DMPlanner< Dim > Class Template Reference

Abstract base for planning. More...

#include <distance_map_planner.h>

Inheritance diagram for DMPlanner< Dim >:

Public Member Functions
	DMPlanner (bool verbose=false)
	Simple constructor. More...
std::vector< bool >	setPath (const vec_Vecf< Dim > &path, const Vecf< Dim > &radius, bool dense)
	set a prior path and get region around it More...
void	setSearchRadius (const Vecf< Dim > &r)
	Set search radius around a prior path.
void	setPotentialRadius (const Vecf< Dim > &r)
	Set potential radius.
void	setPotentialMapRange (const Vecf< Dim > &r)
	Set the range of potential map, 0 means the whole map.
void	setEps (double eps)
	Set heuristic weight.
void	setCweight (double c)
	Set collision cost weight.
void	setPow (int pow)
	Set the power of potential function .
int	status ()
	Status of the planner. More...
vec_Vecf< Dim >	getPath ()
	Get the modified path.
vec_Vecf< Dim >	getRawPath ()
	Get the raw path.
vec_Vecf< Dim >	getPriorPath ()
	Get the prior path.
vec_Vecf< Dim >	getOpenSet () const
	Get the nodes in open set.
vec_Vecf< Dim >	getCloseSet () const
	Get the nodes in close set.
vec_Vecf< Dim >	getAllSet () const
	Get all the nodes.
vec_Vec3f	getCloud (double h_max=1)
	Get the potential cloud.
vec_Vecf< Dim >	getSearchRegion ()
	Get the searching region.
std::shared_ptr< JPS::MapUtil< Dim > >	getMapUtil ()
	Get the internal map util.
void	setMap (const std::shared_ptr< JPS::MapUtil< Dim >> &map_util, const Vecf< Dim > &pos)
	Generate distance map. More...
bool	computePath (const Vecf< Dim > &start, const Vecf< Dim > &goal, const vec_Vecf< Dim > &path)
	Compute the optimal path.

Protected Member Functions
vec_E< std::pair< Veci< Dim >, int8_t > >	createMask (int pow)
	Create the mask for potential distance field. More...
bool	plan (const Vecf< Dim > &start, const Vecf< Dim > &goal, decimal_t eps=1, decimal_t cweight=0.1)
	Need to be specified in Child class, main planning function. More...
vec_Vecf< Dim >	removeLinePts (const vec_Vecf< Dim > &path)
	remove redundant points on the same line
vec_Vecf< Dim >	removeCornerPts (const vec_Vecf< Dim > &path)
	Remove some corner waypoints.
bool	checkAvailability (const Veci< Dim > &pn)
	check availability

Protected Attributes
std::shared_ptr< JPS::MapUtil< Dim > >	map_util_
	Assume using 3D voxel map for all 2d and 3d planning.
std::shared_ptr< DMP::GraphSearch >	graph_search_
	The planner back-end.
std::vector< bool >	search_region_
	tunnel for visualization
std::vector< int8_t >	cmap_
	1-D map array
bool	planner_verbose_
	Enabled for printing info.
double	path_cost_
	Path cost (raw)
vec_Vecf< Dim >	prior_path_
	Prior path from planner.
vec_Vecf< Dim >	raw_path_
	Raw path from planner.
vec_Vecf< Dim >	path_
	Modified path for future usage.
int	status_ = 0
	Flag indicating the success of planning.
int8_t	H_MAX {100}
	max potential value
double	eps_ {0.0}
	heuristic weight
double	cweight_ {0.1}
	potential weight
Vecf< Dim >	potential_radius_ {Vecf<Dim>::Zero()}
	radius of distance field
Vecf< Dim >	search_radius_ {Vecf<Dim>::Zero()}
	radius of searching tunnel
Vecf< Dim >	potential_map_range_ {Vecf<Dim>::Zero()}
	xy range of local distance map
int	pow_ {1}
	power index for creating mask

Detailed Description

template<int Dim>
class DMPlanner< Dim >

Abstract base for planning.

Constructor & Destructor Documentation

DMPlanner()

template<int Dim>

DMPlanner< Dim >::DMPlanner

(

bool

verbose = false

)

Simple constructor.

Parameters

verbose

enable debug mode

Member Function Documentation

createMask()

template<int Dim>

vec_E< std::pair< Veci< Dim >, int8_t > > DMPlanner< Dim >::createMask ( int  pow )

protected

Create the mask for potential distance field.

Mask for generating potential field around obstacle

plan()

template<int Dim>

bool DMPlanner< Dim >::plan ( const Vecf< Dim > &  start, const Vecf< Dim > &  goal, decimal_t  eps = 1, decimal_t  cweight = 0.1  )

protected

Need to be specified in Child class, main planning function.

check if the map exists

check availability of start

check availability of goal

setMap()

template<int Dim>

void DMPlanner< Dim >::setMap	(	const std::shared_ptr< JPS::MapUtil< Dim >> &	map_util,
		const Vecf< Dim > &	pos
	)

Generate distance map.

Parameters

map_util	MapUtil that contains the map object
pos	center of the distance map

it copies the map object, thus change the original map_uitl won't affect the internal map.

setPath()

template<int Dim>

std::vector< bool > DMPlanner< Dim >::setPath	(	const vec_Vecf< Dim > &	path,
		const Vecf< Dim > &	radius,
		bool	dense
	)

set a prior path and get region around it

Parameters

path	prior path
r	radius in x-y plane
h	height in z axis, if 2d, it's not used
dense	if true, dont need to do rayTrace

it returns the inflated region

status()

template<int Dim>

int DMPlanner< Dim >::status

(

)

Status of the planner.

0 — exit normally; -1 — no path found; 1, 2 — start or goal is not free.

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

• include/jps_planner/distance_map_planner/distance_map_planner.h
• src/distance_map_planner/distance_map_planner.cpp