hydropathplan::SparseSkeletonPathPlanner Class Reference

Similar to SkeletonPathPlanner, but faster. More...

#include <sparseskeletonpathplanner.h>

Inherits hydropathplan::IPathPlanner2d.

List of all members.

Public Member Functions
	SparseSkeletonPathPlanner (const hydroogmap::OgMap &ogMap, double robotDiameterMetres, double traversabilityThreshhold, bool doPathOptimization, bool addExtraNodes, double extraNodeResolution, bool jiggleBadWaypoints, const CostEvaluator &costEvaluator=DefaultCostEvaluator())
void	computePath (int startX, int startY, int endX, int endY, Cell2DVector &path) const

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Detailed Description

Similar to SkeletonPathPlanner, but faster.

Works by taking the output of Skeleton path planning, and extracting a set of nodes (ie junctions in the skeleton).

Plans using this sparse set of nodes (and links between them) rather than the full skeleton, which is much faster.

Author:

Alex Brooks

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Constructor & Destructor Documentation

hydropathplan::SparseSkeletonPathPlanner::SparseSkeletonPathPlanner	(	const hydroogmap::OgMap &	ogMap,
		double	robotDiameterMetres,
		double	traversabilityThreshhold,
		bool	doPathOptimization,
		bool	addExtraNodes,
		double	extraNodeResolution,
		bool	jiggleBadWaypoints,
		const CostEvaluator &	costEvaluator = DefaultCostEvaluator()
	)

Warning: may throw 'hydropathplanException's

References hydroogmap::GenericMap< T >::metresPerCell().

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Member Function Documentation

void hydropathplan::SparseSkeletonPathPlanner::computePath	(	int	startX,
		int	startY,
		int	endX,
		int	endY,
		Cell2DVector &	path
	)			const [virtual]

The cells in 'path' are guaranteed to be in line-of-sight of one another, but are not guaranteed to be adjacent to one another.

Warning: may throw 'hydropathplanException's

Implements hydropathplan::IPathPlanner2d.

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

• sparseskeletonpathplanner.h
• sparseskeletonpathplanner.cpp