mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid Class Reference

An internal class for storing the collision grid. More...

#include <mrpt/reactivenav/CParameterizedTrajectoryGenerator.h>

List of all members.

Classes
struct	TCell
	The cell structure:. More...
Public Member Functions
	CColisionGrid (float rangoXmin, float rangoXmax, float rangoYmin, float rangoYmax, float resolucionX, float resolucionY, float securityDistance)
	~CColisionGrid ()
bool	saveToFile (mrpt::utils::CStream *fil)
bool	loadFromFile (mrpt::utils::CStream *fil)
float	getXmin ()
float	getXmax ()
float	getYmin ()
float	getYmax ()
int	getCellsX ()
int	getCellsY ()
int	getCellsTotal ()
int	getCellIndex (int idx_x, int idx_y)
float	getSecurityDistance ()
void	getTPObstacle (float obsX, float obsY, size_t &nRegistros, unsigned short **distancias, unsigned short **ks)
void	getCellCoords (int cellIndex, float &x1, float &y1, float &x2, float &y2)
void	updateCellInfo (int cellIndex, unsigned short k, float dist)
	Updates the info into a cell: It updates the cell only if the distance d for the path k is lower than the previous value:.
int	Coord_a_indice (float x, float y)
	Coordinates to index calculation.
void	Coord_a_indice (float x, float y, int &idx_x, int &idx_y)
	Coordinates to indexes calculation.
Private Attributes
int	nCeldasX
int	nCeldasY
float	rangoXmin
float	rangoXmax
float	rangoYmin
float	rangoYmax
float	resolucionX
float	resolucionY
float	securityDistance
TCell *	celdas

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Detailed Description

An internal class for storing the collision grid.

Definition at line 174 of file CParameterizedTrajectoryGenerator.h.

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Constructor & Destructor Documentation

mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::CColisionGrid	(	float	rangoXmin,
		float	rangoXmax,
		float	rangoYmin,
		float	rangoYmax,
		float	resolucionX,
		float	resolucionY,
		float	securityDistance
	)

mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::~CColisionGrid

(

)

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Member Function Documentation

void mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::Coord_a_indice	(	float	x,
		float	y,
		int &	idx_x,
		int &	idx_y
	)

Coordinates to indexes calculation.

int mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::Coord_a_indice	(	float	x,
		float	y
	)

Coordinates to index calculation.

Return -1 if out of grid.

void mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::getCellCoords	(	int	cellIndex,
		float &	x1,
		float &	y1,
		float &	x2,
		float &	y2
	)

int mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::getCellIndex	(	int	idx_x,
		int	idx_y
	)			[inline]

Definition at line 194 of file CParameterizedTrajectoryGenerator.h.

int mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::getCellsTotal

(

)

[inline]

Definition at line 193 of file CParameterizedTrajectoryGenerator.h.

int mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::getCellsX

(

)

[inline]

Definition at line 191 of file CParameterizedTrajectoryGenerator.h.

int mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::getCellsY

(

)

[inline]

Definition at line 192 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::getSecurityDistance

(

)

[inline]

Definition at line 195 of file CParameterizedTrajectoryGenerator.h.

void mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::getTPObstacle	(	float	obsX,
		float	obsY,
		size_t &	nRegistros,
		unsigned short **	distancias,
		unsigned short **	ks
	)

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::getXmax

(

)

[inline]

Definition at line 188 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::getXmin

(

)

[inline]

Definition at line 187 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::getYmax

(

)

[inline]

Definition at line 190 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::getYmin

(

)

[inline]

Definition at line 189 of file CParameterizedTrajectoryGenerator.h.

bool mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::loadFromFile

(

mrpt::utils::CStream *

fil

)

bool mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::saveToFile

(

mrpt::utils::CStream *

fil

)

void mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::updateCellInfo	(	int	cellIndex,
		unsigned short	k,
		float	dist
	)

Updates the info into a cell: It updates the cell only if the distance d for the path k is lower than the previous value:.

Parameters:

	cellInfo	The index of the cell
	k	The path index (alfa discreet value)
	d	The distance (in TP-Space, range 0..1) to collision.

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Member Data Documentation

TCell* mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::celdas [private]

Definition at line 241 of file CParameterizedTrajectoryGenerator.h.

int mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::nCeldasX [private]

Definition at line 236 of file CParameterizedTrajectoryGenerator.h.

int mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::nCeldasY [private]

Definition at line 236 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::rangoXmax [private]

Definition at line 237 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::rangoXmin [private]

Definition at line 237 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::rangoYmax [private]

Definition at line 237 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::rangoYmin [private]

Definition at line 237 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::resolucionX [private]

Definition at line 238 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::resolucionY [private]

Definition at line 238 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator::CColisionGrid::securityDistance [private]

Definition at line 239 of file CParameterizedTrajectoryGenerator.h.