jafar::lgl::Decomp Class Reference

The geometric decomposition (quadtree, bintree or any rectangular-pattern based decomposition) More...

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Detailed Description

The geometric decomposition (quadtree, bintree or any rectangular-pattern based decomposition)

Definition at line 114 of file Decomp.hpp.

#include <Decomp.hpp>

List of all members.

Public Types
enum	SIDE { CLUSTER_TOP_SIDE, CLUSTER_RIGHT_SIDE, CLUSTER_BOTTOM_SIDE, CLUSTER_LEFT_SIDE }
typedef FlexGrid< DecompCluster * >	DecompT
Public Member Functions
	Decomp (GeoData *_raster)
int	xbegin () const
int	ybegin () const
int	xend () const
int	yend () const
int	xsize () const
int	ysize () const
int	getNbClusters () const
DecompCluster *	at (int i, int j)
	FlexGrid at() function.
bool	setCluster (const RasterRect &rect)
	Create each cluster informing xsize,ysize on top left and -xsize,-ysize on bottom right.
bool	setLeafCluster (const RasterRect &rect)
bool	setUniformClusters (const RasterRect &rect)
bool	getInOutPoints (const RasterCellIndex &root_cell, std::vector< NavLocation > &inout) const
	Get all input/output navigation points of this cluster represented by it root cell (i,j) in this politic, the robot can navigate only from the edges of the clusters To determine the IN and OUT points/locations, we use the center of edges of adjacent clusters.
bool	consistancyCheck () const
Private Member Functions
bool	clearCluster (const RasterRect &rect)
	Set to NULL all the cells inside of an object passed in the FlexGrid template for us it is a DecompCluster*.
bool	clear ()
	Clear the whole Decomposition.
Private Attributes
GeoData *	raster
DecompT	decomp
Friends
class	Decomp_iterator
class	NavGraph

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Member Function Documentation

bool jafar::lgl::Decomp::clearCluster

(

const RasterRect &

rect

)

[private]

Set to NULL all the cells inside of an object passed in the FlexGrid template for us it is a DecompCluster*.

Parameters:

rect	RasterRect object to indicate coordinates and size of the cluster

bool jafar::lgl::Decomp::getInOutPoints	(	const RasterCellIndex &	root_cell,
		std::vector< NavLocation > &	inout
	)		const

Get all input/output navigation points of this cluster represented by it root cell (i,j) in this politic, the robot can navigate only from the edges of the clusters To determine the IN and OUT points/locations, we use the center of edges of adjacent clusters.

The points found are expressed in navigation coordinates (1 in decomposition frame is 2 in navigation frame) making the edges' centers "countable".

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

• modules/lgl/include/lgl/Decomp.hpp