hydropathplan::sparseskel::SparseSkel Class Reference

A sparse skeleton. More...

#include <sparseskel.h>

List of all members.

Public Member Functions
	SparseSkel (const hydroogmap::OgMap &ogMap, double traversabilityThreshhold, const Cell2DVector &skel, const FloatMap &costMap, bool addExtraNodes, double extraNodeResolution)

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Detailed Description

A sparse skeleton.

Rather than planning over every single cell along the path defined by the skeleton, SparseSkel stores only a sparse set of waypoints. Planning is therefore much faster.

Author:

Alex Brooks

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Constructor & Destructor Documentation

hydropathplan::sparseskel::SparseSkel::SparseSkel	(	const hydroogmap::OgMap &	ogMap,
		double	traversabilityThreshhold,
		const Cell2DVector &	skel,
		const FloatMap &	costMap,
		bool	addExtraNodes,
		double	extraNodeResolution
	)

This constructor builds the SparseSkel. WARNING: this may require significant processing.

Interesting parameters:

• skel: a vector of cells on the skeleton, as generated by computeSkeleton.
• costMap: the cost of traversing each cell.
• addExtraNodes: add extra nodes to make it less sparse in big open areas
• extraNodeResolution: the SparseSkel will include extra nodes every 'n' metres in sparse areas.

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

• sparseskel.h
• sparseskel.cpp