PathPlanner Class Reference

#include <PathPlanner.h>

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Detailed Description

Definition at line 19 of file PathPlanner.h.

List of all members.

Classes
struct	direction
struct	edge
struct	lessCost
struct	location
struct	state
Public Types
enum	Cost {   transF, transB, transY, tranB,   rotate, noLM, oneLM }
Public Member Functions
	PathPlanner (coordinate_t xMax, coordinate_t xMin, coordinate_t yMax, coordinate_t yMin)
virtual	~PathPlanner ()
void	findPath ()
void	addLandmark (const ShapeRoot &lm)
void	addLandmarkAsObstacle (const ShapeRoot &lm, unsigned int cost)
Public Attributes
unsigned int	maxDistance
std::map< Cost, unsigned int >	costs
Point	startPt
Point	goalPt
AngTwoPi	startOrientation
AngTwoPi	goalOrientation
Protected Member Functions
bool	isLMVisible (location loc, const Point &lm)
void	initialize ()
void	fillState (unsigned int low, unsigned int high)
void	findLinks (state &s)
std::vector< std::pair< int, int > >	findLMs (location loc)
state *	thereIs (unsigned int pos, direction dir, std::pair< int, int > lms)
void	computeLandmarkCosts ()
Point	findWorldCoords (unsigned int pos)
std::string	toString (const PathPlanner::state &s)
Protected Attributes
std::queue< state >	allStates
std::vector< state * > *	unreached
std::priority_queue< edge, std::vector< edge >, lessCost >	reached
unsigned int	numX
unsigned int	numY
float	minX
float	minY
float	dX
float	dY
location	start
location	goal
unsigned int *	costMap
std::map< unsigned int, PointData >	landmarks
std::map< unsigned int, unsigned int >	lmCosts
std::vector< std::pair< Point, unsigned int > >	obstacles
Static Protected Attributes
static const int	size = 300
Private Member Functions
PathPlanner &	operator= (const PathPlanner &)
	PathPlanner (const PathPlanner &)

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Member Enumeration Documentation

enum Cost

Enumerator:

transF
transB
transY
tranB
rotate
noLM
oneLM

Definition at line 83 of file PathPlanner.h.

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Constructor & Destructor Documentation

PathPlanner	(	coordinate_t	xMax,
		coordinate_t	xMin,
		coordinate_t	yMax,
		coordinate_t	yMin
	)

Definition at line 18 of file PathPlanner.cc.

virtual ~PathPlanner

(

)

[virtual]

Definition at line 22 of file PathPlanner.h.

PathPlanner

(

const PathPlanner &

)

[private]

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Member Function Documentation

void addLandmark

(

const ShapeRoot &

lm

)

Definition at line 98 of file PathPlanner.h.

Referenced by PathPlanner::addLandmarkAsObstacle().

void addLandmarkAsObstacle	(	const ShapeRoot &	lm,
		unsigned int	cost
	)

Definition at line 102 of file PathPlanner.h.

void computeLandmarkCosts

(

)

[protected]

Definition at line 141 of file PathPlanner.cc.

Referenced by PathPlanner::initialize().

void fillState	(	unsigned int	low,
		unsigned int	high
	)			[protected]

Definition at line 289 of file PathPlanner.cc.

Referenced by PathPlanner::initialize().

void findLinks

(

state &

s

)

[protected]

Definition at line 69 of file PathPlanner.cc.

Referenced by PathPlanner::findPath(), and PathPlanner::initialize().

std::vector< std::pair< int, int > > findLMs

(

location

loc

)

[protected]

Definition at line 314 of file PathPlanner.cc.

Referenced by PathPlanner::fillState(), PathPlanner::findLinks(), and PathPlanner::initialize().

void findPath

(

)

Definition at line 37 of file PathPlanner.cc.

Point findWorldCoords

(

unsigned int

pos

)

[protected]

Definition at line 136 of file PathPlanner.cc.

Referenced by PathPlanner::initialize(), and PathPlanner::isLMVisible().

void initialize

(

)

[protected]

Definition at line 164 of file PathPlanner.cc.

Referenced by PathPlanner::findPath().

bool isLMVisible	(	location	loc,
		const Point &	lm
	)			[protected]

Definition at line 330 of file PathPlanner.cc.

Referenced by PathPlanner::findLMs().

