estar Namespace Reference

---

Detailed Description

E-Star core and utilities.

Classes
class	Algorithm
	Medium-level layer for controlling E*. More...
class	AlphaKernel
	Simple interpolating kernel. More...
struct	value_p
	Value property tag attached to C-space nodes. More...
struct	meta_p
	Meta property tag attached to C-space nodes. More...
struct	rhs_p
	"Right-hand-side" property tag attached to C-space nodes. More...
struct	flag_p
	Flag property tag attached to C-space nodes. More...
class	ComparisonFacade
struct	vertex_read_iteration
struct	edge_read_iteration
class	BaseCSpace
	Note: You cannot add vertices to this base class, use one of the derived classes instead. More...
class	CSpace
class	CustomCSpace
	It is recommened to use a custom_t that is cheap to copy by value. More...
class	GridOptions
class	AlgorithmOptions
class	Facade
	High-level interface for E-star approach to smooth dynamic navigation functions. More...
struct	carrot_item
	An element of the 'trace' of the steepest gradient from a given start position. More...
class	FacadeReadInterface
	Abstraction of operations that "read" from a Facade. More...
class	FacadeWriteInterface
	Abstraction of operations that "write" to a Facade. More...
class	flexgrid
struct	flexgrid_iterator_traits
struct	flexgrid_const_iterator_traits
class	base_flexgrid_iterator
class	flexgrid_iterator
class	const_flexgrid_iterator
class	flexgrid_traits
class	Grid
class	GridNode
	Holds a C-space vertex and associated data for a node in a Grid. More...
struct	grid_postransform
	Utility for translating a grid index into coordinates. More...
struct	grid_bbox_compute
class	GridCSpace
class	Kernel
	Generic E* kernel interface. More...
class	LSMKernel
	Interpolation kernel based on Level Set Method. More...
class	NF1Kernel
	Non-interpolating kernel, mimics NF1 but allows continuous risk. More...
class	fakeos
	Utility for compile-time switchable debug messages. More...
class	Propagator
	Propagator set of a node. More...
class	PropagatorFactory
class	Queue
	Wavefront propagation queue. More...
class	Region
	A Region is a Sprite that has been placed at a specific location. More...
class	RiskMap
	Translate risk to meta information. More...
class	DummyRiskMap
	Simplistic RiskMap subtype. More...
class	InvertRiskMap
	Simplel RiskMap subtype. More...
class	sdeque
class	Sprite
	Utility for holding a relocatable set of vertices, like a computer graphics sprite. More...
class	Upwind
	Upwind graph for tracing propagation order. More...
class	array
	Simple 2D-array with "self destroying" underlying data. More...
Typedefs
typedef boost::vecS	cspace_OutEdgeListS
	C-space graph out-edge list type selector.
typedef boost::vecS	cspace_VertexListS
	C-space graph vertex list type selector.
typedef boost::undirectedS	cspace_DirectedS
	C-space graph edge directedness selector.
typedef boost::adjacency_list_traits< cspace_OutEdgeListS, cspace_VertexListS, cspace_DirectedS >	cspace_traits
	Traits class of C-space graph.
typedef cspace_traits::vertex_descriptor	vertex_t
	Vertex (node) descriptor of C-space graph.
typedef boost::property< value_p, double, boost::property< meta_p, double, boost::property< rhs_p, double, boost::property< flag_p, flag_t > > > >	cspace_vertex_property
	Properties attached to a C-space node.
typedef boost::adjacency_list< cspace_OutEdgeListS, cspace_VertexListS, cspace_DirectedS, cspace_vertex_property >	cspace_t
	Type describing the C-space graph.
typedef boost::graph_traits< cspace_t >::adjacency_iterator	adjacency_it
	Iterator over neighboring nodes.
typedef boost::graph_traits< cspace_t >::vertex_iterator	vertex_it
	Iterator over C-space nodes.
typedef boost::property_map< cspace_t, boost::vertex_index_t >::type	vertexid_map_t
	Node ID map, for adding custom node properties.
