grid_path.cpp
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00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035  * Author: Eitan Marder-Eppstein
00036  *         David V. Lu!!
00037  *********************************************************************/
00038 #include <global_planner/grid_path.h>
00039 #include <algorithm>
00040 #include <stdio.h>
00041 namespace global_planner {
00042 
00043 bool GridPath::getPath(float* potential, double start_x, double start_y, double end_x, double end_y, std::vector<std::pair<float, float> >& path) {
00044     std::pair<float, float> current;
00045     current.first = end_x;
00046     current.second = end_y;
00047 
00048     int start_index = getIndex(start_x, start_y);
00049 
00050     path.push_back(current);
00051     int c = 0;
00052     int ns = xs_ * ys_;
00053     
00054     while (getIndex(current.first, current.second) != start_index) {
00055         float min_val = 1e10;
00056         int min_x = 0, min_y = 0;
00057         for (int xd = -1; xd <= 1; xd++) {
00058             for (int yd = -1; yd <= 1; yd++) {
00059                 if (xd == 0 && yd == 0)
00060                     continue;
00061                 int x = current.first + xd, y = current.second + yd;
00062                 int index = getIndex(x, y);
00063                 if (potential[index] < min_val) {
00064                     min_val = potential[index];
00065                     min_x = x;
00066                     min_y = y;
00067                 }
00068             }
00069         }
00070         if (min_x == 0 && min_y == 0)
00071             return false;
00072         current.first = min_x;
00073         current.second = min_y;
00074         path.push_back(current);
00075         
00076         if(c++>ns*4){
00077             return false;
00078         }
00079 
00080     }
00081     return true;
00082 }
00083 
00084 } //end namespace global_planner
00085 


global_planner
Author(s): David Lu!!
autogenerated on Wed Aug 2 2017 03:13:12