gradient_path.h
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35  * Author: Eitan Marder-Eppstein
36  * David V. Lu!!
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38 #ifndef _GRADIENT_PATH_H
39 #define _GRADIENT_PATH_H
40 
42 #include <math.h>
43 
44 namespace global_planner {
45 
46 class GradientPath : public Traceback {
47  public:
49  ~GradientPath();
50 
51  void setSize(int xs, int ys);
52 
53  //
54  // Path construction
55  // Find gradient at array points, interpolate path
56  // Use step size of pathStep, usually 0.5 pixel
57  //
58  // Some sanity checks:
59  // 1. Stuck at same index position
60  // 2. Doesn't get near goal
61  // 3. Surrounded by high potentials
62  //
63  bool getPath(float* potential, double start_x, double start_y, double end_x, double end_y, std::vector<std::pair<float, float> >& path);
64  private:
65  inline int getNearestPoint(int stc, float dx, float dy) {
66  int pt = stc + (int)round(dx) + (int)(xs_ * round(dy));
67  return std::max(0, std::min(xs_ * ys_ - 1, pt));
68  }
69  float gradCell(float* potential, int n);
70 
71  float *gradx_, *grady_;
73  float pathStep_;
74 };
75 
76 } //end namespace global_planner
77 #endif
void setSize(int xs, int ys)
float gradCell(float *potential, int n)
GradientPath(PotentialCalculator *p_calc)
int getNearestPoint(int stc, float dx, float dy)
Definition: gradient_path.h:65
bool getPath(float *potential, double start_x, double start_y, double end_x, double end_y, std::vector< std::pair< float, float > > &path)


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