Public Member Functions | Private Member Functions | Private Attributes | List of all members
global_planner::DijkstraExpansion Class Reference

#include <dijkstra.h>

Inheritance diagram for global_planner::DijkstraExpansion:
Inheritance graph
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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. More...
 
 ~DijkstraExpansion ()
 
- Public Member Functions inherited from global_planner::Expander
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)
 

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. More...
 

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_
 

Additional Inherited Members

- Protected Member Functions inherited from global_planner::Expander
int toIndex (int x, int y)
 
- Protected Attributes inherited from global_planner::Expander
int cells_visited_
 
float factor_
 
unsigned char lethal_cost_
 
unsigned char neutral_cost_
 
int ns_
 
int nx_
 
int ny_
 
PotentialCalculatorp_calc_
 
bool unknown_
 

Detailed Description

Definition at line 56 of file dijkstra.h.

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.

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 
)
inlineprivate

updates the cell at index n

Definition at line 86 of file dijkstra.h.

void global_planner::DijkstraExpansion::setNeutralCost ( unsigned char  neutral_cost)
inline

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
nxThe x size of the map
nyThe y size of the mapsets 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 
)
inlineprivate

Updates the cell at index n.

Parameters
costsThe costmap
potentialThe potential array in which we are calculating
nThe index to update

Definition at line 192 of file dijkstra.cpp.

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.


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


global_planner
Author(s): David Lu!!
autogenerated on Thu Mar 12 2020 04:10:23