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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) 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 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. The documentation for this class was generated from the following files: sparseskel.h sparseskel.cpp

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