larcfm::DensityGridAStarSearch Class Reference

Inheritance diagram for larcfm::DensityGridAStarSearch:

Classes
class	FringeEntry

Public Member Functions
double	directionCost (FringeEntry c, int x2, int y2, double directionWeight) const
double	predictedDistanceCost (std::pair< int, int > cell2, int endx, int endy, double distanceWeight) const
std::vector< std::pair< int, int > >	astar (DensityGrid &dg, int endx, int endy, std::vector< FringeEntry > &fringe, std::vector< std::pair< int, int > > &searched, bool fourway, double directionWeight, double distanceWeight, double predictedDistanceWeight) const
std::vector< std::pair< int, int > >	astarT (DensityGridTimed &dg, int endx, int endy, double gs, std::vector< FringeEntry > &fringe, std::vector< Triple< int, int, int > > &searched, bool fourway, double directionWeight, double distanceWeight, double predictedDistanceWeight) const
virtual std::vector< std::pair< int, int > >	search (DensityGrid &dg, const Position &startPos, const Position &endPos) const
virtual std::vector< std::pair< int, int > >	searchT (DensityGridTimed &dg, const Position &startPos, const Position &endPos, double startTime, double gs) const
virtual std::vector< std::pair< int, int > >	optimalPath (DensityGrid &dg) const
virtual std::vector< std::pair< int, int > >	optimalPathT (DensityGridTimed &dg) const

Static Public Member Functions
static double	getDirectionWeight ()
static void	setDirectionWeight (double dw)
static double	getDistanceWeight ()
static void	setDistanceWeight (double dw)
static bool	isFourway ()
static void	setFourway (bool fw)
static bool	isOldHeuristics ()
static void	setOldHeuristics (bool oh)
static double	getPredictedDistanceWeight ()
static void	setPredictedDistanceWeight (double pdw)

Static Public Attributes
static double	dirWeight = 0.5
static double	distWeight = 1.0
static double	predDistWeight = 2.0
static bool	fourway = false
static bool	oldHeuristics = false
static bool	gridDistances
static const double	diagonalCost = sqrt(2.0)

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

Member Function Documentation

optimalPath()

std::vector< std::pair< int, int > > larcfm::DensityGridAStarSearch::optimalPath ( DensityGrid &  dg ) const

virtual

Implements larcfm::DensityGridSearch.

optimalPathT()

std::vector< std::pair< int, int > > larcfm::DensityGridAStarSearch::optimalPathT ( DensityGridTimed &  dg ) const

virtual

Implements larcfm::DensityGridTimedSearch.

search()

std::vector< std::pair< int, int > > larcfm::DensityGridAStarSearch::search ( DensityGrid &  dg, const Position &  startPos, const Position &  endPos  ) const

virtual

Perform an astar search through the given DensitGrid, starting at startPos and ending at endPos. This assumes the grid has a set of static polygons Returns a std::vector of grid coordinates defining a path, or null if no path found. This has the side effect of setting the searchedWeights values in the DensityGrid for display or analysis purposes.

Implements larcfm::DensityGridSearch.

searchT()

std::vector< std::pair< int, int > > larcfm::DensityGridAStarSearch::searchT ( DensityGridTimed &  dg, const Position &  startPos, const Position &  endPos, double  startTime, double  gs  ) const

virtual

Perform a search on the given densitygrid, assuming a constant groundspeed. Polygons may be static or moving.

Parameters

dg	Timed density grid with polygon and initial weight information. Polygons may be mosing or static.
startPos	Start position for search.
endPos	Ending Position for search.
startTime	Absolute time to start the search at startPos
gs	ground speed of aircraft

Returns

std::vector of grid coordinates for a successful path, or null if no path found.

Implements larcfm::DensityGridTimedSearch.

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

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