typedef boost::property_map< cspace_t, value_p >::type	value_map_t
	Value property map.
typedef boost::property_map< cspace_t, meta_p >::type	meta_map_t
	Meta information property map.
typedef boost::property_map< cspace_t, rhs_p >::type	rhs_map_t
	"Right-hand-side" property map.
typedef boost::property_map< cspace_t, flag_p >::type	flag_map_t
	Flag property map.
typedef std::vector< carrot_item >	carrot_trace
typedef fakeos	vdebugos
typedef fakeos	debugos
typedef std::multimap< double, vertex_t >	queue_t
typedef queue_t::iterator	queue_it
typedef queue_t::const_iterator	const_queue_it
typedef std::map< vertex_t, double >	queue_map_t
Enumerations
enum	flag_t { NONE, OPEN, GOAL, OPNG }
	Node flags. More...
Functions
const char *	flag_name (flag_t p)
	Debug utility.
bool	check_queue (const Algorithm &algo, const GridCSpace *grid_cspace, const char *prefix, std::ostream &os)
	Note: If grid is null it will be ignored.
bool	check_cspace (const cspace_t &cspace, const char *prefix, std::ostream &os)
void	dump_probabilities (const array< double > &prob, size_t x0, size_t y0, size_t x1, size_t y1, FILE *stream)
	Write an array out to a stream, with formatting appropriate for values that lie in the range 0.
void	dump_gnuplottable (const array< double > &data, size_t x0, size_t y0, size_t x1, size_t y1, FILE *stream)
void	dump_raw (const array< double > &data,double replace_infinity, size_t x0, size_t y0, size_t x1, size_t y1, FILE *stream)
	Similar to dump_probabilities(), but uses a raw format useful eg for gnuplot.
void	dump_raw_value (const Grid &grid, ssize_t x0, ssize_t y0, ssize_t x1, ssize_t y1, double infinity_replacement, FILE *stream)
	Similar to dump_raw(), but specifically for a Grid's values.
void	dump_raw_meta (const Grid &grid, ssize_t x0, ssize_t y0, ssize_t x1, ssize_t y1, FILE *stream)
	Similar to dump_raw(), but specifically for a Grid's meta information.
void	dump_raw (const FacadeReadInterface &facade, FILE *value_stream, FILE *meta_stream)
	Similar to eg dump_raw_value(), but writes all values and meta data through a facade instance to two streams (writes sequentially, so things will not get mixed up if you provide the same stream twice).
void	dump_queue (const Algorithm &algo, const Grid *grid, size_t limit, FILE *stream)
	if grid is null it is ignored, if limit is > 0 it isn't
void	dump_queue (const FacadeReadInterface &facade, size_t limit, FILE *stream)
void	dump_grid (const Grid &grid, FILE *stream)
void	dump_grid_range (const Grid &grid, ssize_t ix0, ssize_t iy0, ssize_t ix1, ssize_t iy1, FILE *stream)
void	dump_facade_range_highlight (const FacadeReadInterface &facade, ssize_t ix0, ssize_t iy0, ssize_t ix1, ssize_t iy1, ssize_t ixhigh, ssize_t iyhigh, FILE *stream)
void	dump_grid_range_highlight (const Grid &grid, ssize_t ix0, ssize_t iy0, ssize_t ix1, ssize_t iy1, ssize_t ixhigh, ssize_t iyhigh, FILE *stream)
void	dump_upwind (const Algorithm &algo, const Grid *grid, FILE *stream)
int	QuadraticEquation (double a, double b, double c, double &x1, double &x2)
	Solves the quadratic equation "a * x ^ 2 + b * x + c == 0".
template<typename T>
T	minval (T a, T b)
	Evaluates to the minimum of it's two arguments.
template<typename T>
T	maxval (T a, T b)
	Evaluates to the maximum of it's two arguments.
template<typename T>
T	boundval (T lower_bound, T value, T upper_bound)
	Evaluates to the middle argument or one of the bounds if the value is too great or too small.
template<typename T>
T	absval (const T &a)
	Evaluates to the absolute value of it's argument.
template<typename T>
T	square (T x)
	Calculates the square of its argument.
double	mod2pi (double x)
	Set an angle to the range -pi < angle <= +pi.
void	set_cleanup (void(*function)())
	Set the function for cleaning up after your program.

