estar::Grid

estar::Grid Class Reference

#include <Grid.hpp>

List of all members.

Public Types

enum neighborhood_t { FOUR, EIGHT, SIX }

Public Member Functions

Grid (neighborhood_t neighborhood)

You have to call Init() before actually using the Grid instance, otherwise you'll get segfaults.

Grid (ssize_t xbegin, ssize_t xend, ssize_t ybegin, ssize_t yend, neighborhood_t neighborhood, double meta)

Also calls Init(), see the comments there.

void Init (ssize_t xbegin, ssize_t xend, ssize_t ybegin, ssize_t yend, double meta)

Allocate memory for the grid and initialize it (set its meta, connect to neighbors).

size_t AddRange (ssize_t xbegin, ssize_t xend, ssize_t ybegin, ssize_t yend, double meta, Algorithm &algo, Kernel const &kernel)

Makes sure that the required range of indices is available, where (xend, yend) is the ONE-PAST-end marker for the X- and Y- directions.

bool AddNode (ssize_t ix, ssize_t iy, double meta, Algorithm &algo, Kernel const &kernel)

If (ix, iy) is already in the grid, simply call Algorithm::SetMeta().

ssize_t GetXBegin () const

ssize_t GetXEnd () const

ssize_t GetYBegin () const

ssize_t GetYEnd () const

boost::shared_ptr< GridNode
const > GetNode (ssize_t ix, ssize_t iy) const

A direct but slightly unsafe way of accessing a GridNode.

boost::shared_ptr< GridCSpace
const > GetCSpace () const

boost::shared_ptr< GridCSpace > GetCSpace ()

int ComputeGradient (ssize_t ix, ssize_t iy, double &gradx, double &grady) const

Returns:
-1: no such node.

bool ComputeGradient (boost::shared_ptr< GridNode const > node, double &gradx, double &grady) const

Returns:
true if there was information for both the X- and Y- directions.

int ComputeStableScaledGradient (ssize_t ix, ssize_t iy, double stepsize, double &gx, double &gy, double &dx, double &dy) const

Returns:
-1: no such node.

int ComputeStableScaledGradient (boost::shared_ptr< GridNode const > node, double stepsize, double &gx, double &gy, double &dx, double &dy) const

Returns:
0: success.

neighborhood_t GetNeighborhood () const

Private Types

typedef GridCSpace::vertex_data_t vertex_data_t

typedef flexgrid< vertex_data_t > flexgrid_t

typedef std::vector< offset > nbor_offset_t

Private Member Functions

vertex_data_t DoAddNode (ssize_t ix, ssize_t iy, double meta)

Blindly allocate a new node and add it to the flexgrid, hooking it up with its neighbors and initializing its meta.

void InitNborStuff ()

Private Attributes

neighborhood_t const m_neighborhood

nbor_offset_t m_nbor_offset

boost::shared_ptr< flexgrid_t > m_flexgrid

boost::shared_ptr< GridCSpace > m_cspace

Classes

struct offset

Member Typedef Documentation

typedef GridCSpace::vertex_data_t estar::Grid::vertex_data_t [private]

typedef flexgrid<vertex_data_t> estar::Grid::flexgrid_t [private]

typedef std::vector<offset> estar::Grid::nbor_offset_t [private]

Member Enumeration Documentation

enum estar::Grid::neighborhood_t

Enumerator:

FOUR
EIGHT
SIX

Constructor & Destructor Documentation

estar::Grid::Grid ( neighborhood_t neighborhood ) [explicit]

You have to call Init() before actually using the Grid instance, otherwise you'll get segfaults.

estar::Grid::Grid	(	ssize_t	xbegin,
		ssize_t	xend,
		ssize_t	ybegin,
		ssize_t	yend,
		neighborhood_t	neighborhood,
		double	meta
	)

Also calls Init(), see the comments there.

Member Function Documentation

void estar::Grid::Init	(	ssize_t	xbegin,
		ssize_t	xend,
		ssize_t	ybegin,
		ssize_t	yend,
		double	meta
	)

Allocate memory for the grid and initialize it (set its meta, connect to neighbors).

This is not intended for ranges that do not include 0, so all bets are off if you use it that way.

size_t estar::Grid::AddRange	(	ssize_t	xbegin,
		ssize_t	xend,
		ssize_t	ybegin,
		ssize_t	yend,
		double	meta,
		Algorithm &	algo,
		Kernel const &	kernel
	)

Makes sure that the required range of indices is available, where (xend, yend) is the ONE-PAST-end marker for the X- and Y- directions.

That is to say, after this call there is guaranteed to be a GridNode at [xend-1, yend-1] but not beyond that.

All newly created GridNode instances are initialized by calling AddNode(). The method does not modify any prior existing nodes in the given range of indices, except for adding neighborhood edges where appropriate.

Note:: This method calls Algorithm::AddVertex() in order to properly register any new nodes with the wavefront queue.

Returns:: The number of added vertices.

bool estar::Grid::AddNode	(	ssize_t	ix,
		ssize_t	iy,
		double	meta,
		Algorithm &	algo,
		Kernel const &	kernel
	)

If (ix, iy) is already in the grid, simply call Algorithm::SetMeta().

Otherwise, add a new GridNode instance, hook it up via edges to its neighbors, initialize its meta, and call Algorithm::AddVertex().

Note:: All freshly added nodes get assigned a value of infinity.

Returns:: true if a new GridNode was allocated and inserted into the grid.

ssize_t estar::Grid::GetXBegin ( ) const

ssize_t estar::Grid::GetXEnd ( ) const

ssize_t estar::Grid::GetYBegin ( ) const

ssize_t estar::Grid::GetYEnd ( ) const

boost::shared_ptr< GridNode const > estar::Grid::GetNode	(	ssize_t	ix,
		ssize_t	iy
	)			const

A direct but slightly unsafe way of accessing a GridNode.

