global_planner::DijkstraExpansion Class Reference

#include <dijkstra.h>

Inheritance diagram for global_planner::DijkstraExpansion:

List of all members.

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.
	~DijkstraExpansion ()
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.
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_

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Detailed Description

Definition at line 56 of file dijkstra.h.

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Constructor & Destructor Documentation

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

Definition at line 42 of file dijkstra.cpp.

global_planner::DijkstraExpansion::~DijkstraExpansion

(

)

Definition at line 52 of file dijkstra.cpp.

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Member Function Documentation

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 80 of file dijkstra.cpp.

float global_planner::DijkstraExpansion::getCost	(	unsigned char *	costs,
		int	n
	)		[inline, private]

updates the cell at index n

Definition at line 86 of file dijkstra.h.

void global_planner::DijkstraExpansion::setNeutralCost

(

unsigned char

neutral_cost

)

[inline]

Reimplemented from global_planner::Expander.

Definition at line 70 of file dijkstra.h.

void global_planner::DijkstraExpansion::setPreciseStart

(

bool

precise

)

[inline]

Definition at line 75 of file dijkstra.h.

void global_planner::DijkstraExpansion::setSize	(	int	nx,
		int	ny
	)		[virtual]

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

Reimplemented from global_planner::Expander.

Definition at line 63 of file dijkstra.cpp.

void global_planner::DijkstraExpansion::updateCell	(	unsigned char *	costs,
		float *	potential,
		int	n
	)		[inline, private]

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 192 of file dijkstra.cpp.

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Member Data Documentation

int* global_planner::DijkstraExpansion::buffer1_ [private]

block priority buffers

Definition at line 98 of file dijkstra.h.

int * global_planner::DijkstraExpansion::buffer2_ [private]

Definition at line 98 of file dijkstra.h.

int * global_planner::DijkstraExpansion::buffer3_ [private]

storage buffers for priority blocks

Definition at line 98 of file dijkstra.h.

int* global_planner::DijkstraExpansion::currentBuffer_ [private]

Definition at line 99 of file dijkstra.h.

int global_planner::DijkstraExpansion::currentEnd_ [private]

Definition at line 100 of file dijkstra.h.

int * global_planner::DijkstraExpansion::nextBuffer_ [private]

Definition at line 99 of file dijkstra.h.

int global_planner::DijkstraExpansion::nextEnd_ [private]

Definition at line 100 of file dijkstra.h.

int * global_planner::DijkstraExpansion::overBuffer_ [private]

priority buffer block ptrs

Definition at line 99 of file dijkstra.h.

int global_planner::DijkstraExpansion::overEnd_ [private]

end points of arrays

Definition at line 100 of file dijkstra.h.

bool* global_planner::DijkstraExpansion::pending_ [private]

pending_ cells during propagation

Definition at line 101 of file dijkstra.h.

bool global_planner::DijkstraExpansion::precise_ [private]

Definition at line 102 of file dijkstra.h.

float global_planner::DijkstraExpansion::priorityIncrement_ [private]

priority threshold increment

Definition at line 106 of file dijkstra.h.

float global_planner::DijkstraExpansion::threshold_ [private]

block priority thresholds current threshold

Definition at line 105 of file dijkstra.h.

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

• dijkstra.h
• dijkstra.cpp