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mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid Class Reference

An internal class for storing the collision grid. More...

#include <mrpt/reactivenav/CParameterizedTrajectoryGenerator.h>

List of all members.

Classes

struct  TCell
 The cell structure:. More...

Public Member Functions

 CColisionGrid (float rangoXmin, float rangoXmax, float rangoYmin, float rangoYmax, float resolucionX, float resolucionY, float securityDistance)
 ~CColisionGrid ()
bool saveToFile (mrpt::utils::CStream *fil)
bool loadFromFile (mrpt::utils::CStream *fil)
float getXmin ()
float getXmax ()
float getYmin ()
float getYmax ()
int getCellsX ()
int getCellsY ()
int getCellsTotal ()
int getCellIndex (int idx_x, int idx_y)
float getSecurityDistance ()
void getTPObstacle (float obsX, float obsY, size_t &nRegistros, unsigned short **distancias, unsigned short **ks)
void getCellCoords (int cellIndex, float &x1, float &y1, float &x2, float &y2)
void updateCellInfo (int cellIndex, unsigned short k, float dist)
 Updates the info into a cell: It updates the cell only if the distance d for the path k is lower than the previous value:.
int Coord_a_indice (float x, float y)
 Coordinates to index calculation.
void Coord_a_indice (float x, float y, int &idx_x, int &idx_y)
 Coordinates to indexes calculation.

Private Attributes

int nCeldasX
int nCeldasY
float rangoXmin
float rangoXmax
float rangoYmin
float rangoYmax
float resolucionX
float resolucionY
float securityDistance
TCellceldas


Detailed Description

An internal class for storing the collision grid.

Definition at line 174 of file CParameterizedTrajectoryGenerator.h.


Constructor & Destructor Documentation

mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::CColisionGrid ( float  rangoXmin,
float  rangoXmax,
float  rangoYmin,
float  rangoYmax,
float  resolucionX,
float  resolucionY,
float  securityDistance 
)

mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::~CColisionGrid (  ) 


Member Function Documentation

void mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::Coord_a_indice ( float  x,
float  y,
int &  idx_x,
int &  idx_y 
)

Coordinates to indexes calculation.

int mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::Coord_a_indice ( float  x,
float  y 
)

Coordinates to index calculation.

Return -1 if out of grid.

void mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::getCellCoords ( int  cellIndex,
float &  x1,
float &  y1,
float &  x2,
float &  y2 
)

int mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::getCellIndex ( int  idx_x,
int  idx_y 
) [inline]

Definition at line 194 of file CParameterizedTrajectoryGenerator.h.

int mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::getCellsTotal (  )  [inline]

Definition at line 193 of file CParameterizedTrajectoryGenerator.h.

int mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::getCellsX (  )  [inline]

Definition at line 191 of file CParameterizedTrajectoryGenerator.h.

int mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::getCellsY (  )  [inline]

Definition at line 192 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::getSecurityDistance (  )  [inline]

Definition at line 195 of file CParameterizedTrajectoryGenerator.h.

void mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::getTPObstacle ( float  obsX,
float  obsY,
size_t &  nRegistros,
unsigned short **  distancias,
unsigned short **  ks 
)

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::getXmax (  )  [inline]

Definition at line 188 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::getXmin (  )  [inline]

Definition at line 187 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::getYmax (  )  [inline]

Definition at line 190 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::getYmin (  )  [inline]

Definition at line 189 of file CParameterizedTrajectoryGenerator.h.

bool mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::loadFromFile ( mrpt::utils::CStream fil  ) 

bool mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::saveToFile ( mrpt::utils::CStream fil  ) 

void mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::updateCellInfo ( int  cellIndex,
unsigned short  k,
float  dist 
)

Updates the info into a cell: It updates the cell only if the distance d for the path k is lower than the previous value:.

Parameters:
cellInfo The index of the cell
k The path index (alfa discreet value)
d The distance (in TP-Space, range 0..1) to collision.


Member Data Documentation

TCell* mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::celdas [private]

Definition at line 241 of file CParameterizedTrajectoryGenerator.h.

int mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::nCeldasX [private]

Definition at line 236 of file CParameterizedTrajectoryGenerator.h.

int mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::nCeldasY [private]

Definition at line 236 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::rangoXmax [private]

Definition at line 237 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::rangoXmin [private]

Definition at line 237 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::rangoYmax [private]

Definition at line 237 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::rangoYmin [private]

Definition at line 237 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::resolucionX [private]

Definition at line 238 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::resolucionY [private]

Definition at line 238 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::securityDistance [private]

Definition at line 239 of file CParameterizedTrajectoryGenerator.h.




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