Generate navgraph using a Grid diagram. More...

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Inheritance diagram for fawkes::NavGraphGeneratorGrid:

Public Member Functions
	NavGraphGeneratorGrid (const std::map< std::string, std::string > &params)
	Constructor. More...

virtual	~NavGraphGeneratorGrid ()
	Destructor. More...

virtual void	compute (fawkes::LockPtr< fawkes::NavGraph > graph)
	Compute graph. More...

Public Member Functions inherited from fawkes::NavGraphGenerator
	NavGraphGenerator ()
	Default constructor. More...

	NavGraphGenerator (std::map< std::string, std::string > params)
	Parametrized constructor. More...

virtual	~NavGraphGenerator ()
	Destructor. More...

virtual void	set_bounding_box (float bbox_p1_x, float bbox_p1_y, float bbox_p2_x, float bbox_p2_y)
	Set bounding box. More...

virtual void	set_near_threshold (float near_threshold)
	Set distance threshold for considering nodes to be the same. More...

virtual void	add_obstacle (float x, float y)
	Add an obstacle point. More...

Additional Inherited Members
Static Public Member Functions inherited from fawkes::NavGraphGenerator
static std::string	genname (unsigned int &i)
	Generate a new name. More...

Protected Attributes inherited from fawkes::NavGraphGenerator
bool	bbox_enabled_
	True if bounding box requested, false otherwise. More...

float	bbox_p1_x_
	X part of P1 for bounding box. More...

float	bbox_p1_y_
	Y part of P1 for bounding box. More...

float	bbox_p2_x_
	X part of P2 for bounding box. More...

float	bbox_p2_y_
	Y part of P2 for bounding box. More...

float	near_threshold_
	distance threshold when to consider two nodes to be the same More...

std::list< std::pair< float, float > >	obstacles_
	Obstacles to consider during navgraph generation. More...

std::map< std::string, std::string >	params_
	Parameters specific to the actual generator in a generic format. More...

Detailed Description

Generate navgraph using a Grid diagram.

Author: Tim Niemueller

Definition at line 32 of file grid.h.

Constructor & Destructor Documentation

◆ NavGraphGeneratorGrid()

fawkes::NavGraphGeneratorGrid::NavGraphGeneratorGrid ( const std::map< std::string, std::string > & params )

Constructor.

Parameters

params

algorithm parameters. Valid parameters are:

spacing (float): inter-cell midpoint spacing (required).

Definition at line 61 of file grid.cpp.

◆ ~NavGraphGeneratorGrid()

fawkes::NavGraphGeneratorGrid::~NavGraphGeneratorGrid ( )

virtual

Destructor.

Definition at line 99 of file grid.cpp.

Member Function Documentation

◆ compute()

void fawkes::NavGraphGeneratorGrid::compute ( fawkes::LockPtr< fawkes::NavGraph > graph )

virtual

Compute graph.

Parameters

graph the resulting nodes and edges will be added to this graph. The graph shall not be cleared automatically. The generator shall lock the graph as necessary.

Author: Tim Niemueller

Implements fawkes::NavGraphGenerator.

Definition at line 104 of file grid.cpp.

References fawkes::NavGraph::add_edge(), fawkes::NavGraph::add_node(), fawkes::NavGraphGenerator::bbox_enabled_, fawkes::NavGraphGenerator::bbox_p1_x_, fawkes::NavGraphGenerator::bbox_p1_y_, fawkes::NavGraphGenerator::bbox_p2_x_, fawkes::NavGraphGenerator::bbox_p2_y_, fawkes::NavGraph::EDGE_SPLIT_INTERSECTION, fawkes::NavGraph::edges(), fawkes::LockPtr< T_CppObject >::objmutex_ptr(), and fawkes::NavGraphGenerator::obstacles_.

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

src/libs/navgraph/generators/grid.h
src/libs/navgraph/generators/grid.cpp