Module lgl

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Detailed Description

Version:

1.0

Author:

redouane.boumghar@laas.fr hung.cao@laas.fr

LGL stands for Laas Graph Library. It is able to read bitmaps or geospatial image to create a multi-channel GDAL Dataset. Fusing functions permits regular the loaded rasters to be transformed into one multiresolution quadtree. The quadtree grid is an heterogeneous description of the environment. A navigation graph can be built from this description.

History

• 1.0 (2011-03-09) - New place for class attributes.
• 0.9 (2010-11-29) - All basics functions are good.
• 0.1 (2009-08-06) - Initial version with only squeleton files.

Requirements

The Navigation Graph for robotics depends on Boost Graph Library (BGL).

Macro

No extra doc for macro yet.

Tcl interface (generated by swig)

The interface of the module is generated from the following files:

• lgl.i defines the wrapped classes and functions,

Classes
class	jafar::lgl::CostManager
	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...
class	jafar::lgl::LglException
	Base class for all exceptions defined in the module lgl. More...
class	jafar::lgl::GeoData
	Class for GDAL data handling. More...
class	jafar::lgl::Quadtree< T, RasterT >
	Class for quadtree utility of the module. More...
class	jafar::lgl::QuadNode< T, RasterT >
	Quadtree abstract node T is the data that each leaf holds. More...
class	jafar::lgl::QuadNodeInternal< T, RasterT >
	Internal node of the quadtree. More...
class	jafar::lgl::QuadNodeLeaf< T, RasterT >
	Leaf node of the quadtree T is the data type. More...
class	jafar::lgl::QuadMat
	Class for quadtree utility of the lgl module. More...
Files
file	CellID.hpp
	Header file to declare the type Cell_ID (use to lighten node and position representation)
file	CostManager.hpp
	Header file to declare cost manager functions.
file	Decomp.hpp
	Header file to declare classes for the geometric decomposition.
file	Decomposer.hpp
	Header file to declare and define some terrain decomposition functions.
file	Exception.hpp
	Header file to define lgl specific exceptions.
file	FlexGrid.hpp
	Header file and inline source for the FlexGrid package.
file	GraphPath.hpp
	Header file to declare the navigation graph path object.
file	Graphs.hpp
	Header file to define the navigation graph template over the Boost Graph Library.
file	InfoBand.hpp
	Header file that declares information band specific functions.
file	LandmarkBand.hpp
	Header file that declares landmark band specific functions.
file	LGLPursuitViewer.hpp
	Header file to declare Qt drawing objects and functions Used as a small IHM for the pursuit Module.
file	LGLPursuitViewer.hpp
	Header file to declare Qt drawing objects and functions Used as a small IHM for the pursuit Module.
file	LGLViewer.hpp
	Header file to declare Qt drawing objects and functions.
file	NavAStar.hpp
	Source file defining the overlay on the boost A* search.
file	NavGEdge.hpp
	Header file for the navigation graph edge structure.
file	NavGNode.hpp
	Header file for the navigation graph node structure.
file	NavGraph.hpp
	Header file declaring the navigation graph object and functions.
file	NavHeuDistances.hpp
	Header file to define inline functions for distance heuristics calculation.
file	NavHeuristics.hpp
	Header file for the navigation heuristic template.
file	PositionManager.hpp
	Header file for the position manager.
file	PursuitAPI.hpp
	Header file for the pursuit API class.
file	PursuitGNode.hpp
	Header file for the pursuit graph node class.
file	PursuitGraph.hpp
	Header file for the pursuit graph class.
file	PursuitNavigator.hpp
	Header file for the pursuit navigator class.
file	PursuitStats.hpp
	Header file for the pursuit statistics class.
file	PursuitTaskManager.hpp
	Header file for the pursuit task manager class.
file	Quadtree.hpp
	Header file for quadtree objects declarations and definitions.
file	QuadtreeMatrix.hpp
	Header file for the quadtree matrix declaration.
file	Raster.hpp
	Header file for the declaration and definition of all raster small objects.
file	RasterBand.hpp
	Header file for the GeoData Raster Bande template.
file	RobotPursuer.hpp
	Header file for the robot pursuer class.
file	Stats.hpp
	Header file for the statistics class.
file	VisibilityMap.hpp
	Header file to declare classes for the visibility computation.
file	VisibleArea.hpp
	Header file to declare classes for the visibility computation.