If you want to iterate over all nodes, you should call GetCSpace() and use BaseCSpace::begin() which is much more decoupled from the grid implementation.

Note:: There is no guarantee that the entire range (GetXBegin(), GetXEnd(), GetYBegin(), GetYEnd()) is covered, so you might get null pointers.

Returns:: Can return a null pointer if there is no node residing at that index.

boost::shared_ptr<GridCSpace const> estar::Grid::GetCSpace ( ) const [inline]

boost::shared_ptr<GridCSpace> estar::Grid::GetCSpace ( ) [inline]

int estar::Grid::ComputeGradient	(	ssize_t	ix,
		ssize_t	iy,
		double &	gradx,
		double &	grady
	)			const

Returns:: -1: no such node.

0: success. 1: (partially) incomplete information.

bool estar::Grid::ComputeGradient	(	boost::shared_ptr< GridNode const >	node,
		double &	gradx,
		double &	grady
	)			const

Returns:: true if there was information for both the X- and Y- directions.

int estar::Grid::ComputeStableScaledGradient	(	ssize_t	ix,
		ssize_t	iy,
		double	stepsize,
		double &	gx,
		double &	gy,
		double &	dx,
		double &	dy
	)			const

Returns:: -1: no such node.

0: success. 1: (partially) incomplete information. 2: gradient was too small, replaced with heuristic.

Parameters:

stepsize	wanted length of (dx, dy)
gx	only valid if return 0
gy	only valid if return 0
dx	always valid
dy	always valid

int estar::Grid::ComputeStableScaledGradient	(	boost::shared_ptr< GridNode const >	node,
		double	stepsize,
		double &	gx,
		double &	gy,
		double &	dx,
		double &	dy
	)			const

Returns:: 0: success.

1: (partially) incomplete information. 2: gradient was too small, replaced with heuristic.

neighborhood_t estar::Grid::GetNeighborhood ( ) const [inline]

Grid::vertex_data_t estar::Grid::DoAddNode	(	ssize_t	ix,
		ssize_t	iy,
		double	meta
	)			`[private]`

Blindly allocate a new node and add it to the flexgrid, hooking it up with its neighbors and initializing its meta.

void estar::Grid::InitNborStuff ( ) [private]

Member Data Documentation

neighborhood_t const estar::Grid::m_neighborhood [private]

nbor_offset_t estar::Grid::m_nbor_offset [private]

boost::shared_ptr<flexgrid_t> estar::Grid::m_flexgrid [private]

boost::shared_ptr<GridCSpace> estar::Grid::m_cspace [private]

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

estar/Grid.hpp
estar/Grid.cpp

E* Interpolated Graph Replanner Wed Dec 12 18:55:50 2007


Public Types
enum	neighborhood_t { FOUR, EIGHT, SIX }
Public Member Functions
	Grid (neighborhood_t neighborhood)
	You have to call Init() before actually using the Grid instance, otherwise you'll get segfaults.
	Grid (ssize_t xbegin, ssize_t xend, ssize_t ybegin, ssize_t yend, neighborhood_t neighborhood, double meta)
	Also calls Init(), see the comments there.
void	Init (ssize_t xbegin, ssize_t xend, ssize_t ybegin, ssize_t yend, double meta)
	Allocate memory for the grid and initialize it (set its meta, connect to neighbors).
size_t	AddRange (ssize_t xbegin, ssize_t xend, ssize_t ybegin, ssize_t yend, double meta, Algorithm &algo, Kernel const &kernel)
	Makes sure that the required range of indices is available, where (xend, yend) is the ONE-PAST-end marker for the X- and Y- directions.
bool	AddNode (ssize_t ix, ssize_t iy, double meta, Algorithm &algo, Kernel const &kernel)
	If (ix, iy) is already in the grid, simply call Algorithm::SetMeta().
ssize_t	GetXBegin () const
ssize_t	GetXEnd () const
ssize_t	GetYBegin () const
ssize_t	GetYEnd () const
boost::shared_ptr< GridNode const >	GetNode (ssize_t ix, ssize_t iy) const
	A direct but slightly unsafe way of accessing a GridNode.
boost::shared_ptr< GridCSpace const >	GetCSpace () const
boost::shared_ptr< GridCSpace >	GetCSpace ()
int	ComputeGradient (ssize_t ix, ssize_t iy, double &gradx, double &grady) const
	Returns: -1: no such node.
bool	ComputeGradient (boost::shared_ptr< GridNode const > node, double &gradx, double &grady) const
	Returns: true if there was information for both the X- and Y- directions.
int	ComputeStableScaledGradient (ssize_t ix, ssize_t iy, double stepsize, double &gx, double &gy, double &dx, double &dy) const
	Returns: -1: no such node.
int	ComputeStableScaledGradient (boost::shared_ptr< GridNode const > node, double stepsize, double &gx, double &gy, double &dx, double &dy) const
	Returns: 0: success.
neighborhood_t	GetNeighborhood () const
Private Types
typedef GridCSpace::vertex_data_t	vertex_data_t
typedef flexgrid< vertex_data_t >	flexgrid_t
typedef std::vector< offset >	nbor_offset_t
Private Member Functions
vertex_data_t	DoAddNode (ssize_t ix, ssize_t iy, double meta)
	Blindly allocate a new node and add it to the flexgrid, hooking it up with its neighbors and initializing its meta.
void	InitNborStuff ()
Private Attributes
neighborhood_t const	m_neighborhood
nbor_offset_t	m_nbor_offset
boost::shared_ptr< flexgrid_t >	m_flexgrid
boost::shared_ptr< GridCSpace >	m_cspace
Classes
struct	offset