/********************************************************************* * * Software License Agreement (BSD License) * * Copyright (c) 2008, 2013, Willow Garage, Inc. * All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * * Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above * copyright notice, this list of conditions and the following * disclaimer in the documentation and/or other materials provided * with the distribution. * * Neither the name of Willow Garage, Inc. nor the names of its * contributors may be used to endorse or promote products derived * from this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. * * Author: Eitan Marder-Eppstein * David V. Lu!! *********************************************************************/ #ifndef _DIJKSTRA_H #define _DIJKSTRA_H #define PRIORITYBUFSIZE 10000 #include <math.h> #include <stdint.h> #include <string.h> #include <stdio.h> #include <global_planner/planner_core.h> #include <global_planner/expander.h> // inserting onto the priority blocks #define push_cur(n) { if (n>=0 && n<ns_ && !pending_[n] && getCost(costs, n)<lethal_cost_ && currentEnd_<PRIORITYBUFSIZE){ currentBuffer_[currentEnd_++]=n; pending_[n]=true; }} #define push_next(n) { if (n>=0 && n<ns_ && !pending_[n] && getCost(costs, n)<lethal_cost_ && nextEnd_<PRIORITYBUFSIZE){ nextBuffer_[ nextEnd_++]=n; pending_[n]=true; }} #define push_over(n) { if (n>=0 && n<ns_ && !pending_[n] && getCost(costs, n)<lethal_cost_ && overEnd_<PRIORITYBUFSIZE){ overBuffer_[ overEnd_++]=n; pending_[n]=true; }} namespace global_planner { class DijkstraExpansion : public Expander { public: DijkstraExpansion(PotentialCalculator* p_calc, int nx, int ny); virtual ~DijkstraExpansion(); bool calculatePotentials(unsigned char* costs, double start_x, double start_y, double end_x, double end_y, int cycles, float* potential); /** * @brief Sets or resets the size of the map * @param nx The x size of the map * @param ny The y size of the map */ void setSize(int nx, int ny); /**< sets or resets the size of the map */ void setNeutralCost(unsigned char neutral_cost) { neutral_cost_ = neutral_cost; priorityIncrement_ = 2 * neutral_cost_; } void setPreciseStart(bool precise){ precise_ = precise; } private: /** * @brief Updates the cell at index n * @param costs The costmap * @param potential The potential array in which we are calculating * @param n The index to update */ void updateCell(unsigned char* costs, float* potential, int n); /** updates the cell at index n */ float getCost(unsigned char* costs, int n) { float c = costs[n]; if (c < lethal_cost_ - 1 || (unknown_ && c==255)) { c = c * factor_ + neutral_cost_; if (c >= lethal_cost_) c = lethal_cost_ - 1; return c; } return lethal_cost_; } /** block priority buffers */ int *buffer1_, *buffer2_, *buffer3_; /**< storage buffers for priority blocks */ int *currentBuffer_, *nextBuffer_, *overBuffer_; /**< priority buffer block ptrs */ int currentEnd_, nextEnd_, overEnd_; /**< end points of arrays */ bool *pending_; /**< pending_ cells during propagation */ bool precise_; /** block priority thresholds */ float threshold_; /**< current threshold */ float priorityIncrement_; /**< priority threshold increment */ }; } //end namespace global_planner #endif