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Typedef Documentation

typedef boost::graph_traits<cspace_t>::adjacency_iterator estar::adjacency_it

Iterator over neighboring nodes.

typedef std::vector<carrot_item> estar::carrot_trace

typedef queue_t::const_iterator estar::const_queue_it

typedef boost::undirectedS estar::cspace_DirectedS

C-space graph edge directedness selector.

typedef boost::vecS estar::cspace_OutEdgeListS

C-space graph out-edge list type selector.

typedef boost::adjacency_list<cspace_OutEdgeListS, cspace_VertexListS, cspace_DirectedS, cspace_vertex_property> estar::cspace_t

Type describing the C-space graph.

typedef boost::adjacency_list_traits<cspace_OutEdgeListS, cspace_VertexListS, cspace_DirectedS> estar::cspace_traits

Traits class of C-space graph.

typedef boost::property<value_p, double, boost::property<meta_p, double, boost::property<rhs_p, double, boost::property<flag_p, flag_t > > > > estar::cspace_vertex_property

Properties attached to a C-space node.

typedef boost::vecS estar::cspace_VertexListS

C-space graph vertex list type selector.

typedef fakeos estar::debugos

typedef boost::property_map<cspace_t, flag_p>::type estar::flag_map_t

Flag property map.

typedef boost::property_map<cspace_t, meta_p>::type estar::meta_map_t

Meta information property map.

typedef queue_t::iterator estar::queue_it

typedef std::map<vertex_t, double> estar::queue_map_t

typedef std::multimap<double, vertex_t> estar::queue_t

typedef boost::property_map<cspace_t, rhs_p>::type estar::rhs_map_t

"Right-hand-side" property map.

typedef boost::property_map<cspace_t, value_p>::type estar::value_map_t

Value property map.

typedef fakeos estar::vdebugos

typedef boost::graph_traits<cspace_t>::vertex_iterator estar::vertex_it

Iterator over C-space nodes.

typedef cspace_traits::vertex_descriptor estar::vertex_t

Vertex (node) descriptor of C-space graph.

typedef boost::property_map<cspace_t, boost::vertex_index_t>::type estar::vertexid_map_t

Node ID map, for adding custom node properties.

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Enumeration Type Documentation

enum estar::flag_t

Node flags.

Used to be "event priority" classes, now much simpler and lightweight.

Enumerator:

NONE	nothing special, node is (locally) consistent
OPEN	node is in the queue, but not a goal
GOAL	goal node, but not in queue
OPNG	goal node in queue

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Function Documentation

template<typename T>

T estar::absval

(

const T &

a

)

Evaluates to the absolute value of it's argument.

template<typename T>

T estar::boundval	(	T	lower_bound,
		T	value,
		T	upper_bound
	)

Evaluates to the middle argument or one of the bounds if the value is too great or too small.

bool estar::check_cspace	(	const cspace_t &	cspace,
		const char *	prefix,
		std::ostream &	os
	)

bool estar::check_queue	(	const Algorithm &	algo,
		const GridCSpace *	grid_cspace,
		const char *	prefix,
		std::ostream &	os
	)

Note:

If grid is null it will be ignored.

Todo:

Add "smart" Queue class checking.

void estar::dump_facade_range_highlight	(	const FacadeReadInterface &	facade,
		ssize_t	ix0,
		ssize_t	iy0,
		ssize_t	ix1,
		ssize_t	iy1,
		ssize_t	ixhigh,
		ssize_t	iyhigh,
		FILE *	stream
	)

void estar::dump_gnuplottable	(	const array< double > &	data,
		size_t	x0,
		size_t	y0,
		size_t	x1,
		size_t	y1,
		FILE *	stream
	)

void estar::dump_grid	(	const Grid &	grid,
		FILE *	stream
	)

void estar::dump_grid_range	(	const Grid &	grid,
		ssize_t	ix0,
		ssize_t	iy0,
		ssize_t	ix1,
		ssize_t	iy1,
		FILE *	stream
	)

void estar::dump_grid_range_highlight	(	const Grid &	grid,
		ssize_t	ix0,
		ssize_t	iy0,
		ssize_t	ix1,
		ssize_t	iy1,
		ssize_t	ixhigh,
		ssize_t	iyhigh,
		FILE *	stream
	)

void estar::dump_probabilities	(	const array< double > &	prob,
		size_t	x0,
		size_t	y0,
		size_t	x1,
		size_t	y1,
		FILE *	stream
	)

Write an array out to a stream, with formatting appropriate for values that lie in the range 0.

