larcfm::DensityGrid Class Reference

#include <DensityGrid.h>

Inheritance diagram for larcfm::DensityGrid:

Public Member Functions
	DensityGrid ()
	DensityGrid (const BoundingRectangle &b, const NavPoint &start, const Position &end, int buffer, double sqSz, bool ll)
	DensityGrid (const Plan &p, int buffer, double squareSize)
	DensityGrid (const Plan &p, double startT, int buffer, double squareSize)
double	getNativeSquareDist () const
double	getSquareDist () const
void	snapToStart ()
std::pair< int, int >	gridPosition (Position p) const
bool	containsCell (const std::pair< int, int > &xy) const
int	sizeX () const
int	sizeY () const
Position	getPosition (int x, int y) const
Position	getPosition (const std::pair< int, int > &pii) const
Position	center (int x, int y) const
Position	center (const std::pair< int, int > &pii) const
double	getWeight (int x, int y) const
double	getWeight (const std::pair< int, int > &pii) const
void	setWeight (int x, int y, double d)
void	clearWeight (int x, int y)
void	setWeights (int minX, int minY, int maxX, int maxY, double d)
void	setWeights (double d)
void	clearWeightsOutside (SimplePoly poly)
void	setWeightsInside (SimplePoly poly, double d)
void	clearWeights ()
Position	startPoint () const
Position	endPoint () const
double	startTime () const
std::vector< std::pair< int, int > >	gridPath (const Plan &p) const
void	printGridPath (const std::vector< std::pair< int, int > > &gPath)
Plan	gridPathToPlan (const std::vector< std::pair< int, int > > &gPath, double gs, double vs)
void	setProximityWeights (const std::vector< std::pair< int, int > > &gPath, double factor, bool applyToUndefined)
void	setProximityWeights (const Plan &p, double factor, bool applyToUndefined)
void	setPolyWeights (double time, const std::vector< PolyPath > &path)
std::string	toString () const
void	printWeights () const
void	printCorners () const

Static Public Member Functions
static double	distEstLatLon (double lat1, double lat2)
static std::vector< std::pair< int, int > >	thin (const std::vector< std::pair< int, int > > &gPath)

Protected Member Functions
void	init (const BoundingRectangle &b, const NavPoint &start, const Position &end, int buffer, double sqSz, bool ll)

Protected Attributes
Position	startPoint_
double	startTime_
Position	endPoint_
std::map< std::pair< int, int >, double >	weights
std::map< std::pair< int, int >, double >::iterator	weightspos
std::map< std::pair< int, int >, std::pair< double, double > >	corners
std::map< std::pair< int, int >, std::pair< double, double > >::iterator	cornerspos
std::vector< std::pair< int, int > >::iterator	gPathpos
bool	latLon
double	squareSize
double	squareDist
int	sz_x
int	sz_y
BoundingRectangle	bounds
double	minSearchedWeightValue
double	maxSearchedWeightValue

Private Member Functions
bool	contains (const std::vector< std::pair< int, int > > &gPath, const std::pair< int, int > &pii) const

Static Private Member Functions
static double	linearEstY (double lati, double dn)
static bool	validPair (const std::pair< int, int > &p)

Detailed Description

A DensityGrid is a weighted grid that is used to support a heuristic search through a rectangular region. Each cell in the grid is roughly similar in size (in lat/lon the actual size and shape may vary somewhat with latitude). The grid enables a heuristic search that attempts to find the optimal path through the grid based on the assigned weights to cells from a start position to an end position. As an example, a search used with weather data may assign weights based the cell's distance from the end cell, as well as if the cell is free of any weather polygons.

Constructor & Destructor Documentation

DensityGrid() [1/4]

larcfm::DensityGrid::DensityGrid

(

)

Create a completely empty DensityGrid that has no specified location or area

DensityGrid() [2/4]

larcfm::DensityGrid::DensityGrid	(	const BoundingRectangle &	b,
		const NavPoint &	start,
		const Position &	end,
		int	buffer,
		double	sqSz,
		bool	ll
	)

Create a blank DensityGrid that covers a certain area. Note: grid coordinates refer to the bottom left (SW) corner of a grid square.

