environment_navxythetamlevlat.h
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00001 /*
00002  * Copyright (c) 2008, Maxim Likhachev
00003  * All rights reserved.
00004  * 
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  * 
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the University of Pennsylvania nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  * 
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00025  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00026  * POSSIBILITY OF SUCH DAMAGE.
00027  */
00028 #ifndef __ENVIRONMENT_NAVXYTHETAMLEVLAT_H_
00029 #define __ENVIRONMENT_NAVXYTHETAMLEVLAT_H_
00030 
00031 //these structures contain footprints for the additional levels 
00032 //each of these structures corresponds to one of the EnvNAVXYTHETALATAction_t structures
00033 typedef struct{
00034         char starttheta; //should be equal to the corresponding EnvNAVXYTHETALATAction_t structure
00035         char dX;   //should be equal to the corresponding EnvNAVXYTHETALATAction_t structure
00036         char dY;   //should be equal to the corresponding EnvNAVXYTHETALATAction_t structure
00037         char endtheta;  //should be equal to the corresponding EnvNAVXYTHETALATAction_t structure
00038         vector<sbpl_2Dcell_t>* intersectingcellsV; //one footprint per additional level
00039 } EnvNAVXYTHETAMLEVLATAddInfoAction_t;
00040 
00041 
00049 class EnvironmentNAVXYTHETAMLEVLAT : public EnvironmentNAVXYTHETALAT
00050 {
00051 
00052 public:
00053 
00060         bool InitializeAdditionalLevels(int numofadditionalzlevs, const vector<sbpl_2Dpt_t>* perimeterptsV,
00061                                                                 unsigned char* cost_inscribed_thresh,
00062                                                                 unsigned char* cost_possibly_circumscribed_thresh);     
00063 
00070         bool Set2DMapforAddLev(const unsigned char* mapdata, int levind);
00071 
00076         bool Set2DMapforAddLev(const unsigned char** NewGrid2D, int levind);
00077 
00078 
00082     bool UpdateCostinAddLev(int x, int y, unsigned char newcost, int zlev);
00083 
00087         virtual void GetPredsofChangedEdges(vector<nav2dcell_t> const * changedcellsV, vector<int> *preds_of_changededgesIDV)
00088         {
00089                 SBPL_ERROR("ERROR: GetPredsofChangedEdges function not supported\n");
00090                 throw new SBPL_Exception();
00091         }
00092 
00093         
00097         virtual void GetSuccsofChangedEdges(vector<nav2dcell_t> const * changedcellsV, vector<int> *succs_of_changededgesIDV)
00098         {
00099                 SBPL_ERROR("ERROR: GetSuccsofChangedEdges function not supported\n");
00100                 throw new SBPL_Exception();
00101         }
00102 
00106         bool IsValidCell(int X, int Y);
00107 
00111         bool IsValidCell(int X, int Y, int levind);
00112 
00113         
00117         bool IsObstacle(int x, int y);
00118 
00122         bool IsObstacle(int x, int y, int levind);
00123 
00129         bool IsValidConfiguration(int X, int Y, int Theta);
00130 
00134         unsigned char GetMapCost(int X, int Y);
00135 
00139         unsigned char GetMapCost(int X, int Y, int levind);
00140 
00141 
00142    EnvironmentNAVXYTHETAMLEVLAT();
00143    ~EnvironmentNAVXYTHETAMLEVLAT();
00144 
00145 protected:
00149         int numofadditionalzlevs; 
00150 
00151 
00155         vector<sbpl_2Dpt_t>* AddLevelFootprintPolygonV;
00156 
00163         EnvNAVXYTHETAMLEVLATAddInfoAction_t** AdditionalInfoinActionsV; 
00164 
00165 
00170         unsigned char*** AddLevelGrid2D;
00171 
00176         unsigned char* AddLevel_cost_inscribed_thresh;
00181         unsigned char* AddLevel_cost_possibly_circumscribed_thresh;     
00182 
00183     virtual int GetActionCost(int SourceX, int SourceY, int SourceTheta, EnvNAVXYTHETALATAction_t* action);
00184 
00185         virtual int GetActionCostacrossAddLevels(int SourceX, int SourceY, int SourceTheta, EnvNAVXYTHETALATAction_t* action);
00186 
00187 
00188 };
00189 
00190 
00191 
00192 #endif
00193 
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sbpl
Author(s): Maxim Likhachev/maximl@seas.upenn.edu
autogenerated on Fri Jan 18 2013 13:41:53