shortest_path.h File Reference

#include <occupancy_grid_utils/coordinate_conversions.h>
#include <occupancy_grid_utils/NavigationFunction.h>
#include <boost/shared_ptr.hpp>
#include <boost/optional.hpp>
#include <set>

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Classes
struct	occupancy_grid_utils::TerminationCondition
	Termination condition for shortest path search max_dist is a distance such that as soon as we see a cell with greater than this distance, we stop. Note that, confusingly, max_dist is in cells though shortest path returns meters by default. Currently, we warn if use_cells is set to true below. In future (H-turtle), this api will actually change to only allow meters. goals is a set such that once we've expanded all the cells in this set, we stop. More...
Namespaces
namespace	occupancy_grid_utils
Typedefs
typedef std::pair< Path, double >	occupancy_grid_utils::AStarResult
typedef std::vector< Cell >	occupancy_grid_utils::Path
typedef boost::shared_ptr < ShortestPathResult >	occupancy_grid_utils::ResultPtr
Functions
boost::optional< double >	occupancy_grid_utils::distance (ResultPtr shortest_path_result, const Cell &dest)
	From result of single-source shortest paths, extract distance to some destination.
boost::optional< double >	occupancy_grid_utils::distanceTo (ResultPtr shortest_path_result, const Cell &dest)
	From result of single-source shortest paths, extract distance to some destination.
boost::optional< Path >	occupancy_grid_utils::extractPath (ResultPtr shortest_path_result, const Cell &dest)
	Extract a path from the result of single-source shortest paths.
nav_msgs::OccupancyGrid::Ptr	occupancy_grid_utils::inflateObstacles (const nav_msgs::OccupancyGrid &g, double r, bool allow_unknown=false)
	Inflate obstacles in a grid.
boost::optional< AStarResult >	occupancy_grid_utils::shortestPath (const nav_msgs::OccupancyGrid &g, const Cell &src, const Cell &dest)
	A* search that returns distance in cells. Deprecated; use shortestPathAStar instead.using Manhattan distance cost and heuristic, with only horizontal and vertical neighbors.
boost::optional< AStarResult >	occupancy_grid_utils::shortestPathAStar (const nav_msgs::OccupancyGrid &g, const Cell &src, const Cell &dest)
	A* search using Manhattan distance cost and heuristic, with only horizontal and/// vertical neighbors.
ResultPtr	occupancy_grid_utils::shortestPathResultFromMessage (const NavigationFunction &msg)
	Convert a shortest path result from a ros message.
NavigationFunction	occupancy_grid_utils::shortestPathResultToMessage (ResultPtr res)
	Convert a shortest path result to a ros message.
ResultPtr	occupancy_grid_utils::singleSourceShortestPaths (const nav_msgs::OccupancyGrid &g, const Cell &src, bool manhattan=false)
	Single source Dijkstra's algorithm.
ResultPtr	occupancy_grid_utils::singleSourceShortestPaths (const nav_msgs::OccupancyGrid &g, const Cell &src, const TerminationCondition &term, bool manhattan=false)
	Single source Dijkstra's algorithm.

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Detailed Description

Shortest paths in occupancy grids

Author:

Bhaskara Marthi

Definition in file shortest_path.h.