cb_global_planner::AStarPlanner Class Reference

#include <a_star_planner.h>

Classes
struct	CellInfo
struct	compareCellInfos

Public Member Functions
	AStarPlanner (int width, int height)
bool	plan (std::vector< unsigned int > mx_start, std::vector< unsigned int > my_start, int mx_goal, int my_goal, std::vector< int > &plan_xs, std::vector< int > &plan_ys, bool best_heuristic=false)
void	resize (int nx, int ny)
void	setCostmap (const unsigned char *char_cost_map)
virtual	~AStarPlanner ()

Protected Member Functions
double	calculateHeuristicCost (int x, int y, int x_goal, int y_goal, double min_cell_cost)
void	deleteMap ()
void	expandCell (CellInfo *c, int dx, int dy, double cost_factor, double **visited_map, int x_goal, int y_goal, double min_cell_cost, std::priority_queue< CellInfo *, std::vector< CellInfo * >, compareCellInfos > &Q)
double	getCost (int x, int y)

Protected Attributes
const unsigned char *	char_cost_map_
unsigned int	height_
double **	visited_map_
unsigned int	width_

Static Protected Attributes
static long	N_OBJECTS = 0
static constexpr double	SQRT2 = 1.414213562

Detailed Description

Definition at line 27 of file a_star_planner.h.

Constructor & Destructor Documentation

AStarPlanner()

cb_global_planner::AStarPlanner::AStarPlanner	(	int	width,
		int	height
	)

Definition at line 11 of file a_star_planner.cpp.

~AStarPlanner()

cb_global_planner::AStarPlanner::~AStarPlanner ( )

virtual

Definition at line 16 of file a_star_planner.cpp.

Member Function Documentation

calculateHeuristicCost()

double cb_global_planner::AStarPlanner::calculateHeuristicCost ( int  x, int  y, int  x_goal, int  y_goal, double  min_cell_cost  )

protected

Definition at line 193 of file a_star_planner.cpp.

deleteMap()

void cb_global_planner::AStarPlanner::deleteMap ( )

protected

Definition at line 199 of file a_star_planner.cpp.

expandCell()

void cb_global_planner::AStarPlanner::expandCell ( CellInfo *  c, int  dx, int  dy, double  cost_factor, double **  visited_map, int  x_goal, int  y_goal, double  min_cell_cost, std::priority_queue< CellInfo *, std::vector< CellInfo * >, compareCellInfos > &  Q  )

protected

Definition at line 176 of file a_star_planner.cpp.

getCost()

double cb_global_planner::AStarPlanner::getCost ( int  x, int  y  )

protected

Definition at line 31 of file a_star_planner.cpp.

plan()

bool cb_global_planner::AStarPlanner::plan	(	std::vector< unsigned int >	mx_start,
		std::vector< unsigned int >	my_start,
		int	mx_goal,
		int	my_goal,
		std::vector< int > &	plan_xs,
		std::vector< int > &	plan_ys,
		bool	best_heuristic = false
	)

Definition at line 79 of file a_star_planner.cpp.

resize()

void cb_global_planner::AStarPlanner::resize	(	int	nx,
		int	ny
	)

Definition at line 53 of file a_star_planner.cpp.

setCostmap()

void cb_global_planner::AStarPlanner::setCostmap

(

const unsigned char *

char_cost_map

)

Definition at line 27 of file a_star_planner.cpp.

Member Data Documentation

char_cost_map_

const unsigned char* cb_global_planner::AStarPlanner::char_cost_map_

protected

Definition at line 56 of file a_star_planner.h.

height_

unsigned int cb_global_planner::AStarPlanner::height_

protected

Definition at line 60 of file a_star_planner.h.

N_OBJECTS

long cb_global_planner::AStarPlanner::N_OBJECTS = 0

staticprotected

Definition at line 52 of file a_star_planner.h.

SQRT2

constexpr double cb_global_planner::AStarPlanner::SQRT2 = 1.414213562

staticconstexprprotected

Definition at line 50 of file a_star_planner.h.

visited_map_

double** cb_global_planner::AStarPlanner::visited_map_

protected

Definition at line 58 of file a_star_planner.h.

width_

unsigned int cb_global_planner::AStarPlanner::width_

protected

Definition at line 59 of file a_star_planner.h.

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

• a_star_planner.h
• a_star_planner.cpp