Inheritance diagram for IterativeDMPlanner< Dim >:

Public Member Functions
	IterativeDMPlanner (bool verbose=false)

bool	iterativeComputePath (const Vecf< Dim > &start, const Vecf< Dim > &goal, const vec_Vecf< Dim > &path, int max_iteration)
	Iteratively compute the optimal path.

Public Member Functions inherited from DMPlanner< Dim >
	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 $H_{MAX}(1 - d/d_{max})^{pow}$ .

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.

Additional Inherited Members
Protected Member Functions inherited from DMPlanner< Dim >
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 inherited from DMPlanner< Dim >
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

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

Public Member Functions

Additional Inherited Members