#include <astar.h>

Inheritance diagram for global_planner::AStarExpansion:

Public Member Functions
	AStarExpansion (PotentialCalculator *p_calc, int nx, int ny)

bool	calculatePotentials (unsigned char costs, double start_x, double start_y, double end_x, double end_y, int cycles, float potential)

Public Member Functions inherited from global_planner::Expander
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...

Private Member Functions
void	add (unsigned char costs, float potential, float prev_potential, int next_i, int end_x, int end_y)

Additional Inherited Members
Protected Member Functions inherited from global_planner::Expander
int	toIndex (int x, int y)

Protected Attributes inherited from global_planner::Expander
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 63 of file astar.h.

Constructor & Destructor Documentation

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

Definition at line 43 of file astar.cpp.

void global_planner::AStarExpansion::add	(	unsigned char *	costs,
		float *	potential,
		float	prev_potential,
		int	next_i,
		int	end_x,
		int	end_y
	)

private

Definition at line 79 of file astar.cpp.

bool global_planner::AStarExpansion::calculatePotentials	(	unsigned char *	costs,
		double	start_x,
		double	start_y,
		double	end_x,
		double	end_y,
		int	cycles,
		float *	potential
	)

virtual

Definition at line 47 of file astar.cpp.

std::vector<Index> global_planner::AStarExpansion::queue_

private

Definition at line 70 of file astar.h.

The documentation for this class was generated from the following files: