E* Interpolated Graph Replanner Wed Dec 12 18:55:40 2007
00001 /* 00002 * Copyright (C) 2007 Roland Philippsen <roland dot philippsen at gmx net> 00003 * 00004 * This program is free software; you can redistribute it and/or modify 00005 * it under the terms of the GNU General Public License as published by 00006 * the Free Software Foundation; either version 2 of the License, or 00007 * (at your option) any later version. 00008 * 00009 * This program is distributed in the hope that it will be useful, 00010 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00011 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00012 * GNU General Public License for more details. 00013 * 00014 * You should have received a copy of the GNU General Public License 00015 * along with this program; if not, write to the Free Software 00016 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 00017 * USA 00018 */ 00019 00020 00021 #ifndef ESTAR_GRID_HPP 00022 #define ESTAR_GRID_HPP 00023 00024 00025 #include <estar/GridNode.hpp> 00026 #include <boost/shared_ptr.hpp> 00027 00028 00029 namespace estar { 00030 00031 00032 class Algorithm; 00033 class Kernel; 00034 template<typename value_t> class flexgrid; 00035 00036 00037 class Grid 00038 { 00039 public: 00040 typedef enum { 00041 FOUR, 00042 EIGHT, 00043 SIX 00044 } neighborhood_t; 00045 00048 explicit Grid(neighborhood_t neighborhood); 00049 00051 Grid(ssize_t xbegin, ssize_t xend, 00052 ssize_t ybegin, ssize_t yend, 00053 neighborhood_t neighborhood, 00054 double meta); 00055 00061 void Init(ssize_t xbegin, ssize_t xend, 00062 ssize_t ybegin, ssize_t yend, 00063 double meta); 00064 00081 size_t AddRange(ssize_t xbegin, ssize_t xend, 00082 ssize_t ybegin, ssize_t yend, 00083 double meta, 00084 Algorithm & algo, Kernel const & kernel); 00085 00097 bool AddNode(ssize_t ix, ssize_t iy, double meta, 00098 Algorithm & algo, Kernel const & kernel); 00099 00100 00101 ssize_t GetXBegin() const; 00102 00103 ssize_t GetXEnd() const; 00104 00105 ssize_t GetYBegin() const; 00106 00107 ssize_t GetYEnd() const; 00108 00122 boost::shared_ptr<GridNode const> GetNode(ssize_t ix, ssize_t iy) const; 00123 00124 boost::shared_ptr<GridCSpace const> GetCSpace() const { return m_cspace; } 00125 00126 boost::shared_ptr<GridCSpace> GetCSpace() { return m_cspace; } 00127 00132 int ComputeGradient(ssize_t ix, ssize_t iy, 00133 double & gradx, double & grady) const; 00134 00139 bool ComputeGradient(boost::shared_ptr<GridNode const> node, 00140 double & gradx, double & grady) const; 00141 00146 int ComputeStableScaledGradient(ssize_t ix, ssize_t iy, 00148 double stepsize, 00150 double & gx, 00152 double & gy, 00154 double & dx, 00156 double & dy) const; 00157 00162 int ComputeStableScaledGradient(boost::shared_ptr<GridNode const> node, 00163 double stepsize, 00164 double & gx, 00165 double & gy, 00166 double & dx, 00167 double & dy) const; 00168 00169 neighborhood_t GetNeighborhood() const { return m_neighborhood; } 00170 00171 private: 00172 typedef GridCSpace::vertex_data_t vertex_data_t; 00173 typedef flexgrid<vertex_data_t> flexgrid_t; 00174 00175 struct offset { 00176 offset(ssize_t _dx, ssize_t _dy): dx(_dx), dy(_dy) {} 00177 ssize_t dx, dy; 00178 }; 00179 00180 typedef std::vector<offset> nbor_offset_t; 00181 00182 neighborhood_t const m_neighborhood; 00183 nbor_offset_t m_nbor_offset; 00184 00185 boost::shared_ptr<flexgrid_t> m_flexgrid; 00186 boost::shared_ptr<GridCSpace> m_cspace; 00187 00188 00193 vertex_data_t DoAddNode(ssize_t ix, ssize_t iy, double meta); 00194 00195 void InitNborStuff(); 00196 }; 00197 00198 00199 } // namespace estar 00200 00201 #endif // ESTAR_GRID_HPP