nav2_smac_planner::ObstacleHeuristic Class Reference

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

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

Public Member Functions
	ObstacleHeuristic ()
	A constructor for nav2_smac_planner::ObstacleHeuristic.
	~ObstacleHeuristic ()
	A destructor for nav2_smac_planner::ObstacleHeuristic.
void	resetObstacleHeuristic (std::shared_ptr< nav2_costmap_2d::Costmap2DROS > costmap_ros_i, const unsigned int &start_x, const unsigned int &start_y, const unsigned int &goal_x, const unsigned int &goal_y, const bool downsample_obstacle_heuristic)
	Compute the wavefront heuristic. More...
float	getObstacleHeuristic (const Coordinates &node_coords, const float &cost_penalty, const bool use_quadratic_cost_penalty, const bool downsample_obstacle_heuristic)
	Compute the Obstacle heuristic. More...
float	distanceHeuristic2D (const uint64_t idx, const unsigned int size_x, const unsigned int target_x, const unsigned int target_y)

Protected Attributes
LookupTable	obstacle_heuristic_lookup_table_
ObstacleHeuristicQueue	obstacle_heuristic_queue_
std::shared_ptr< nav2_costmap_2d::Costmap2DROS >	costmap_ros

Detailed Description

Obstacle Heuristic implementation for graph, Hybrid-A*.

Definition at line 43 of file obstacle_heuristic.hpp.

Member Function Documentation

getObstacleHeuristic()

float nav2_smac_planner::ObstacleHeuristic::getObstacleHeuristic	(	const Coordinates &	node_coords,
		const float &	cost_penalty,
		const bool	use_quadratic_cost_penalty,
		const bool	downsample_obstacle_heuristic
	)

Compute the Obstacle heuristic.

Parameters

node_coords	Coordinates to get heuristic at
goal_coords	Coordinates to compute heuristic to

Returns

heuristic Heuristic value

Definition at line 77 of file obstacle_heuristic.cpp.

resetObstacleHeuristic()

void nav2_smac_planner::ObstacleHeuristic::resetObstacleHeuristic	(	std::shared_ptr< nav2_costmap_2d::Costmap2DROS >	costmap_ros_i,
		const unsigned int &	start_x,
		const unsigned int &	start_y,
		const unsigned int &	goal_x,
		const unsigned int &	goal_y,
		const bool	downsample_obstacle_heuristic
	)

Compute the wavefront heuristic.

Parameters

costmap	Costmap to use
goal_coords	Coordinates to start heuristic expansion at

Definition at line 20 of file obstacle_heuristic.cpp.

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

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