cajun::curved_path_extractor_t Class Reference

#include <curved_path_extractor.H>

Inheritance diagram for cajun::curved_path_extractor_t:

Classes
struct	cmp_node_t
struct	ep_node_t
Public Member Functions
	curved_path_extractor_t (double cell_size_, obstacle_free_t *of_)
Private Member Functions
bool	extract (double tstamp_, path_t &path_, path_t &detail_path_, double orient_)
void	clear_work_list ()
ep_node_t *	bsd_search (path_t &path_)
void	create_start_node (ep_node_t *start_node_, path_t const &detail_path_, double orient_)
void	create_ith_child (ep_node_t parent_node, unsigned child_id, ep_node_t &child_node)
bool	stop_exploring (ep_node_t *node_)
bool	through_bad_part (ep_node_t const *node_)
bool	point_over_bad_part (double x_, double y_)
bool	outside_zone (ep_node_t const *node_)
bool	reached_goal (ep_node_t const *node)
void	form_new_node (ep_node_t start_node_, ep_node_t new_node_, unsigned child_id_)
void	extract_path (ep_node_t *start_node, path_t &path_)
	Extracts path from the start search node.
double	get_cost_at_xy (double x_, double y_)
double	orientation_to_goal (ep_node_t const *node_)
bool	approaching_wrong (ep_node_t const *start_node_)
void	write_to_file (FILE fp, ep_node_t node1, ep_node_t *node2)
Private Attributes
std::priority_queue< ep_node_t , std::vector< ep_node_t > , cmp_node_t >	m_work_list
obstacle_free_t *	m_obstacle_free
double	m_start_x
double	m_start_y
std::vector< double >	m_orient_step
double	m_dis_step_size
const uc_planner_param_t *	m_uc_param
unsigned	m_depth
unsigned	m_count
Static Private Attributes
static const unsigned	MAX_CHILDREN = 3

Constructor & Destructor Documentation

curved_path_extractor_t::curved_path_extractor_t	(	double	cell_size_,
		obstacle_free_t *	of_
	)

References cajun::uc_planner_param_t::get_uc_planner_param(), cajun::path_extractor_t::m_cell_size, cajun::uc_planner_param_t::m_curved_path_num_one_side_steps, cajun::uc_planner_param_t::m_curved_path_step_size, m_dis_step_size, m_orient_step, m_uc_param, and cajun::uc_planner_param_t::m_vehicle_turn_radius.

Member Function Documentation

bool curved_path_extractor_t::approaching_wrong ( ep_node_t const * start_node_ ) [private]

References cajun::gc_oracle_t::cost(), cajun::path_extractor_t::m_gc_oracle, cajun::path_extractor_t::m_goal_orient, cajun::path_extractor_t::m_search_grid, cajun::curved_path_extractor_t::ep_node_t::parent_node, cajun::curved_path_extractor_t::ep_node_t::x, and cajun::curved_path_extractor_t::ep_node_t::y.

Referenced by stop_exploring().

curved_path_extractor_t::ep_node_t * curved_path_extractor_t::bsd_search ( path_t & path_ ) [private]

References clear_work_list(), create_ith_child(), m_orient_step, m_work_list, reached_goal(), stop_exploring(), through_bad_part(), and write_to_file().

Referenced by extract().

void curved_path_extractor_t::clear_work_list ( ) [private]

References m_work_list.

Referenced by bsd_search().

void curved_path_extractor_t::create_ith_child	(	ep_node_t *	parent_node,
		unsigned	child_id,
		ep_node_t *&	child_node
	)			`[private]`

Referenced by bsd_search().

void curved_path_extractor_t::create_start_node	(	ep_node_t *	start_node_,
		path_t const &	detail_path_,
		double	orient_
	)			`[private]`

Referenced by extract().

bool curved_path_extractor_t::extract	(	double	tstamp_,
		path_t &	path_,
		path_t &	detail_path_,
		double	orient_
	)			`[private, virtual]`

Implements cajun::path_extractor_t.

References bsd_search(), create_start_node(), extract_path(), m_count, m_depth, and m_work_list.

void curved_path_extractor_t::extract_path	(	ep_node_t *	start_node,
		path_t &	path_
	)			`[private]`

Extracts path from the start search node.

References cajun::path_extractor_t::m_search_grid, cajun::curved_path_extractor_t::ep_node_t::parent_node, cajun::curved_path_extractor_t::ep_node_t::x, and cajun::curved_path_extractor_t::ep_node_t::y.