PathPlanner& operator=

(

const PathPlanner &

)

[private]

PathPlanner::state * thereIs	(	unsigned int	pos,
		PathPlanner::direction	dir,
		std::pair< int, int >	lms
	)			[protected]

Definition at line 303 of file PathPlanner.cc.

Referenced by PathPlanner::findLinks().

std::string toString

(

const PathPlanner::state &

s

)

[protected]

Definition at line 348 of file PathPlanner.cc.

Referenced by PathPlanner::findPath(), and PathPlanner::initialize().

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Member Data Documentation

std::queue<state> allStates [protected]

Definition at line 72 of file PathPlanner.h.

Referenced by PathPlanner::fillState(), and PathPlanner::initialize().

unsigned int* costMap [protected]

Definition at line 89 of file PathPlanner.h.

Referenced by PathPlanner::findLinks(), PathPlanner::initialize(), PathPlanner::PathPlanner(), and PathPlanner::~PathPlanner().

std::map<Cost, unsigned int> costs

Definition at line 84 of file PathPlanner.h.

Referenced by PathPlanner::findLinks(), PathPlanner::initialize(), and PathPlanner::PathPlanner().

float dX [protected]

Definition at line 79 of file PathPlanner.h.

Referenced by PathPlanner::findWorldCoords().

float dY [protected]

Definition at line 79 of file PathPlanner.h.

Referenced by PathPlanner::findWorldCoords().

location goal [protected]

Definition at line 80 of file PathPlanner.h.

Referenced by PathPlanner::initialize().

AngTwoPi goalOrientation

Definition at line 86 of file PathPlanner.h.

Referenced by PathPlanner::initialize().

Point goalPt

Definition at line 85 of file PathPlanner.h.

Referenced by PathPlanner::initialize().

std::map<unsigned int, PointData> landmarks [protected]

Definition at line 91 of file PathPlanner.h.

Referenced by PathPlanner::addLandmark(), PathPlanner::computeLandmarkCosts(), PathPlanner::findLMs(), and PathPlanner::initialize().

std::map<unsigned int, unsigned int> lmCosts [protected]

Definition at line 93 of file PathPlanner.h.

Referenced by PathPlanner::computeLandmarkCosts(), PathPlanner::findLinks(), and PathPlanner::initialize().

unsigned int maxDistance

Definition at line 82 of file PathPlanner.h.

Referenced by PathPlanner::isLMVisible().

float minX [protected]

Definition at line 79 of file PathPlanner.h.

Referenced by PathPlanner::findWorldCoords().

float minY [protected]

Definition at line 79 of file PathPlanner.h.

Referenced by PathPlanner::findWorldCoords().

unsigned int numX [protected]

Definition at line 78 of file PathPlanner.h.

Referenced by PathPlanner::findLinks(), PathPlanner::initialize(), and PathPlanner::PathPlanner().

unsigned int numY [protected]

Definition at line 78 of file PathPlanner.h.

Referenced by PathPlanner::findLinks(), PathPlanner::findWorldCoords(), PathPlanner::initialize(), PathPlanner::PathPlanner(), and PathPlanner::toString().

std::vector<std::pair<Point, unsigned int> > obstacles [protected]

Definition at line 94 of file PathPlanner.h.

Referenced by PathPlanner::addLandmarkAsObstacle(), and PathPlanner::initialize().

std::priority_queue<edge,std::vector<edge>,lessCost> reached [protected]

Definition at line 76 of file PathPlanner.h.

Referenced by PathPlanner::findLinks(), PathPlanner::findPath(), and PathPlanner::initialize().

const int size = 300 [static, protected]

Definition at line 77 of file PathPlanner.h.

location start [protected]

Definition at line 80 of file PathPlanner.h.

Referenced by PathPlanner::findPath(), and PathPlanner::initialize().

AngTwoPi startOrientation

Definition at line 86 of file PathPlanner.h.

Referenced by PathPlanner::initialize().

Point startPt

Definition at line 85 of file PathPlanner.h.

Referenced by PathPlanner::initialize().

std::vector<state*>* unreached [protected]

Definition at line 73 of file PathPlanner.h.

Referenced by PathPlanner::fillState(), PathPlanner::findPath(), PathPlanner::initialize(), PathPlanner::PathPlanner(), PathPlanner::thereIs(), and PathPlanner::~PathPlanner().

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

• PathPlanner.h
• PathPlanner.cc