nav2_smac_planner::DistanceHeuristic< NodeT > Class Template Reference

Distance Heuristic implementation for graph, Hybrid-A*. More...

#include <nav2_smac_planner/include/nav2_smac_planner/distance_heuristic.hpp>

Public Member Functions
	DistanceHeuristic ()
	A constructor for nav2_smac_planner::DistanceHeuristic.
template<typename MotionTableT >
void	precomputeDistanceHeuristic (const float &lookup_table_dim, const MotionModel &motion_model, const unsigned int &dim_3_size, const SearchInfo &search_info, MotionTableT &motion_table)
	Compute the SE2 distance heuristic. More...
template<typename MotionTableT >
float	getDistanceHeuristic (const Coordinates &node_coords, const Coordinates &goal_coords, const float &obstacle_heuristic, MotionTableT &motion_table)
	Compute the Distance heuristic. More...
void	precomputeDistanceHeuristic (const float &lookup_table_dim, const MotionModel &motion_model, const unsigned int &dim_3_size, const SearchInfo &search_info, MotionTableT &motion_table)
void	precomputeDistanceHeuristic (const float &lookup_table_dim, const MotionModel &, const unsigned int &dim_3_size, const SearchInfo &search_info, MotionTableT &motion_table)

Protected Attributes
LookupTable	dist_heuristic_lookup_table_
float	size_lookup_

Detailed Description

template<typename NodeT>
class nav2_smac_planner::DistanceHeuristic< NodeT >

Distance Heuristic implementation for graph, Hybrid-A*.

Definition at line 33 of file distance_heuristic.hpp.

Member Function Documentation

getDistanceHeuristic()

template<typename NodeT >

template<typename MotionTableT >

template float nav2_smac_planner::DistanceHeuristic< NodeT >::getDistanceHeuristic< LatticeMotionTable >	(	const Coordinates &	node_coords,
		const Coordinates &	goal_coords,
		const float &	obstacle_heuristic,
		MotionTableT &	motion_table
	)

Compute the Distance heuristic.

Parameters

node_coords	Coordinates to get heuristic at
goal_coords	Coordinates to compute heuristic to
obstacle_heuristic	Value of the obstacle heuristic to compute additional motion heuristics if required

Returns

heuristic Heuristic value

Definition at line 138 of file distance_heuristic.cpp.

precomputeDistanceHeuristic()

template<typename NodeT >

template<typename MotionTableT >

void nav2_smac_planner::DistanceHeuristic< NodeT >::precomputeDistanceHeuristic	(	const float &	lookup_table_dim,
		const MotionModel &	motion_model,
		const unsigned int &	dim_3_size,
		const SearchInfo &	search_info,
		MotionTableT &	motion_table
	)

Compute the SE2 distance heuristic.

Parameters

lookup_table_dim	Size, in costmap pixels, of the each lookup table dimension to populate
motion_model	Motion model to use for state space
dim_3_size	Number of quantization bins for caching
search_info	Info containing minimum radius to use

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

• nav2_smac_planner/include/nav2_smac_planner/distance_heuristic.hpp
• nav2_smac_planner/src/distance_heuristic.cpp