jafar::lgl::CostManager Class Reference

Cost manager take care of the cost computing between two given ADJACENT positions in a graph and conversion between the cost and the time taken by the robot to travel this edge. More...

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Detailed Description

Cost manager take care of the cost computing between two given ADJACENT positions in a graph and conversion between the cost and the time taken by the robot to travel this edge.

Definition at line 32 of file CostManager.hpp.

#include <CostManager.hpp>

List of all members.

Public Types
enum	DIST_TYPE { EUCLIDEAN = 0, MANHATTAN }
	Different distance types.
Public Member Functions
	CostManager (GeoData *_geodata, Quadtree< double, GeoData > *_quadtree, PositionManager *_posManager, DIST_TYPE _distType=EUCLIDEAN)
void	setDistType (DIST_TYPE _distType)
	Set the way distances will be calculated.
void	setObstacleLimit (double pol)
	Set the obstacle probability limit.
bool	weight (RasterCellIndex locClusterRootIndex, const NavLocation &loc1, const NavLocation &loc2, double &weight)
	New navigation cost function.
bool	weight (const NavLocation &loc1, const NavLocation &loc2, double &weight)
	Effective Weighting function.
bool	weight (const NavLocation &loc1, const NavLocation &loc2, double costAtLoc2, double &weight)
	Weighting function adding the effect of the resulting position.
Protected Attributes
GeoData *	geodata
	GeoData with GDAL dataset.
PositionManager *	posManager
	Position manager holding navigation location.
Quadtree< double, GeoData > *	quadtree
	Quadtree holding the world decomposition structure.
DIST_TYPE	distType
	Used distance for weight calculation.
double	obstacleLimit
	Obstacle probability limit.

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Member Function Documentation

void jafar::lgl::CostManager::setDistType

(

DIST_TYPE

_distType

)

Set the way distances will be calculated.

Parameters:

_distType

New distance type to use.

void jafar::lgl::CostManager::setObstacleLimit

(

double

pol

)

Set the obstacle probability limit.

Above this limit and from it, weights will be considered as maximum (infinity)

Parameters:

pol	obstacle probability limit

bool jafar::lgl::CostManager::weight	(	RasterCellIndex	locClusterRootIndex,
		const NavLocation &	loc1,
		const NavLocation &	loc2,
		double &	weight
	)

New navigation cost function.

Parameters:

locClusterRootIndex

localisation of the edge cluster to be able to get attributes from it (thanks to the positionManager)

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Member Data Documentation

DIST_TYPE jafar::lgl::CostManager::distType [protected]

Used distance for weight calculation.

See also:

enum DIST_TYPE

Definition at line 85 of file CostManager.hpp.

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

• modules/lgl/include/lgl/CostManager.hpp