ShortestPathFasterAlgorithm Class Reference

#include <armarx/navigation/algorithms/spfa/ShortestPathFasterAlgorithm.h>

Classes

struct  Parameters
 
struct  PlanningResult
 
struct  Result
 

Public Member Functions

PlanningResult plan (const Eigen::Vector2f &start, const Eigen::Vector2f &goal, bool checkStartForCollision=true) const
 
 ShortestPathFasterAlgorithm (const Costmap &costmap, const Parameters &params)
 
Result spfa (const Eigen::MatrixXf &inputMap, const Eigen::Vector2i &source, bool checkStartForCollision=true) const
 Implementation highly inspired by github.com:jimmyyhwu/spatial-action-maps. More...
 
Result spfa (const Eigen::Vector2f &start, bool checkStartForCollision=true) const
 

Detailed Description

Definition at line 33 of file ShortestPathFasterAlgorithm.h.

Constructor & Destructor Documentation

◆ ShortestPathFasterAlgorithm()

ShortestPathFasterAlgorithm ( const Costmap costmap,
const Parameters params 
)

Definition at line 58 of file ShortestPathFasterAlgorithm.cpp.

+ Here is the call graph for this function:

Member Function Documentation

◆ plan()

ShortestPathFasterAlgorithm::PlanningResult plan ( const Eigen::Vector2f &  start,
const Eigen::Vector2f &  goal,
bool  checkStartForCollision = true 
) const

Definition at line 67 of file ShortestPathFasterAlgorithm.cpp.

+ Here is the call graph for this function:
+ Here is the caller graph for this function:

◆ spfa() [1/2]

ShortestPathFasterAlgorithm::Result spfa ( const Eigen::MatrixXf &  inputMap,
const Eigen::Vector2i &  source,
bool  checkStartForCollision = true 
) const

Implementation highly inspired by github.com:jimmyyhwu/spatial-action-maps.

Parameters
input_map
source
Returns
Result

Definition at line 146 of file ShortestPathFasterAlgorithm.cpp.

+ Here is the call graph for this function:

◆ spfa() [2/2]

ShortestPathFasterAlgorithm::Result spfa ( const Eigen::Vector2f &  start,
bool  checkStartForCollision = true 
) const

Definition at line 139 of file ShortestPathFasterAlgorithm.cpp.

+ Here is the call graph for this function:
+ Here is the caller graph for this function:

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