hydropathplan Namespace Reference

Library useful for path planning applications. More...

Classes
class	AStarPathPlanner
class	Cell2D
	A light weight 2d cell reference containing a x and y index. More...
class	Exception
class	IPathPlanner2d
class	SimpleNavPathPlanner
class	SkeletonPathPlanner
class	SparseSkeletonPathPlanner
	Similar to SkeletonPathPlanner, but faster. More...
class	TypeMap
class	CostEvaluator
	A function for setting the cost based on the distance from an obstacle. More...
class	DefaultCostEvaluator
	A reasonable default: all non-obstacle cells have unit cost. More...
Typedefs
typedef std::vector < hydropathplan::Cell2D >	Cell2DVector
	std::vector of cells
typedef std::list < hydropathplan::Cell2D >	Cell2DList
	std::list of cells
Functions
double	euclideanDistance (const Cell2D c1, const Cell2D c2)
int	manhattanDistance (const Cell2D c1, const Cell2D c2)
bool	isAdjacentN (const Cell2D c1, const Cell2D c2, unsigned int N)
bool	isNull (const Cell2D c)
Cell2D	adjacentCell (const Cell2D &cell, const int i)
Cell2D	diagonalCell (const Cell2D &cell, const int i)
Cell2D	surroundCell (const Cell2D &cell, const int i)
bool	isIncluded (const Cell2DVector &C, const Cell2D &c)
	Returns TRUE if c is in C otherwise false.
bool	isIncluded (const Cell2DList &C, const Cell2D &c)
	Returns TRUE if c is in C otherwise false.
std::ostream &	operator<< (std::ostream &s, const Cell2D &obj)
float	element (const FloatMap &floatMap, int x, int y)
	Gets the value of cell with index x,y. Will return NaN if cell is outside the map.
float	element (const FloatMap &floatMap, Cell2D c)
	Convenience function, see above.

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Detailed Description

Library useful for path planning applications.

This namespace is part of a library which contains classes and functions for ogmap based pathplanning.

See also:

libHydroPathplan

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Function Documentation

Cell2D adjacentCell	(	const Cell2D &	cell,
		const int	i
	)

Returns a cell that is adjacent to the supplied cell. index goes from 0 -> 3, if outside this range, 0 is assumed. if the cell is on the edge behaviour is undefined.

Cell2D diagonalCell	(	const Cell2D &	cell,
		const int	i
	)

Returns a cell that is diagonaly adjacent to the supplied cell. index goes from 0 -> 3, if outside this range, 0 is assumed. if the cell is on the edge behaviour is undefined.

double euclideanDistance	(	const Cell2D	c1,
		const Cell2D	c2
	)

Find the geometric distance between two cells

bool isAdjacentN	(	const Cell2D	c1,
		const Cell2D	c2,
		unsigned int	N
	)

Determine if a cell is within a square of size 2N+1 of another cell

bool isNull

(

const Cell2D

c

)

Check to see if a cell refers to (0,0)

int manhattanDistance	(	const Cell2D	c1,
		const Cell2D	c2
	)

Find the manhattan distance between two cells

std::ostream & operator<<	(	std::ostream &	s,
		const Cell2D &	obj
	)

Printing this object

Cell2D surroundCell	(	const Cell2D &	cell,
		const int	i
	)

Returns a cell that is directly adjacent or diagonally adjacent to the supplied cell. index goes from 0 -> 7, if outside this range, 0 is assumed. if the cell is on the edge behaviour is undefined.