GraphSearch class. More...
#include <graph_search.h>
Public Member Functions | |
| GraphSearch (const int8_t *cMap, int xDim, int yDim, double eps=1, double cweight=0.1, bool verbose=false) | |
| 2D graph search constructor More... | |
| GraphSearch (const int8_t *cMap, int xDim, int yDim, int zDim, double eps=1, double cweight=0.1, bool verbose=false) | |
| 3D graph search constructor More... | |
| double | plan (int xStart, int yStart, int xGoal, int yGoal, std::vector< bool > in_region=std::vector< bool >()) |
| start 2D planning thread More... | |
| double | plan (int xStart, int yStart, int zStart, int xGoal, int yGoal, int zGoal, std::vector< bool > in_region=std::vector< bool >()) |
| start 3D planning thread More... | |
| std::vector< StatePtr > | getPath () const |
| Get the optimal path. | |
| std::vector< StatePtr > | getOpenSet () const |
| Get the states in open set. | |
| std::vector< StatePtr > | getCloseSet () const |
| Get the states in close set. | |
| std::vector< StatePtr > | getAllSet () const |
| Get the states in hash map. | |
Private Member Functions | |
| double | plan (StatePtr &currNode_ptr, int start_id, int goal_id) |
| Main planning loop. | |
| void | getSucc (const StatePtr &curr, std::vector< int > &succ_ids, std::vector< double > &succ_costs) |
| Get successor function for A*. | |
| std::vector< StatePtr > | recoverPath (StatePtr node, int id) |
| Recover the optimal path. | |
| int | coordToId (int x, int y) const |
| Get subscript. | |
| int | coordToId (int x, int y, int z) const |
| Get subscript. | |
| bool | isFree (int x, int y) const |
| Check if (x, y) is free. | |
| bool | isFree (int x, int y, int z) const |
| Check if (x, y, z) is free. | |
| double | getHeur (int x, int y) const |
| Clculate heuristic. | |
| double | getHeur (int x, int y, int z) const |
| Clculate heuristic. | |
Private Attributes | |
| const int8_t * | cMap_ |
| int | xDim_ |
| int | yDim_ |
| int | zDim_ |
| double | eps_ |
| weight of heuristic | |
| double | cweight_ |
| weight of distance map | |
| bool | verbose_ |
| const int8_t | val_free_ = 0 |
| const int8_t | val_occ_ = 100 |
| int | xGoal_ |
| int | yGoal_ |
| int | zGoal_ |
| bool | use_2d_ |
| bool | global_ |
| priorityQueue | pq_ |
| std::vector< StatePtr > | hm_ |
| std::vector< bool > | seen_ |
| std::vector< bool > | in_region_ |
| std::vector< StatePtr > | path_ |
| std::vector< std::vector< int > > | ns_ |
Detailed Description
GraphSearch class.
Implement A* and Jump Point Search
Constructor & Destructor Documentation
◆ GraphSearch() [1/2]
| GraphSearch::GraphSearch | ( | const int8_t * | cMap, |
| int | xDim, | ||
| int | yDim, | ||
| double | eps = 1, |
||
| double | cweight = 0.1, |
||
| bool | verbose = false |
||
| ) |
2D graph search constructor
- Parameters
-
cMap 1D array stores the occupancy, with the order equal to 
xDim map length yDim map width eps weight of heuristic, optional, default as 1 cweight weight of distance cost, optional, default as 0.1 verbose flag for printing debug info, optional, default as false
◆ GraphSearch() [2/2]
| GraphSearch::GraphSearch | ( | const int8_t * | cMap, |
| int | xDim, | ||
| int | yDim, | ||
| int | zDim, | ||
| double | eps = 1, |
||
| double | cweight = 0.1, |
||
| bool | verbose = false |
||
| ) |
3D graph search constructor
- Parameters
-
cMap 1D array stores the occupancy, with the order equal to 
xDim map length yDim map width zDim map height eps weight of heuristic, optional, default as 1 cweight weight of distance cost, optional, default as 0.1 verbose flag for printing debug info, optional, default as False
Member Function Documentation
◆ plan() [1/2]
| double GraphSearch::plan | ( | int | xStart, |
| int | yStart, | ||
| int | xGoal, | ||
| int | yGoal, | ||
| std::vector< bool > | in_region = std::vector<bool>() |
||
| ) |
start 2D planning thread
- Parameters
-
xStart start x coordinate yStart start y coordinate xGoal goal x coordinate yGoal goal y coordinate in_region a region that is valid for searching, empty means no boundary
return the total path cost, which is infinity if failed
◆ plan() [2/2]
| double GraphSearch::plan | ( | int | xStart, |
| int | yStart, | ||
| int | zStart, | ||
| int | xGoal, | ||
| int | yGoal, | ||
| int | zGoal, | ||
| std::vector< bool > | in_region = std::vector<bool>() |
||
| ) |
start 3D planning thread
- Parameters
-
xStart start x coordinate yStart start y coordinate zStart start z coordinate xGoal goal x coordinate yGoal goal y coordinate zGoal goal z coordinate in_region a region that is valid for searching, empty means no boundary
return the total path cost, which is infinity if failed
The documentation for this class was generated from the following files:
- include/jps_planner/distance_map_planner/graph_search.h
- src/distance_map_planner/graph_search.cpp
