/********************************************************************* * * 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 _GRADIENT_PATH_H #define _GRADIENT_PATH_H #include<global_planner/traceback.h> #include <math.h> #include <algorithm> namespace global_planner { class GradientPath : public Traceback { public: GradientPath(PotentialCalculator* p_calc); virtual ~GradientPath(); void setSize(int xs, int ys); // // Path construction // Find gradient at array points, interpolate path // Use step size of pathStep, usually 0.5 pixel // // Some sanity checks: // 1. Stuck at same index position // 2. Doesn't get near goal // 3. Surrounded by high potentials // bool getPath(float* potential, double start_x, double start_y, double end_x, double end_y, std::vector<std::pair<float, float> >& path); private: inline int getNearestPoint(int stc, float dx, float dy) { int pt = stc + (int)round(dx) + (int)(xs_ * round(dy)); return std::max(0, std::min(xs_ * ys_ - 1, pt)); } float gradCell(float* potential, int n); float *gradx_, *grady_; /**< gradient arrays, size of potential array */ float pathStep_; /**< step size for following gradient */ }; } //end namespace global_planner #endif