jafar::lgl::PursuitNavigator Class Reference

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Detailed Description

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PursuitNavigator is the class for navigation use bay the pursuit module, and especially in the PursuitGraph. It contains information about the robot and the target traversability, and provide a few services used for the PursuitGraph computation.

Definition at line 106 of file PursuitNavigator.hpp.

#include <PursuitNavigator.hpp>

List of all members.

Public Member Functions
	PursuitNavigator (const std::string &robotAccessMapPath, const std::string &targetAccessMapPath)
	~PursuitNavigator ()
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void	findRobotAccessibility (const Cell_ID &currentRobotPos, std::set< Cell_ID > &robotAccess)
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void	findTargetAccessibility (const std::set< Cell_ID > &currentTargetPos, std::set< Cell_ID > &targetAcess)
double	distCellID (Cell_ID a, Cell_ID b)
double	distPos (pNavPos A, pNavPos B)
double	distPos (int xA, int yA, int xB, int yB)
bool	navAStar (Cell_ID start, Cell_ID goal, std::vector< Cell_ID > &Path)
bool	navAStar (int xStart, int yStart, int xGoal, int yGoal, std::vector< Cell_ID > &Path)
bool	nav2Set (Cell_ID start, const std::set< Cell_ID > &goals, std::vector< Cell_ID > &Path)
bool	nav2Set (int xStart, int yStart, const std::set< Cell_ID > &goals, std::vector< Cell_ID > &Path)
bool	nav2Set (Cell_ID start, const std::set< Cell_ID > &goals, std::vector< Cell_ID > &Path, const unsigned int &pursuitTemporalTolerance)
double	heuristic (int xA, int yA, int xB, int yB)
void	addNeighbours (boost::shared_ptr< pNavPos > &currPos, const int &xGoal, const int &yGoal, std::set< boost::shared_ptr< pNavPos >, ptr_cmp > &visitedPos, std::list< boost::shared_ptr< pNavPos > > &queue)
void	addNeighbours_classic (boost::shared_ptr< pNavPos > &currPos, std::set< boost::shared_ptr< pNavPos >, ptr_cmp > &visitedPos, std::list< boost::shared_ptr< pNavPos > > &queue)
void	findIdealPositions (const std::set< Cell_ID > &targetPos, std::set< Cell_ID > &positions)
GeoData *	getrobGeoData ()
GeoData *	gettarGeoData ()
unsigned int	getysize () const
unsigned int	getxsize () const
Private Attributes
GeoData *	robGeoData
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GeoData *	tarGeoData
unsigned int	ysize
unsigned int	xsize

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Constructor & Destructor Documentation

jafar::lgl::PursuitNavigator::PursuitNavigator	(	const std::string &	robotAccessMapPath,
		const std::string &	targetAccessMapPath
	)		[inline]

Parameters:

robotAccessMapPath	Path for the bitmap file to load by GeoData for the robot accessibility.
targetAccessMapPath	Path for the bitmap file to load by GeoData for the target accessibility.

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Definition at line 129 of file PursuitNavigator.hpp.

References robGeoData.

jafar::lgl::PursuitNavigator::~PursuitNavigator

(

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[inline]

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Definition at line 139 of file PursuitNavigator.hpp.

References robGeoData.

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

• modules/lgl/include/lgl/PursuitNavigator.hpp