..1 (such as probabilities). A sub-array can be selected for dumping by choosing appropriate values for x0, y0, x1, y1 (all indices interpreted as inclusive).

Note:

BEWARE x1 and y1 are *inclusive*

void estar::dump_queue	(	const FacadeReadInterface &	facade,
		size_t	limit,
		FILE *	stream
	)

void estar::dump_queue	(	const Algorithm &	algo,
		const Grid *	grid,
		size_t	limit,
		FILE *	stream
	)

if grid is null it is ignored, if limit is > 0 it isn't

void estar::dump_raw	(	const FacadeReadInterface &	facade,
		FILE *	value_stream,
		FILE *	meta_stream
	)

Similar to eg dump_raw_value(), but writes all values and meta data through a facade instance to two streams (writes sequentially, so things will not get mixed up if you provide the same stream twice).

Set a stream to NULL if you're not interested in that part of the dump. Uses -1 as infinity_replacement for dump_raw_value().

void estar::dump_raw	(	const array< double > &	data,
		double	replace_infinity,
		size_t	x0,
		size_t	y0,
		size_t	x1,
		size_t	y1,
		FILE *	stream
	)

Similar to dump_probabilities(), but uses a raw format useful eg for gnuplot.

Note:

BEWARE x1 and y1 are *inclusive*

Parameters:

replace_infinity

use this instead of infinite values

void estar::dump_raw_meta	(	const Grid &	grid,
		ssize_t	x0,
		ssize_t	y0,
		ssize_t	x1,
		ssize_t	y1,
		FILE *	stream
	)

Similar to dump_raw(), but specifically for a Grid's meta information.

Note:

BEWARE x1 and y1 are *inclusive*

void estar::dump_raw_value	(	const Grid &	grid,
		ssize_t	x0,
		ssize_t	y0,
		ssize_t	x1,
		ssize_t	y1,
		double	infinity_replacement,
		FILE *	stream
	)

Similar to dump_raw(), but specifically for a Grid's values.

Note:

BEWARE x1 and y1 are *inclusive*

void estar::dump_upwind	(	const Algorithm &	algo,
		const Grid *	grid,
		FILE *	stream
	)

const char * estar::flag_name

(

flag_t

p

)

Debug utility.

Returns:

name of a flag, or "<invalid>"

template<typename T>

T estar::maxval	(	T	a,
		T	b
	)

Evaluates to the maximum of it's two arguments.

template<typename T>

T estar::minval	(	T	a,
		T	b
	)

Evaluates to the minimum of it's two arguments.

Note:

Would have liked to use const references instead of values, but that creates problems for comparing against constants (e.g. things defined as "static const double"). This doesn't really matter for builtin-types, but comparing more complex types entails constructor and destructor calls...

double estar::mod2pi

(

double

x

)

[inline]

Set an angle to the range -pi < angle <= +pi.

int estar::QuadraticEquation	(	double	a,
		double	b,
		double	c,
		double &	x1,
		double &	x2
	)

Solves the quadratic equation "a * x ^ 2 + b * x + c == 0".

Note:

Handles special cases "gracefully" based on the properties (absval(a) < epsilon), (absval(b) < epsilon), (absval(c) < epsilon), and (absval(b*b-4*a*c) < epsilon*epsilon).

Returns:

The number of solutions (0, 1, or 2), it only sets x1 / x2 for the returned number of solutions (e.g. if it returns 1, only x1 contains a useful number).

void estar::set_cleanup

(

void(*)()

function

)

Set the function for cleaning up after your program.

Also sets up signal handlers for SIGINT, SIGHUP, and SIGTERM to call that ceanup function.

Note:

If you use this function, you should put your cleanup all into the function passed as argument and NOT call that function yourself. It is automatically called upon calls to exit() or return from main.

template<typename T>

T estar::square

(

T

x

)

Calculates the square of its argument.

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E* Interpolated Graph Replanner Wed Dec 12 18:55:49 2007