Parameters

b	rectangle that roughly outlines base search area
start	start position and time, should be within b
end	end position, should be within b
buffer	number of additional squares to include for each side outside of the base grid area
sqSz	approximate square size, in meters
ll	if true, coordinates are latlon, if false, euclidean

DensityGrid() [3/4]

larcfm::DensityGrid::DensityGrid	(	const Plan &	p,
		int	buffer,
		double	squareSize
	)

Create a blank DensityGrid based on a complete plan Note: grid coordinates refer to the bottom left (SW) corner of a grid square.

Parameters

p	plan that defines the base grid area
buffer	number of additional squares to include for each side outside of the base grid area
squareSize	approximate square size, in meters

DensityGrid() [4/4]

larcfm::DensityGrid::DensityGrid	(	const Plan &	p,
		double	startT,
		int	buffer,
		double	squareSize
	)

Create a blank DensityGrid based on an in-progress plan (plan points before the current time are ignored) Note: grid coordinates refer to the bottom left (SW) corner of a grid square.

Parameters

p	plan that defines the base grid area
startT	current-time in the plan
buffer	number of additional squares to include for each side outside of the base grid area
squareSize	approximate square size, in meters

Member Function Documentation

clearWeightsOutside()

void larcfm::DensityGrid::clearWeightsOutside

(

SimplePoly

poly

)

Clear all weights of grid squares whose center is outside the given (static) polygon.

Parameters

poly

getNativeSquareDist()

double larcfm::DensityGrid::getNativeSquareDist

(

)

const

Approximate size of square, in either meters (if Euclidean) or radians (if latlon)

Returns

size

Approximate size of square, in either meters (if Euclidean) or radians (if latlon)

Returns

getSquareDist()

double larcfm::DensityGrid::getSquareDist

(

)

const

Approximate size of square, in meters

Returns

size

Approximate size of square, in meters

setProximityWeights()

void larcfm::DensityGrid::setProximityWeights	(	const Plan &	p,
		double	factor,
		bool	applyToUndefined
	)

Weight against plan points. Weight should be 0 for on-plan, and factor*yxdistance for off-plan. (Weight is against the closest plan point)

Parameters

p	plan
factor	factor
applyToUndefined	true, if should be applied to undefined points

Weight against plan points.

Parameters

p
factor

setWeights() [1/2]

void larcfm::DensityGrid::setWeights

(

double

d

)

Set all weights to d

Parameters

d

weight

Set all weights to d

setWeights() [2/2]

void larcfm::DensityGrid::setWeights	(	int	minX,
		int	minY,
		int	maxX,
		int	maxY,
		double	d
	)

Set all weights to d in grid cells minX to maxX and minY to maxY, inclusive

Parameters

minX	minimum x
minY	minimum y
maxX	maximum x
maxY	maximum y
d	weight

Set all weights to d in grid cells minX to maxX and minY to maxY, inclusive

setWeightsInside()

void larcfm::DensityGrid::setWeightsInside	(	SimplePoly	poly,
		double	d
	)

set all weights of grid squares whose center is inside the given (static) polygon.

Parameters

poly	polygon
d	weight

set all weights of grid squares whose center is inside the given (static) polygon.

Parameters

poly

sizeX()

int larcfm::DensityGrid::sizeX

(

)

const

Note: the grid size should be 1 larger than expected (to allow for the first point to be in the middle of the square) The SW corner of the plan bounding box should be in square (buffer,buffer)

Returns

size

sizeY()

int larcfm::DensityGrid::sizeY

(

)

const

Note: the grid size should be 1 larger than expected (to allow for the first point to be in the middle of the square)

Returns

size

Note: the grid size should be 1 larger than expected (to allow for the first point to be in the middle of the square)

Returns

snapToStart()

void larcfm::DensityGrid::snapToStart

(

)

Adjust all grid corner coordinates so that the start point it in the center of its grid.

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

• Modules/ACCoRD/inc/DensityGrid.h
• Modules/ACCoRD/src/DensityGrid.cpp