79 lines
3.1 KiB
C++
Executable File
79 lines
3.1 KiB
C++
Executable File
/*********************************************************************
|
|
*
|
|
* Software License Agreement (BSD License)
|
|
*
|
|
* Copyright (c) 2008, 2013, Willow Garage, Inc.
|
|
* All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* * Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* * Redistributions in binary form must reproduce the above
|
|
* copyright notice, this list of conditions and the following
|
|
* disclaimer in the documentation and/or other materials provided
|
|
* with the distribution.
|
|
* * Neither the name of Willow Garage, Inc. nor the names of its
|
|
* contributors may be used to endorse or promote products derived
|
|
* from this software without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
|
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
|
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
* Author: Eitan Marder-Eppstein
|
|
* David V. Lu!!
|
|
*********************************************************************/
|
|
#ifndef _GRADIENT_PATH_H
|
|
#define _GRADIENT_PATH_H
|
|
|
|
#include<global_planner/traceback.h>
|
|
#include <math.h>
|
|
#include <algorithm>
|
|
|
|
namespace global_planner {
|
|
|
|
class GradientPath : public Traceback {
|
|
public:
|
|
GradientPath(PotentialCalculator* p_calc);
|
|
virtual ~GradientPath();
|
|
|
|
void setSize(int xs, int ys);
|
|
|
|
//
|
|
// Path construction
|
|
// Find gradient at array points, interpolate path
|
|
// Use step size of pathStep, usually 0.5 pixel
|
|
//
|
|
// Some sanity checks:
|
|
// 1. Stuck at same index position
|
|
// 2. Doesn't get near goal
|
|
// 3. Surrounded by high potentials
|
|
//
|
|
bool getPath(float* potential, double start_x, double start_y, double end_x, double end_y, std::vector<std::pair<float, float> >& path);
|
|
private:
|
|
inline int getNearestPoint(int stc, float dx, float dy) {
|
|
int pt = stc + (int)round(dx) + (int)(xs_ * round(dy));
|
|
return std::max(0, std::min(xs_ * ys_ - 1, pt));
|
|
}
|
|
float gradCell(float* potential, int n);
|
|
|
|
float *gradx_, *grady_; /**< gradient arrays, size of potential array */
|
|
|
|
float pathStep_; /**< step size for following gradient */
|
|
};
|
|
|
|
} //end namespace global_planner
|
|
#endif
|