dijkstra.h
Go to the documentation of this file.
1 /*********************************************************************
2  *
3  * Software License Agreement (BSD License)
4  *
5  * Copyright (c) 2008, 2013, Willow Garage, Inc.
6  * All rights reserved.
7  *
8  * Redistribution and use in source and binary forms, with or without
9  * modification, are permitted provided that the following conditions
10  * are met:
11  *
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/or other materials provided
17  * with the distribution.
18  * * Neither the name of Willow Garage, Inc. nor the names of its
19  * contributors may be used to endorse or promote products derived
20  * from this software without specific prior written permission.
21  *
22  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33  * POSSIBILITY OF SUCH DAMAGE.
34  *
35  * Author: Eitan Marder-Eppstein
36  * David V. Lu!!
37  *********************************************************************/
38 #ifndef _DIJKSTRA_H
39 #define _DIJKSTRA_H
40 
41 #define PRIORITYBUFSIZE 10000
42 #include <math.h>
43 #include <stdint.h>
44 #include <string.h>
45 #include <stdio.h>
46 
49 
50 // inserting onto the priority blocks
51 #define push_cur(n) { if (n>=0 && n<ns_ && !pending_[n] && getCost(costs, n)<lethal_cost_ && currentEnd_<PRIORITYBUFSIZE){ currentBuffer_[currentEnd_++]=n; pending_[n]=true; }}
52 #define push_next(n) { if (n>=0 && n<ns_ && !pending_[n] && getCost(costs, n)<lethal_cost_ && nextEnd_<PRIORITYBUFSIZE){ nextBuffer_[ nextEnd_++]=n; pending_[n]=true; }}
53 #define push_over(n) { if (n>=0 && n<ns_ && !pending_[n] && getCost(costs, n)<lethal_cost_ && overEnd_<PRIORITYBUFSIZE){ overBuffer_[ overEnd_++]=n; pending_[n]=true; }}
54 
55 namespace global_planner {
56 class DijkstraExpansion : public Expander {
57  public:
58  DijkstraExpansion(PotentialCalculator* p_calc, int nx, int ny);
60  bool calculatePotentials(unsigned char* costs, double start_x, double start_y, double end_x, double end_y, int cycles,
61  float* potential);
62 
68  void setSize(int nx, int ny);
70  void setNeutralCost(unsigned char neutral_cost) {
71  neutral_cost_ = neutral_cost;
73  }
74 
75  void setPreciseStart(bool precise){ precise_ = precise; }
76  private:
77 
84  void updateCell(unsigned char* costs, float* potential, int n);
86  float getCost(unsigned char* costs, int n) {
87  float c = costs[n];
88  if (c < lethal_cost_ - 1 || (unknown_ && c==255)) {
89  c = c * factor_ + neutral_cost_;
90  if (c >= lethal_cost_)
91  c = lethal_cost_ - 1;
92  return c;
93  }
94  return lethal_cost_;
95  }
96 
101  bool *pending_;
102  bool precise_;
103 
105  float threshold_;
108 };
109 } //end namespace global_planner
110 #endif
DijkstraExpansion(PotentialCalculator *p_calc, int nx, int ny)
Definition: dijkstra.cpp:42
void setSize(int nx, int ny)
Sets or resets the size of the map.
Definition: dijkstra.cpp:63
unsigned char lethal_cost_
Definition: expander.h:98
void updateCell(unsigned char *costs, float *potential, int n)
Updates the cell at index n.
Definition: dijkstra.cpp:192
float getCost(unsigned char *costs, int n)
Definition: dijkstra.h:86
unsigned char neutral_cost_
Definition: expander.h:98
void setPreciseStart(bool precise)
Definition: dijkstra.h:75
bool calculatePotentials(unsigned char *costs, double start_x, double start_y, double end_x, double end_y, int cycles, float *potential)
Definition: dijkstra.cpp:80
void setNeutralCost(unsigned char neutral_cost)
Definition: dijkstra.h:70


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