Referenced by extract().

void cajun::curved_path_extractor_t::form_new_node	(	ep_node_t *	start_node_,
		ep_node_t *	new_node_,
		unsigned	child_id_
	)			`[private]`

double curved_path_extractor_t::get_cost_at_xy	(	double	x_,
		double	y_
	)			`[private]`

References cajun::gc_oracle_t::cost(), cajun::path_extractor_t::m_gc_oracle, and cajun::path_extractor_t::m_search_grid.

Referenced by create_start_node().

double curved_path_extractor_t::orientation_to_goal ( ep_node_t const * node_ ) [private]

References cajun::path_extractor_t::m_goal_x, cajun::path_extractor_t::m_goal_y, cajun::curved_path_extractor_t::ep_node_t::x, and cajun::curved_path_extractor_t::ep_node_t::y.

bool cajun::curved_path_extractor_t::outside_zone ( ep_node_t const * node_ ) [private]

bool curved_path_extractor_t::point_over_bad_part	(	double	x_,
		double	y_
	)			`[private]`

References cajun::gc_oracle_t::cost(), cajun::path_extractor_t::m_gc_oracle, and cajun::path_extractor_t::m_search_grid.

Referenced by through_bad_part().

bool curved_path_extractor_t::reached_goal ( ep_node_t const * node ) [private]

References cajun::gc_oracle_t::cost(), m_depth, cajun::path_extractor_t::m_gc_oracle, cajun::path_extractor_t::m_goal_orient, cajun::uc_planner_param_t::m_min_cost_to_consider_reached_goal, cajun::path_extractor_t::m_search_grid, m_uc_param, cajun::curved_path_extractor_t::ep_node_t::parent_node, cajun::curved_path_extractor_t::ep_node_t::x, and cajun::curved_path_extractor_t::ep_node_t::y.

Referenced by bsd_search().

bool curved_path_extractor_t::stop_exploring ( ep_node_t * node_ ) [private]

References approaching_wrong(), cajun::uc_planner_param_t::m_curved_path_max_search_depth, m_depth, and m_uc_param.

Referenced by bsd_search().

bool curved_path_extractor_t::through_bad_part ( ep_node_t const * node_ ) [private]

References cajun::gc_oracle_t::cost(), dx, dy, cajun::uc_planner_param_t::m_bot_box_within, cajun::uc_planner_param_t::m_check_safety_region_around_box, cajun::path_extractor_t::m_gc_oracle, m_obstacle_free, cajun::path_extractor_t::m_search_grid, m_uc_param, cajun::obstacle_free_t::obstacle_in_region(), cajun::curved_path_extractor_t::ep_node_t::parent_node, point_over_bad_part(), cajun::path_extractor_t::search_to_global_x(), cajun::path_extractor_t::search_to_global_y(), cajun::curved_path_extractor_t::ep_node_t::x, and cajun::curved_path_extractor_t::ep_node_t::y.

Referenced by bsd_search().

void curved_path_extractor_t::write_to_file	(	FILE *	fp,
		ep_node_t *	node1,
		ep_node_t *	node2
	)			`[private]`

References cajun::path_extractor_t::m_search_grid, cajun::path_extractor_t::search_to_global_x(), cajun::path_extractor_t::search_to_global_y(), cajun::curved_path_extractor_t::ep_node_t::x, and cajun::curved_path_extractor_t::ep_node_t::y.

Referenced by bsd_search().

Member Data Documentation

unsigned cajun::curved_path_extractor_t::m_count [private]

Referenced by extract().

unsigned cajun::curved_path_extractor_t::m_depth [private]

Referenced by extract(), reached_goal(), and stop_exploring().

double cajun::curved_path_extractor_t::m_dis_step_size [private]

Referenced by create_ith_child(), and curved_path_extractor_t().

obstacle_free_t* cajun::curved_path_extractor_t::m_obstacle_free [private]

Referenced by through_bad_part().

std::vector<double> cajun::curved_path_extractor_t::m_orient_step [private]

Referenced by bsd_search(), create_ith_child(), and curved_path_extractor_t().

double cajun::curved_path_extractor_t::m_start_x [private]

double cajun::curved_path_extractor_t::m_start_y [private]

const uc_planner_param_t* cajun::curved_path_extractor_t::m_uc_param [private]

Referenced by curved_path_extractor_t(), reached_goal(), stop_exploring(), and through_bad_part().

std::priority_queue<ep_node_t *, std::vector<ep_node_t *>, cmp_node_t> cajun::curved_path_extractor_t::m_work_list [private]

Referenced by bsd_search(), clear_work_list(), and extract().

const unsigned cajun::curved_path_extractor_t::MAX_CHILDREN = 3 [static, private]

Referenced by create_ith_child(), and create_start_node().

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

cajun::curved_path_extractor_t Class Reference

Classes

Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation