#include <FacadeWriteInterface.hpp>
Inheritance diagram for estar::FacadeWriteInterface:
We split this from "read" operations in order to implement comparing repaired navigation functions with entirely replanned ones. See also class FacadeReadInterface.
Public Member Functions | |
| virtual | ~FacadeWriteInterface () |
| virtual bool | SetMeta (ssize_t ix, ssize_t iy, double meta)=0 |
| Set the kernel-dependent "meta" of a cell, which represents its traversability or collision risk. | |
| virtual bool | AddGoal (ssize_t ix, ssize_t iy, double value)=0 |
| Declare a cell to be a goal, and define the value of the navigation function at that point. | |
| virtual void | RemoveAllGoals ()=0 |
| Revert all goal cells to normal status. | |
| virtual void | ComputeOne ()=0 |
| Compute one step of wavefront propagation. | |
| virtual void | Reset ()=0 |
| Reset the algorithm, leaving only goal- and meta- information intact and re-initializing the wavefront queue to the set of goal nodes. | |
| virtual estar::FacadeWriteInterface::~FacadeWriteInterface | ( | ) | [inline, virtual] |
| virtual bool estar::FacadeWriteInterface::SetMeta | ( | ssize_t | ix, | |
| ssize_t | iy, | |||
| double | meta | |||
| ) | [pure virtual] |
Set the kernel-dependent "meta" of a cell, which represents its traversability or collision risk.
See FacadeReadInterface::GetMeta() about the interpretation of meta values.
Implemented in estar::ComparisonFacade, and estar::Facade.
| virtual bool estar::FacadeWriteInterface::AddGoal | ( | ssize_t | ix, | |
| ssize_t | iy, | |||
| double | value | |||
| ) | [pure virtual] |
Declare a cell to be a goal, and define the value of the navigation function at that point.
This method will queue the cell's neighbors for expansion. Using smoothly varying a-priori values in a goal region can significantly improve the quality of interpolation.
Implemented in estar::ComparisonFacade, and estar::Facade.
| virtual void estar::FacadeWriteInterface::RemoveAllGoals | ( | ) | [pure virtual] |
Revert all goal cells to normal status.
Useful if you just want to completely change the goal, which is the typical case. Call AddGoal() to set the new goal.
Implemented in estar::ComparisonFacade, and estar::Facade.
| virtual void estar::FacadeWriteInterface::ComputeOne | ( | ) | [pure virtual] |
Compute one step of wavefront propagation.
If there are no cells on the queue, then this method does nothing.
Implemented in estar::ComparisonFacade, and estar::Facade.
| virtual void estar::FacadeWriteInterface::Reset | ( | ) | [pure virtual] |
Reset the algorithm, leaving only goal- and meta- information intact and re-initializing the wavefront queue to the set of goal nodes.
Implemented in estar::ComparisonFacade, and estar::Facade.
