ShortestPathFasterAlgorithm Class Reference

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

Classes
struct	ClosestReachableResult
struct	Parameters
struct	PlanningResult
struct	Result

Public Member Functions
PlanningResult	constructPath (const Eigen::Vector2f &start, const std::vector< std::vector< Eigen::Vector2i > > &spfaParents, const Eigen::Vector2f &goal) const
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.
Result	spfa (const Eigen::Vector2f &start, bool checkStartForCollision=true) const

Detailed Description

Definition at line 34 of file ShortestPathFasterAlgorithm.h.

Constructor & Destructor Documentation

ShortestPathFasterAlgorithm()

ShortestPathFasterAlgorithm	(	const Costmap &	costmap,
		const Parameters &	params )

Definition at line 69 of file ShortestPathFasterAlgorithm.cpp.

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Member Function Documentation

constructPath()

ShortestPathFasterAlgorithm::PlanningResult constructPath	(	const Eigen::Vector2f &	start,
		const std::vector< std::vector< Eigen::Vector2i > > &	spfaParents,
		const Eigen::Vector2f &	goal ) const

Definition at line 102 of file ShortestPathFasterAlgorithm.cpp.

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plan()

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

Definition at line 78 of file ShortestPathFasterAlgorithm.cpp.

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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 181 of file ShortestPathFasterAlgorithm.cpp.

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spfa() [2/2]

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

Definition at line 163 of file ShortestPathFasterAlgorithm.cpp.

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

• armarx/navigation/algorithms/spfa/ShortestPathFasterAlgorithm.h
• armarx/navigation/algorithms/spfa/ShortestPathFasterAlgorithm.cpp