global_planner::Expander Class Reference

#include <expander.h>

Inheritance diagram for global_planner::Expander:

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. More...

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_

Detailed Description

Definition at line 45 of file expander.h.

Constructor & Destructor Documentation

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

inline

Definition at line 47 of file expander.h.

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

Definition at line 67 of file expander.h.

virtual void global_planner::Expander::setSize ( int  nx, int  ny  )

inlinevirtual

Sets or resets the size of the map.

Parameters

nx	The x size of the map
ny	The y size of the mapsets 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  )

inlineprotected

Definition at line 92 of file expander.h.

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