Public Member Functions
	GraphSearch (const char *cMap, int xDim, int yDim, double eps=1, bool verbose=false)
	2D graph search constructor More...

	GraphSearch (const char *cMap, int xDim, int yDim, int zDim, double eps=1, bool verbose=false)
	3D graph search constructor More...

bool	plan (int xStart, int yStart, int xGoal, int yGoal, bool useJps, int maxExpand=-1)
	start 2D planning thread More...

bool	plan (int xStart, int yStart, int zStart, int xGoal, int yGoal, int zGoal, bool useJps, int maxExpand=-1)
	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
bool	plan (StatePtr &currNode_ptr, int max_expand, 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*.

void	getJpsSucc (const StatePtr &curr, std::vector< int > &succ_ids, std::vector< double > &succ_costs)
	Get successor function for JPS.

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.

bool	isOccupied (int x, int y) const
	Check if (x, y) is occupied.

bool	isOccupied (int x, int y, int z) const
	Check if (x, y, z) is occupied.

double	getHeur (int x, int y) const
	Clculate heuristic.

double	getHeur (int x, int y, int z) const
	Clculate heuristic.

bool	hasForced (int x, int y, int dx, int dy)
	Determine if (x, y) has forced neighbor with direction (dx, dy)

bool	hasForced (int x, int y, int z, int dx, int dy, int dz)
	Determine if (x, y, z) has forced neighbor with direction (dx, dy, dz)

bool	jump (int x, int y, int dx, int dy, int &new_x, int &new_y)
	2D jump, return true iff finding the goal or a jump point

bool	jump (int x, int y, int z, int dx, int dy, int dz, int &new_x, int &new_y, int &new_z)
	3D jump, return true iff finding the goal or a jump point

void	init2DJps ()
	Initialize 2D jps arrays.

Detailed Description

Implement A* and Jump Point Search

Constructor & Destructor Documentation

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
verbose	flag for printing debug info, optional, default as 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
verbose	flag for printing debug info, optional, default as False

start 2D planning thread

Parameters

xStart	start x coordinate
yStart	start y coordinate
xGoal	goal x coordinate
yGoal	goal y coordinate
useJps	if true, enable JPS search; else the planner is implementing A*
maxExpand	maximum number of expansion allowed, optional, default is -1, means no limitation

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
useJps	if true, enable JPS search; else the planner is implementing A*
maxExpand	maximum number of expansion allowed, optional, default is -1, means no limitation

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