planner_cspace::planner_3d::DistanceMap Class Reference

#include <distance_map.h>

Classes
struct	DebugData
struct	Params
struct	Rect
struct	SearchDiffs

Public Types
using	Astar = GridAstar< 3, 2 >

Public Member Functions
void	create (const Astar::Vec &s, const Astar::Vec &e)
	DistanceMap (const BlockMemGridmapBase< char, 3, 2 > &cm_rough, const CostmapBBF &bbf_costmap)
const DebugData &	getDebugData () const
const Astar::Gridmap< float > &	gridmap () const
void	init (const GridAstarModel3D::Ptr model, const Params &p)
float &	operator[] (const Astar::Vec &pos)
const float	operator[] (const Astar::Vec &pos) const
void	setParams (const CostCoeff &cc, const int num_cost_estim_task)
const Astar::Vec &	size () const
void	update (const Astar::Vec &s, const Astar::Vec &e, const Rect &rect)

Protected Member Functions
void	fillCostmap (reservable_priority_queue< Astar::PriorityVec > &open, const Astar::Vec &s_rough)

Protected Attributes
const CostmapBBF &	bbf_costmap_
CostCoeff	cc_
const BlockMemGridmapBase< char, 3, 2 > &	cm_rough_
DebugData	debug_data_
std::unordered_map< Astar::Vec, bool, Astar::Vec >	edges_
Astar::Gridmap< float >	g_
int	num_cost_estim_task_
Params	p_
reservable_priority_queue< Astar::PriorityVec >	pq_erase_
reservable_priority_queue< Astar::PriorityVec >	pq_open_
std::vector< SearchDiffs >	search_diffs_

Detailed Description

Definition at line 47 of file distance_map.h.

Member Typedef Documentation

Astar

using planner_cspace::planner_3d::DistanceMap::Astar = GridAstar<3, 2>

Definition at line 50 of file distance_map.h.

Constructor & Destructor Documentation

DistanceMap()

planner_cspace::planner_3d::DistanceMap::DistanceMap	(	const BlockMemGridmapBase< char, 3, 2 > &	cm_rough,
		const CostmapBBF &	bbf_costmap
	)

Definition at line 182 of file distance_map.cpp.

Member Function Documentation

create()

void planner_cspace::planner_3d::DistanceMap::create	(	const Astar::Vec &	s,
		const Astar::Vec &	e
	)

Definition at line 338 of file distance_map.cpp.

fillCostmap()

void planner_cspace::planner_3d::DistanceMap::fillCostmap ( reservable_priority_queue< Astar::PriorityVec > &  open, const Astar::Vec &  s_rough  )

protected

Definition at line 46 of file distance_map.cpp.

getDebugData()

const DebugData& planner_cspace::planner_3d::DistanceMap::getDebugData ( ) const

inline

Definition at line 118 of file distance_map.h.

gridmap()

const Astar::Gridmap<float>& planner_cspace::planner_3d::DistanceMap::gridmap ( ) const

inline

Definition at line 114 of file distance_map.h.

init()

void planner_cspace::planner_3d::DistanceMap::init	(	const GridAstarModel3D::Ptr	model,
		const Params &	p
	)

Definition at line 196 of file distance_map.cpp.

operator[]() [1/2]

float& planner_cspace::planner_3d::DistanceMap::operator[] ( const Astar::Vec &  pos )

inline

Definition at line 106 of file distance_map.h.

operator[]() [2/2]

const float planner_cspace::planner_3d::DistanceMap::operator[] ( const Astar::Vec &  pos ) const

inline

Definition at line 110 of file distance_map.h.

setParams()

void planner_cspace::planner_3d::DistanceMap::setParams	(	const CostCoeff &	cc,
		const int	num_cost_estim_task
	)

Definition at line 190 of file distance_map.cpp.

size()

const Astar::Vec& planner_cspace::planner_3d::DistanceMap::size ( ) const

inline

Definition at line 102 of file distance_map.h.

update()

void planner_cspace::planner_3d::DistanceMap::update	(	const Astar::Vec &	s,
		const Astar::Vec &	e,
		const Rect &	rect
	)

Definition at line 245 of file distance_map.cpp.

Member Data Documentation

bbf_costmap_

const CostmapBBF& planner_cspace::planner_3d::DistanceMap::bbf_costmap_

protected

Definition at line 129 of file distance_map.h.

cc_

CostCoeff planner_cspace::planner_3d::DistanceMap::cc_

protected

Definition at line 126 of file distance_map.h.

cm_rough_

const BlockMemGridmapBase<char, 3, 2>& planner_cspace::planner_3d::DistanceMap::cm_rough_

protected

Definition at line 128 of file distance_map.h.

debug_data_

DebugData planner_cspace::planner_3d::DistanceMap::debug_data_

protected

Definition at line 132 of file distance_map.h.

edges_

std::unordered_map<Astar::Vec, bool, Astar::Vec> planner_cspace::planner_3d::DistanceMap::edges_

protected

Definition at line 135 of file distance_map.h.

g_

Astar::Gridmap<float> planner_cspace::planner_3d::DistanceMap::g_

protected

Definition at line 124 of file distance_map.h.

num_cost_estim_task_

int planner_cspace::planner_3d::DistanceMap::num_cost_estim_task_

protected

Definition at line 127 of file distance_map.h.

p_

Params planner_cspace::planner_3d::DistanceMap::p_

protected

Definition at line 125 of file distance_map.h.

pq_erase_

reservable_priority_queue<Astar::PriorityVec> planner_cspace::planner_3d::DistanceMap::pq_erase_

protected

Definition at line 136 of file distance_map.h.

pq_open_

reservable_priority_queue<Astar::PriorityVec> planner_cspace::planner_3d::DistanceMap::pq_open_

protected

Definition at line 134 of file distance_map.h.

search_diffs_

std::vector<SearchDiffs> planner_cspace::planner_3d::DistanceMap::search_diffs_

protected

Definition at line 131 of file distance_map.h.

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

• distance_map.h
• distance_map.cpp