global_planner::Expander Class Reference

#include <expander.h>

Inheritance diagram for global_planner::Expander:

List of all members.

Public Member Functions
virtual bool	calculatePotentials (unsigned char *costs, double start_x, double start_y, double end_x, double end_y, int cycles, float *potential)=0
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 void	setSize (int nx, int ny)
	Sets or resets the size of the map.
Protected Member Functions
int	toIndex (int x, int y)
Protected Attributes
int	cells_visited_
float	factor_
unsigned char	lethal_cost_
unsigned char	neutral_cost_
int	ns_
int	nx_
int	ny_
PotentialCalculator *	p_calc_
bool	unknown_

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Detailed Description

Definition at line 45 of file expander.h.

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Constructor & Destructor Documentation

global_planner::Expander::Expander	(	PotentialCalculator *	p_calc,
		int	nx,
		int	ny
	)		[inline]

Definition at line 47 of file expander.h.

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Member Function Documentation

virtual bool global_planner::Expander::calculatePotentials	(	unsigned char *	costs,
		double	start_x,
		double	start_y,
		double	end_x,
		double	end_y,
		int	cycles,
		float *	potential
	)		[pure virtual]

Implemented in global_planner::AStarExpansion, and global_planner::DijkstraExpansion.

void global_planner::Expander::clearEndpoint	(	unsigned char *	costs,
		float *	potential,
		int	gx,
		int	gy,
		int	s
	)		[inline]

Definition at line 77 of file expander.h.

void global_planner::Expander::setFactor

(

float

factor

)

[inline]

Definition at line 70 of file expander.h.

void global_planner::Expander::setHasUnknown

(

bool

unknown

)

[inline]

Definition at line 73 of file expander.h.

void global_planner::Expander::setLethalCost

(

unsigned char

lethal_cost

)

[inline]

Definition at line 64 of file expander.h.

void global_planner::Expander::setNeutralCost

(

unsigned char

neutral_cost

)

[inline]

Reimplemented in global_planner::DijkstraExpansion.

Definition at line 67 of file expander.h.

virtual void global_planner::Expander::setSize	(	int	nx,
		int	ny
	)		[inline, 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 in global_planner::DijkstraExpansion.

Definition at line 59 of file expander.h.

int global_planner::Expander::toIndex	(	int	x,
		int	y
	)		[inline, protected]

Definition at line 92 of file expander.h.

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Member Data Documentation

int global_planner::Expander::cells_visited_ [protected]

Definition at line 99 of file expander.h.

float global_planner::Expander::factor_ [protected]

Definition at line 100 of file expander.h.

unsigned char global_planner::Expander::lethal_cost_ [protected]

Definition at line 98 of file expander.h.

unsigned char global_planner::Expander::neutral_cost_ [protected]

Definition at line 98 of file expander.h.

int global_planner::Expander::ns_ [protected]

size of grid, in pixels

Definition at line 96 of file expander.h.

int global_planner::Expander::nx_ [protected]

Definition at line 96 of file expander.h.

int global_planner::Expander::ny_ [protected]

Definition at line 96 of file expander.h.

PotentialCalculator* global_planner::Expander::p_calc_ [protected]

Definition at line 101 of file expander.h.

bool global_planner::Expander::unknown_ [protected]

Definition at line 97 of file expander.h.

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

• expander.h