ICAROUS
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Static Public Member Functions | |
static Plan | reRoute (const Plan &own, const PolyPath &pp) |
static Plan | reRoute (const Plan &own, const std::vector< PolyPath > &paths, double cellSize, bool adhere, bool solutionSmoothing) |
static Plan | reRoute (const Plan &own, const std::vector< PolyPath > &paths, bool adhere, bool solutionSmoothing) |
static Plan | reRoute (const Plan &own, const std::vector< PolyPath > &paths, bool adhere, bool solutionSmoothing, double timeOfCurrentPosition, double reRouteLeadIn) |
static Plan | reRoute (const Plan &own, const std::vector< PolyPath > &paths, bool adhere) |
static std::pair< Plan, DensityGrid > | reRoute (Position startPos, double startTime, Position endPos, double gs, const std::vector< PolyPath > &paths, double cellSize, double buffer, double factor, double T_p, std::vector< PolyPath > containment, double reRouteLeadIn) |
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static |
Produce a plan that travels between two end points and is approximately conflict free of any polygons.
(Note this code is experimental and may not always produce correct results.)
Note:
startPos | |
startTime | |
endPos | |
gs | |
paths | a list of polypaths (i.e. a collection of polygons) to be routed around |
cellSize | approximate size of grid square (in meters) |
buffer | approximate size of extended grid area (in meters) |
factor | weighting for closeness to path (1.0 = approximate distance in grid squares) |
T_p | lookahead time, relative to timeOfCurrentPosition:: Conflicts beyond this time will be ignored, which can cause unexpected behavior. It is recommended that this be turned off (set to -1) for most cases. |
containment | |
fastPolygonReroute |
param reduceGridPath , perform a low-level smoothing operation on the resulting path. this may result in a solution that is not completely conflict free.
timeOfCurrentPosition | location of aircraft in its plan (if -1 then, the first point of plan is used) |
reRouteLeadIn | leadin time from current position (wait this amount of time before maneuvar) |
Produce a plan that travels between two end points and is approximately conflict free of any polygons.
(Note this code is experimental and may not always produce correct results.)
Note:
startPos | |
startTime | |
endPos | |
gs | |
paths | a list of polypaths (i.e. a collection of polygons) to be routed around |
cellSize | approximate size of grid square (in meters) |
buffer | approximate size of extended grid area (in meters) |
factor | weighting for closeness to path (1.0 = approximate distance in grid squares) |
T_p | lookahead time, relative to timeOfCurrentPosition:: Conflicts beyond this time will be ignored, which can cause unexpected behavior. It is recommended that this be turned off (set to -1) for most cases. |
containment | |
fastPolygonReroute |
param reduceGridPath , perform a low-level smoothing operation on the resulting path. this may result in a solution that is not completely conflict free.
timeOfCurrentPosition | location of aircraft in its plan (if -1 then, the first point of plan is used) |
reRouteLeadIn | leadin time from current position (wait this amount of time before maneuvar) |