#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::CColisionGrid::CColisionGrid | ( | float | rangoXmin, | |
float | rangoXmax, | |||
float | rangoYmin, | |||
float | rangoYmax, | |||
float | resolucionX, | |||
float | resolucionY, | |||
float | securityDistance | |||
) |
mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::~CColisionGrid | ( | ) |
void mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::Coord_a_indice | ( | float | x, | |
float | y, | |||
int & | idx_x, | |||
int & | idx_y | |||
) |
Coordinates to indexes calculation.
int mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::Coord_a_indice | ( | float | x, | |
float | y | |||
) |
Coordinates to index calculation.
Return -1 if out of grid.
void mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::getCellCoords | ( | int | cellIndex, | |
float & | x1, | |||
float & | y1, | |||
float & | x2, | |||
float & | y2 | |||
) |
int mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::getCellIndex | ( | int | idx_x, | |
int | idx_y | |||
) | [inline] |
Definition at line 194 of file CParameterizedTrajectoryGenerator.h.
int mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::getCellsTotal | ( | ) | [inline] |
Definition at line 193 of file CParameterizedTrajectoryGenerator.h.
int mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::getCellsX | ( | ) | [inline] |
Definition at line 191 of file CParameterizedTrajectoryGenerator.h.
int mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::getCellsY | ( | ) | [inline] |
Definition at line 192 of file CParameterizedTrajectoryGenerator.h.
float mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::getSecurityDistance | ( | ) | [inline] |
Definition at line 195 of file CParameterizedTrajectoryGenerator.h.
void mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::getTPObstacle | ( | float | obsX, | |
float | obsY, | |||
size_t & | nRegistros, | |||
unsigned short ** | distancias, | |||
unsigned short ** | ks | |||
) |
float mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::getXmax | ( | ) | [inline] |
Definition at line 188 of file CParameterizedTrajectoryGenerator.h.
float mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::getXmin | ( | ) | [inline] |
Definition at line 187 of file CParameterizedTrajectoryGenerator.h.
float mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::getYmax | ( | ) | [inline] |
Definition at line 190 of file CParameterizedTrajectoryGenerator.h.
float mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::getYmin | ( | ) | [inline] |
Definition at line 189 of file CParameterizedTrajectoryGenerator.h.
bool mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::loadFromFile | ( | mrpt::utils::CStream * | fil | ) |
bool mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::saveToFile | ( | mrpt::utils::CStream * | fil | ) |
void mrpt::reactivenav::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. |
Definition at line 241 of file CParameterizedTrajectoryGenerator.h.
Definition at line 236 of file CParameterizedTrajectoryGenerator.h.
Definition at line 236 of file CParameterizedTrajectoryGenerator.h.
Definition at line 237 of file CParameterizedTrajectoryGenerator.h.
Definition at line 237 of file CParameterizedTrajectoryGenerator.h.
Definition at line 237 of file CParameterizedTrajectoryGenerator.h.
Definition at line 237 of file CParameterizedTrajectoryGenerator.h.
Definition at line 238 of file CParameterizedTrajectoryGenerator.h.
Definition at line 238 of file CParameterizedTrajectoryGenerator.h.
float mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::securityDistance [private] |
Definition at line 239 of file CParameterizedTrajectoryGenerator.h.
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