potential_calculator.h
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35  * Author: Eitan Marder-Eppstein
36  * David V. Lu!!
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38 #ifndef _POTENTIAL_CALCULATOR_H
39 #define _POTENTIAL_CALCULATOR_H
40 namespace global_planner {
41 
43  public:
44  PotentialCalculator(int nx, int ny) {
45  setSize(nx, ny);
46  }
47 
48  virtual float calculatePotential(float* potential, unsigned char cost, int n, float prev_potential=-1){
49  if(prev_potential < 0){
50  // get min of neighbors
51  float min_h = std::min( potential[n - 1], potential[n + 1] ),
52  min_v = std::min( potential[n - nx_], potential[n + nx_]);
53  prev_potential = std::min(min_h, min_v);
54  }
55 
56  return prev_potential + cost;
57  }
58 
64  virtual void setSize(int nx, int ny) {
65  nx_ = nx;
66  ny_ = ny;
67  ns_ = nx * ny;
68  }
70  protected:
71  inline int toIndex(int x, int y) {
72  return x + nx_ * y;
73  }
74 
75  int nx_, ny_, ns_;
76 };
77 
78 } //end namespace global_planner
79 #endif
virtual float calculatePotential(float *potential, unsigned char cost, int n, float prev_potential=-1)
virtual void setSize(int nx, int ny)
Sets or resets the size of the map.


global_planner
Author(s): David Lu!!
autogenerated on Mon Jul 27 2020 04:08:50