bwi_mapper::VoronoiPoint Class Reference

`#include <voronoi_point.h>`

Inheritance diagram for bwi_mapper::VoronoiPoint:

## Public Member Functions | |

void | addBasisCandidate (const Point2d &candidate, uint32_t threshold, const nav_msgs::OccupancyGrid &map, bool use_naive) |

Attempts to add a basis candidate to this voronoi point. The basis candidate is only added if and only if it is 2 * threshhold away from an existing basis for that point, and is not too close to existing basis point in obstacle space If it is too close, then it is only retained if it is better than an existing basis, in which case the existing basis is thrown out. | |

VoronoiPoint () | |

VoronoiPoint (int x, int y) | |

VoronoiPoint (const Point2d &pt) | |

## Public Attributes | |

float | average_clearance |

float | basis_distance |

std::vector< Point2d > | basis_points |

float | critical_clearance_diff |

Definition at line 48 of file voronoi_point.h.

bwi_mapper::VoronoiPoint::VoronoiPoint | ( | ) | ` [inline]` |

Definition at line 51 of file voronoi_point.h.

bwi_mapper::VoronoiPoint::VoronoiPoint | ( | int | x, |

int | y |
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) | ` [inline]` |

Definition at line 52 of file voronoi_point.h.

bwi_mapper::VoronoiPoint::VoronoiPoint | ( | const Point2d & | pt | ) | ` [inline]` |

Definition at line 53 of file voronoi_point.h.

void bwi_mapper::VoronoiPoint::addBasisCandidate | ( | const Point2d & | candidate, |

uint32_t | threshold, |
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const nav_msgs::OccupancyGrid & | map, |
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bool | use_naive |
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) |

Attempts to add a basis candidate to this voronoi point. The basis candidate is only added if and only if it is 2 * threshhold away from an existing basis for that point, and is not too close to existing basis point in obstacle space If it is too close, then it is only retained if it is better than an existing basis, in which case the existing basis is thrown out.

**Parameters:**-
threshold Any point having an obstacle closer than threshold is rejected as it is not useful, even if it might be a valid voronoi point

Definition at line 53 of file voronoi_point.cpp.

/brief average clearance from all basis points - used after all basis points have been computed

Definition at line 65 of file voronoi_point.h.

/brief minimum clearance to a basis point - used while computing basis points

Definition at line 60 of file voronoi_point.h.

std::vector<Point2d> bwi_mapper::VoronoiPoint::basis_points |

Definition at line 55 of file voronoi_point.h.

/brief if this point is a critical point, how lower is the clearance of this point in comparison of its neighbours

Definition at line 70 of file voronoi_point.h.

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