#include <ExplorationGraph.h>
Public Member Functions | |
void | graphAccess () |
void | graphRelease () |
bool | isAdjacent (ExplorationNode *first, ExplorationNode *second) |
ExplorationNode | getNode (int ID) |
ExplorationNode * | getNodePtr (int ID) |
Time | getNodeLastUpd (int ID) |
void | updateAdj (ExplorationNode &first, ExplorationNode &second) |
void | updateGlobalGrid (int nodeID) |
void | finalizeGlobalGrid () |
void | updateGlobalGrid2 (int nodeID) |
void | updateLocalGrids () |
bool | addNode2 (int &lastCompared, int newNodeID) |
bool | addNode (int &lastCompared, int newNodeID) |
void | addNode (Scan scan, Pose nodePose) |
void | setNextVP (Pose nextVP) |
vector< int > | AStar (int IDstart, int IDdest) |
ExplorationGraph () | |
Default Constructor. | |
ExplorationGraph (ExplorationParams params) | |
Parametric Constructor. | |
ExplorationGraph (ExplorationParams params, Decimal adjacTh) | |
Parametric Constructor with threshold of adjacence. | |
~ExplorationGraph () | |
Destructor. | |
ExplorationGraph (const ExplorationGraph &g) | |
Copy Constructor. | |
ExplorationGraph | operator= (const ExplorationGraph &g) |
Operator =. | |
Decimal | nodeDist (ExplorationNode first, ExplorationNode second) |
void | compA () |
void | compW () |
Public Attributes | |
vector< ExplorationNode > | _graph |
ExplorationParams | _params |
Timer | _graphTimer |
Decimal | _adjacTh |
vector< int > | _Amatrix |
vector< Decimal > | _Wmatrix |
Pose | _nextVP |
Grid | globalGrid |
vector< int > | bounds |
vector< int > | arrived |
Time | deadLine |
pthread_mutex_t | mutex |
Class for the implementation of a node of a graph
Vector containing the nodes of the graph.