Class AStarSearcher

• Defined in File a_star_searcher.hpp

Inheritance Relationships

Base Type

• public GraphSearcher< cv::Mat > (Template Class GraphSearcher)

Class Documentation

class AStarSearcher : public GraphSearcher<cv::Mat>

Public Functions

nav_msgs::msg::OccupancyGrid update_grid(const nav_msgs::msg::OccupancyGrid &occ_grid, const Point2i &drone_pose, double safety_distance)

Update the occupancy grid.

Parameters:

• occ_grid – occupancy grid

• drone_pose – drone pose in cell coordinates

• safety_distance – safety distance in meters

cv::Point2i cellToPixel(Point2i cell, int rows, int cols)

Convert cell coordinates to pixel coordinates.

Parameters:

• cell – cell coordinates

• rows – number of rows

• cols – number of columns

cv::Point2i cellToPixel(Point2i cell, cv::Mat map)

Convert cell coordinates to pixel coordinates.

Parameters:

• cell – cell coordinates

• map – map

cv::Point2i cellToPixel(Point2i cell, nav_msgs::msg::MapMetaData map_info)

Convert cell coordinates to pixel coordinates.

Parameters:

• cell – cell coordinates

• map_info – map metadata

Point2i pixelToCell(cv::Point2i pixel, nav_msgs::msg::MapMetaData map_info)

Convert pixel coordinates to cell coordinates.

Parameters:

• pixel – pixel coordinates

• map_info – map metadata

cv::Mat gridToImg(nav_msgs::msg::OccupancyGrid occ_grid, double thresh = 30, bool unknown_as_free = false)

Occupancy grid to binary image

Parameters:

• occ_grid – occupancy grid

• thresh – threshold value

• unknown_as_free – if true, unknown cells are considered free

Returns:

: binary image

nav_msgs::msg::OccupancyGrid imgToGrid(const cv::Mat img, const std_msgs::msg::Header &header, double grid_resolution)

Binary image to occupancy grid

Parameters:

• img – binary image

• header – header of the occupancy grid

• grid_resolution – resolution of the occupancy grid

Returns:

: occupancy grid

Protected Functions

virtual double calc_h_cost(Point2i current, Point2i end) override

virtual double calc_g_cost(Point2i current) override

virtual int hash_key(Point2i point) override

virtual bool cell_in_limits(Point2i point) override

virtual bool cell_occuppied(Point2i point) override

Protected Attributes

bool use_heuristic_ = true