exampleEDT3D.cpp
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1 
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37 
39 
40 #include <iostream>
41 #include <stdlib.h>
42 
43 int main( int , char** ) {
44 
45  //we build a sample map
46  int sizeX, sizeY, sizeZ;
47  sizeX=100;
48  sizeY=100;
49  sizeZ=100;
50 
51  bool*** map;
52  map = new bool**[sizeX];
53  for(int x=0; x<sizeX; x++){
54  map[x] = new bool*[sizeY];
55  for(int y=0; y<sizeY; y++){
56  map[x][y] = new bool[sizeZ];
57  for(int z=0; z<sizeZ; z++){
58  if(x<2 || x > sizeX-3 || y < 2 || y > sizeY-3 || z<2 || z > sizeZ-3)
59  map[x][y][z] = 1;
60  else
61  map[x][y][z] = 0;
62  }
63  }
64  }
65 
66  map[51][45][67] = 1;
67  map[50][50][68] = 1;
68 
69  // create the EDT object and initialize it with the map
70  int maxDistInCells = 20;
71  DynamicEDT3D distmap(maxDistInCells*maxDistInCells);
72  distmap.initializeMap(sizeX, sizeY, sizeZ, map);
73 
74  //compute the distance map
75  distmap.update();
76 
77  // now perform some updates with random obstacles
78  int numPoints = 20;
79  for (int frame=1; frame<=10; frame++) {
80  std::cout<<"\n\nthis is frame #"<<frame<<std::endl;
81  std::vector<IntPoint3D> newObstacles;
82  for (int i=0; i<numPoints; i++) {
83  double x = 2+rand()/(double)RAND_MAX*(sizeX-4);
84  double y = 2+rand()/(double)RAND_MAX*(sizeY-4);
85  double z = 2+rand()/(double)RAND_MAX*(sizeZ-4);
86  newObstacles.push_back(IntPoint3D(x,y,z));
87  }
88 
89  // register the new obstacles (old ones will be removed)
90  distmap.exchangeObstacles(newObstacles);
91 
92  //update the distance map
93  distmap.update();
94 
95  //retrieve distance at a point
96  float dist = distmap.getDistance(30,67,33);
97  int distSquared = distmap.getSQCellDistance(30,67,33);
98  std::cout<<"distance at 30,67,33: "<< dist << " squared: "<< distSquared << std::endl;
99  if(distSquared == maxDistInCells*maxDistInCells)
100  std::cout<<"we hit a cell with d = dmax, distance value is clamped."<<std::endl;
101 
102  //retrieve closest occupied cell at a point
103  IntPoint3D closest = distmap.getClosestObstacle(30,67,33);
104  if(closest.x == DynamicEDT3D::invalidObstData)
105  std::cout<<"we hit a cell with d = dmax, no information about closest occupied cell."<<std::endl;
106  else
107  std::cout<<"closest occupied cell to 30,67,33: "<< closest.x<<","<<closest.y<<","<<closest.z<<std::endl;
108 
109  }
110 
111 
112  std::cout<<"\n\nthis is the last frame"<<std::endl;
113 
114  // now remove all random obstacles again.
115  std::vector<IntPoint3D> empty;
116  distmap.exchangeObstacles(empty);
117  distmap.update();
118 
119 
120  //retrieve distance at a point
121  float dist = distmap.getDistance(30,67,33);
122  int distSquared = distmap.getSQCellDistance(30,67,33);
123  std::cout<<"distance at 30,67,33: "<< dist << " squared: "<< distSquared << std::endl;
124  if(distSquared == maxDistInCells*maxDistInCells)
125  std::cout<<"we hit a cell with d = dmax, distance value is clamped."<<std::endl;
126 
127  //retrieve closest occupied cell at a point
128  IntPoint3D closest = distmap.getClosestObstacle(30,67,33);
129  if(closest.x == DynamicEDT3D::invalidObstData)
130  std::cout<<"we hit a cell with d = dmax, no information about closest occupied cell."<<std::endl;
131  else
132  std::cout<<"closest occupied cell to 30,67,33: "<< closest.x<<","<<closest.y<<","<<closest.z<<std::endl;
133 
134  return 0;
135 }
int main(int, char **)
void initializeMap(int _sizeX, int _sizeY, int sizeZ, bool ***_gridMap)
Initialization with a given binary map (false==free, true==occupied)
int x
Definition: point.h:57
float getDistance(int x, int y, int z) const
returns the obstacle distance at the specified location
void exchangeObstacles(std::vector< INTPOINT3D > newObstacles)
remove old dynamic obstacles and add the new ones
int y
Definition: point.h:57
A DynamicEDT3D object computes and updates a 3D distance map.
Definition: dynamicEDT3D.h:47
int getSQCellDistance(int x, int y, int z) const
returns the squared obstacle distance in cell units at the specified location
virtual void update(bool updateRealDist=true)
update distance map to reflect the changes
INTPOINT3D getClosestObstacle(int x, int y, int z) const
gets the closest occupied cell for that location
int z
Definition: point.h:57


dynamicEDT3D
Author(s): Christoph Sprunk
autogenerated on Mon Jun 10 2019 14:00:23