TopoMapPlanner Class Reference

#include <topomap/TopoMapPlanner.h>

Classes
struct	CostInfo
struct	DbgHopInfo
struct	GatewayCostPair

Public Types
typedef std::priority_queue< GatewayCostPair >	OpenList
typedef std::map< GatewayNodePtr, CostInfo >	VisitedList

Public Member Functions
	TopoMapPlanner ()
void	setLeafCostFunction (boost::function< void(NodePtr)> fn)
	Sets function for computing intra costs in leaf nodes. More...
void	precomputeCosts (TopoMapPtr map)
void	propagateUpdatedCosts (NodePtr node)
	Needs to be called whenever the costs between the gateways of the given node have been modified (intra-links), in order to propagate the changes upwards in the hierarchy. More...
void	setConnectivityViolated (NodePtr node, bool isViolated=true)
	Explicitly informs the TopoMapPlanner, that the general assumption, that the given node is fully connected, is violated. More...
bool	isConnectivityViolated (NodePtr node) const
	Returns true, if the full connectivity assumption of the given node is known to be violated. More...
void	clearAllConnecitvityViolations (TopoMapPtr map)
	Clears all set and inferred flags of violated connectivity assumptions and hence resets the topological map. More...
void	setAdditionalLinkCosts (const std::string &fromGWName, const std::string &toGWName, double costs)
	Define additional costs for a specific link. More...
void	resetAllAdditionalLinkCosts ()
	Reset all additional gateways costs to zero. More...
void	prepareWavefront (OpenList &Q, const VisitedList &V)
bool	propagateWavefront (OpenList &Q, VisitedList &V, const NodeSet &localizedNodes=NodeSet(), const NodeSet &ancestors=NodeSet())

Static Public Member Functions
static double	infinity ()
	"infinity" costs, indicating that a link is blocked More...

Public Attributes
std::list< DbgHopInfo >	dbgHops
bool	dbgEnabled

Member Typedef Documentation

OpenList

typedef std::priority_queue<GatewayCostPair> OpenList

VisitedList

typedef std::map<GatewayNodePtr,CostInfo> VisitedList

Constructor & Destructor Documentation

TopoMapPlanner()

TopoMapPlanner

(

)

Member Function Documentation

setLeafCostFunction()

void setLeafCostFunction

(

boost::function< void(NodePtr)>

fn

)

Sets function for computing intra costs in leaf nodes.

precomputeCosts()

void precomputeCosts

(

TopoMapPtr

map

)

propagateUpdatedCosts()

void propagateUpdatedCosts

(

NodePtr

node

)

Needs to be called whenever the costs between the gateways of the given node have been modified (intra-links), in order to propagate the changes upwards in the hierarchy.

setConnectivityViolated()

void setConnectivityViolated	(	NodePtr	node,
		bool	isViolated = true
	)

Explicitly informs the TopoMapPlanner, that the general assumption, that the given node is fully connected, is violated.

This may happen when dynamic obstacles block the path within the node. The TopoMapPlanner takes this information into account and falls back to a less efficient planning mode for all affected nodes.

isConnectivityViolated()

bool isConnectivityViolated

(

NodePtr

node

)

const

Returns true, if the full connectivity assumption of the given node is known to be violated.

clearAllConnecitvityViolations()

void clearAllConnecitvityViolations

(

TopoMapPtr

map

)

Clears all set and inferred flags of violated connectivity assumptions and hence resets the topological map.

setAdditionalLinkCosts()

void setAdditionalLinkCosts	(	const std::string &	fromGWName,
		const std::string &	toGWName,
		double	costs
	)

Define additional costs for a specific link.

resetAllAdditionalLinkCosts()

void resetAllAdditionalLinkCosts

(

)

Reset all additional gateways costs to zero.

prepareWavefront()

void prepareWavefront	(	OpenList &	Q,
		const VisitedList &	V
	)

propagateWavefront()

bool propagateWavefront	(	OpenList &	Q,
		VisitedList &	V,
		const NodeSet &	localizedNodes = NodeSet(),
		const NodeSet &	ancestors = NodeSet()
	)

infinity()

static double infinity ( )

inlinestatic

"infinity" costs, indicating that a link is blocked

Member Data Documentation

dbgHops

std::list<DbgHopInfo> dbgHops

dbgEnabled

bool dbgEnabled

---

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

• include/topomap/TopoMapPlanner.h