#include <mrpt/reactivenav/CParameterizedTrajectoryGenerator.h>
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 |
TCell * | celdas |
Definition at line 174 of file CParameterizedTrajectoryGenerator.h.
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 | ( | ) |
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:.
cellInfo | The index of the cell | |
k | The path index (alfa discreet value) | |
d | The distance (in TP-Space, range 0..1) to collision. |
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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