Fawkes API
Fawkes Development Version
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This is the abstract search interpretation class for an arbitrary search algorithm to find its way through an Occupancy grid from a robopos to a targetpos. More...
#include <>>
Public Member Functions | |
AbstractSearch (LaserOccupancyGrid *occ_grid, Logger *logger) | |
Constructor. More... | |
virtual | ~AbstractSearch () |
Destructor. More... | |
virtual void | update (int robo_x, int robo_y, int target_x, int target_y)=0 |
update complete plan things precondition: the occupancy grid has to be updated previously! More... | |
virtual bool | updated_successful ()=0 |
Checks if the update was successful. More... | |
const point_t & | get_local_target () |
return pointer to the local target. More... | |
const point_t & | get_local_trajec () |
return pointer to the local trajectory point. More... | |
Protected Attributes | |
LaserOccupancyGrid * | occ_grid_ |
The occupancy grid. More... | |
point_t | local_target_ |
the calculated target where to drive to More... | |
point_t | local_trajec_ |
the calculated trajectory where to drive to More... | |
colli_cell_cost_t | cell_costs_ |
The costs for cells in occupancy grid. More... | |
This is the abstract search interpretation class for an arbitrary search algorithm to find its way through an Occupancy grid from a robopos to a targetpos.
Definition at line 44 of file abstract_search.h.
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inline |
Constructor.
occ_grid | The laser occupancy-grid |
logger | The fawkes logger |
Definition at line 90 of file abstract_search.h.
References cell_costs_, fawkes::LaserOccupancyGrid::get_cell_costs(), fawkes::Logger::log_debug(), and occ_grid_.
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inlinevirtual |
Destructor.
Definition at line 100 of file abstract_search.h.
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inline |
return pointer to the local target.
Get the local target in the grid.
do not modify afterwards precondition: update has to be called before this is ok here
Definition at line 108 of file abstract_search.h.
References local_target_.
Referenced by ColliThread::loop().
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inline |
return pointer to the local trajectory point.
Get the local trajectory in the grid.
do not modify afterwards precondition: update has to be called before this is ok here
Definition at line 117 of file abstract_search.h.
References local_trajec_.
Referenced by ColliThread::loop().
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pure virtual |
update complete plan things precondition: the occupancy grid has to be updated previously!
robo_x | Robot x position in grid |
robo_y | Robot y position in grid |
target_x | Target x position in grid |
target_y | Target y position in grid |
Implemented in fawkes::Search.
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pure virtual |
Checks if the update was successful.
Implemented in fawkes::Search.
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protected |
The costs for cells in occupancy grid.
Definition at line 80 of file abstract_search.h.
Referenced by AbstractSearch(), fawkes::Search::get_robot_position(), and fawkes::Search::update().
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protected |
the calculated target where to drive to
Definition at line 77 of file abstract_search.h.
Referenced by get_local_target(), fawkes::Search::get_robot_position(), and fawkes::Search::update().
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protected |
the calculated trajectory where to drive to
Definition at line 78 of file abstract_search.h.
Referenced by get_local_trajec(), and fawkes::Search::update().
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protected |
The occupancy grid.
Definition at line 75 of file abstract_search.h.
Referenced by AbstractSearch(), fawkes::Search::get_robot_position(), and fawkes::Search::update().