grid_path.cpp
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35  * Author: Eitan Marder-Eppstein
36  * David V. Lu!!
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39 #include <algorithm>
40 #include <stdio.h>
41 namespace global_planner {
42 
43 bool GridPath::getPath(float* potential, double start_x, double start_y, double end_x, double end_y, std::vector<std::pair<float, float> >& path) {
44  std::pair<float, float> current;
45  current.first = end_x;
46  current.second = end_y;
47 
48  int start_index = getIndex(start_x, start_y);
49 
50  path.push_back(current);
51  int c = 0;
52  int ns = xs_ * ys_;
53 
54  while (getIndex(current.first, current.second) != start_index) {
55  float min_val = 1e10;
56  int min_x = 0, min_y = 0;
57  for (int xd = -1; xd <= 1; xd++) {
58  for (int yd = -1; yd <= 1; yd++) {
59  if (xd == 0 && yd == 0)
60  continue;
61  int x = current.first + xd, y = current.second + yd;
62  int index = getIndex(x, y);
63  if (potential[index] < min_val) {
64  min_val = potential[index];
65  min_x = x;
66  min_y = y;
67  }
68  }
69  }
70  if (min_x == 0 && min_y == 0)
71  return false;
72  current.first = min_x;
73  current.second = min_y;
74  path.push_back(current);
75 
76  if(c++>ns*4){
77  return false;
78  }
79 
80  }
81  return true;
82 }
83 
84 } //end namespace global_planner
85 
bool getPath(float *potential, double start_x, double start_y, double end_x, double end_y, std::vector< std::pair< float, float > > &path)
Definition: grid_path.cpp:43
TFSIMD_FORCE_INLINE const tfScalar & y() const
int getIndex(int x, int y)
Definition: traceback.h:54
TFSIMD_FORCE_INLINE const tfScalar & x() const


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