamicVoronoi::exchangeObstacles

(

std::vector< INTPOINT >

newObstacles

)

remove old dynamic obstacles and add the new ones

float DynamicVoronoi::getDistance	(	int	x,
		int	y
	)

returns the obstacle distance at the specified location

unsigned int DynamicVoronoi::getSizeX

(

)

[inline]

returns the horizontal size of the workspace/map

Definition at line 47 of file dynamicvoronoi.h.

unsigned int DynamicVoronoi::getSizeY

(

)

[inline]

returns the vertical size of the workspace/map

Definition at line 49 of file dynamicvoronoi.h.

void DynamicVoronoi::initializeEmpty	(	int	_sizeX,
		int	_sizeY,
		bool	initGridMap = true
	)

Initialization with an empty map.

void DynamicVoronoi::initializeMap	(	int	_sizeX,
		int	_sizeY,
		bool **	_gridMap
	)

Initialization with a given binary map (false==free, true==occupied)

bool DynamicVoronoi::isOccupied	(	int	x,
		int	y
	)

checks whether the specficied location is occupied

bool DynamicVoronoi::isOccupied	(	int &	x,
		int &	y,
		dataCell &	c
	)		[inline, private]

bool DynamicVoronoi::isVoronoi	(	int	x,
		int	y
	)

returns whether the specified cell is part of the (pruned) Voronoi graph

markerMatchResult DynamicVoronoi::markerMatch	(	int	x,
		int	y
	)		[inline, private]

void DynamicVoronoi::occupyCell	(	int	x,
		int	y
	)

add an obstacle at the specified cell coordinate

void DynamicVoronoi::prune

(

)

prune the Voronoi diagram

void DynamicVoronoi::recheckVoro

(

)

[private]

void DynamicVoronoi::removeObstacle	(	int	x,
		int	y
	)		[private]

void DynamicVoronoi::reviveVoroNeighbors	(	int &	x,
		int &	y
	)		[inline, private]

void DynamicVoronoi::setObstacle	(	int	x,
		int	y
	)		[private]

void DynamicVoronoi::update

(

bool

updateRealDist = true

)

update distance map and Voronoi diagram to reflect the changes

void DynamicVoronoi::visualize

(

const char *

filename = "result.ppm"

)

write the current distance map and voronoi diagram as ppm file

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Member Data Documentation

std::vector<INTPOINT> DynamicVoronoi::addList [private]

Definition at line 86 of file dynamicvoronoi.h.

dataCell** DynamicVoronoi::data [private]

Definition at line 92 of file dynamicvoronoi.h.

double DynamicVoronoi::doubleThreshold [private]

Definition at line 97 of file dynamicvoronoi.h.

bool** DynamicVoronoi::gridMap [private]

Definition at line 93 of file dynamicvoronoi.h.

std::vector<INTPOINT> DynamicVoronoi::lastObstacles [private]

Definition at line 87 of file dynamicvoronoi.h.

BucketPrioQueue DynamicVoronoi::open [private]

Definition at line 82 of file dynamicvoronoi.h.

int DynamicVoronoi::padding [private]

Definition at line 96 of file dynamicvoronoi.h.

std::queue<INTPOINT> DynamicVoronoi::pruneQueue [private]

Definition at line 83 of file dynamicvoronoi.h.

std::vector<INTPOINT> DynamicVoronoi::removeList [private]

Definition at line 85 of file dynamicvoronoi.h.

int DynamicVoronoi::sizeX [private]

Definition at line 91 of file dynamicvoronoi.h.

int DynamicVoronoi::sizeY [private]

Definition at line 90 of file dynamicvoronoi.h.

double DynamicVoronoi::sqrt2 [private]

Definition at line 99 of file dynamicvoronoi.h.

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The documentation for this class was generated from the following file:

• dynamicvoronoi.h