Fawkes API
Fawkes Development Version
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This is an implementation of a a fast ellipse. More...
#include <obstacle.h>
Public Member Functions | |
ColliFastEllipse (int width, int height, colli_cell_cost_t &costs, bool obstacle_increasement=true) | |
Constructor for FastEllipse. More... | |
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const std::vector< int > | get_obstacle () |
Return the occupied cells with their values. More... | |
int | get_key () |
Get the key. More... | |
void | set_key (int key) |
Set key. More... | |
Additional Inherited Members | |
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std::vector< int > | occupied_cells_ |
Aligned array of the occ cells, size is dividable through 3, because: [i] = x coord, [i+1] = y coord, [i+2] = costs. More... | |
This is an implementation of a a fast ellipse.
Definition at line 96 of file obstacle.h.
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inline |
Constructor for FastEllipse.
width | radius width of the new ellipse |
height | radius height of the new ellipse |
costs | struct containing the occ-grid cell costs |
obstacle_increasement | Increase obstacles? |
Definition at line 143 of file obstacle.h.
References fawkes::colli_cell_cost_t::far, fawkes::colli_cell_cost_t::mid, fawkes::colli_cell_cost_t::near, fawkes::colli_cell_cost_t::occ, fawkes::ColliFastObstacle::occupied_cells_, and fawkes::sqr().