#include <GridMaze.h>

Inheritance diagram for GridMaze:

Collaboration diagram for GridMaze:

[legend]

Public Member Functions
	GridMaze ()=default

	GridMaze (const GridMaze &environment)

	GridMaze (unsigned int seed, unsigned int width, unsigned int height, double voxelSize=1.)

	~GridMaze ()

unsigned int	seed () const

bool	empty () const

double	voxelSize () const

bool	occupied (unsigned int index) const

bool	occupied (double x, double y)

bool	occupiedCell (unsigned int xi, unsigned int yi) const

double	distance (double x, double y) override
	Computes distances field if necessary, and returns the distance to the nearest obstacle. More...

double	distance (unsigned int index)
	Computes distances field if necessary, and returns the distance to the nearest obstacle. More...

double	distance (unsigned int xi, unsigned int yi)
	Computes distances field if necessary, and returns the distance to the nearest obstacle. More...

bool	saveSbplConfigFile (const std::string &filename) const
	Writes cfg file for planners based on sbpl. More...

void	mapData (unsigned char *data, double resolution=1.)

std::string	mapString () const

std::vector< double >	mapDistances ()

std::vector< Rectangle >	obstacles () const

std::vector< Rectangle >	obstacles (double x1, double y1, double x2, double y2) const

bool	collides (double x, double y) override

bool	collides (const Polygon &polygon) override

double	obstacleRatio () const

std::string	generatorType () const

unsigned int	cells () const

unsigned int	voxels_x () const

unsigned int	voxels_y () const

std::string	name () const override

std::string &	name ()

void	computeDistances ()
	Brute-force, quadratic in the number of cells, algorithm to compute the distance field, i.e. More...

void	to_json (nlohmann::json &j) override

Public Member Functions inherited from Environment
	Environment ()

virtual	~Environment ()=default

void	setStart (const Point &point)

const Point &	start () const

void	setGoal (const Point &point)

const Point &	goal () const

virtual bool	collides (double x, double y)

virtual bool	collides (const Polygon &polygon)

bool	collides (const Point &p)

bool	collides (const ompl::geometric::PathGeometric &trajectory)

bool	collides (const ob::State *state)

bool	checkValidity (const ob::State *state)
	Used by planners to determine if the state is valid or not. More...

const ob::RealVectorBounds &	bounds () const

double	width () const

double	height () const

virtual double	distance (double x, double y)
	Compute distance from xy-coordinate to the closest obstacle if possible. More...

double	distance (const ob::State *state)
	Compute distance of a state to the closest obstacle if possible. More...

double	bilinearDistance (double x, double y, double cellSize=1)
	Bilinear filtering of distance. More...

double	bilinearDistance (const Point &point, double cellSize=1)

double	bilinearDistance (const ob::State *state, double cellSize=1)

bool	distanceGradient (double x, double y, double &dx, double &dy, double p=0.1, double cellSize=1)
	Computes negative gradient of distance field at position x, y. More...

virtual std::string	name () const

void	estimateStartGoalOrientations ()
	Estimates potentially suitable theta values for the start and goal state by running a simple line search from start to goal. More...

bool	thetasDefined () const

void	setThetas (double start, double goal)

ompl::base::State *	startState () const

ompl::base::State *	goalState () const

ompl::base::ScopedState< ob::SE2StateSpace >	startScopedState () const

ompl::base::ScopedState< ob::SE2StateSpace >	goalScopedState () const

ob::RealVectorBounds	getBounds () const

double	startTheta () const

double	goalTheta () const

virtual void	to_json (nlohmann::json &j)

virtual double	unit () const
	Unit, e.g. More...

void	resetCollisionTimer ()

double	elapsedCollisionTime () const

Static Public Member Functions
static std::shared_ptr< GridMaze >	createRandom (unsigned int width=DefaultWidth, unsigned int height=DefaultHeight, double obsRatio=0.3, unsigned int seed=(unsigned int) time(nullptr), int borderSize=1)

static std::shared_ptr< GridMaze >	createRandomCorridor (unsigned int width=DefaultWidth, unsigned int height=DefaultHeight, double radius=2, int branches=30, unsigned int seed=(unsigned int) time(nullptr), int borderSize=1)

static std::shared_ptr< GridMaze >	createFromObstacles (const std::vector< Rectangle > &obstacles, unsigned int width=DefaultWidth, unsigned int height=DefaultHeight, int borderSize=1)

static std::shared_ptr< GridMaze >	createSimple ()

static std::shared_ptr< GridMaze >	createFromMovingAiScenario (Scenario &scenario)

static std::shared_ptr< GridMaze >	createFromImage (const std::string &filename, double occupancy_threshold=0.5, int width=0, int height=0)
	Creates a map from a grayscale image where tones below the occupancy threshold are considered obstacles. More...

Static Public Attributes
static const unsigned int	DefaultWidth = 50

static const unsigned int	DefaultHeight = 50

Protected Member Functions
unsigned int	coord2key (double x, double y) const

void	fill (double x, double y, bool value)

void	fill (const Rectangle &r, bool value)

void	fillBorder (bool value, int size=1)

distance_computation::Method	distanceComputationMethod () const

Protected Attributes
Stopwatch	_collision_timer

Protected Attributes inherited from Environment
Point	_start

Point	_goal

double	_start_theta {0}

double	_goal_theta {0}

bool	_thetas_defined {false}

ob::RealVectorBounds	_bounds {2}

Stopwatch	_collision_timer

Friends
std::ostream &	operator<< (std::ostream &stream, const GridMaze &m)

Constructor & Destructor Documentation

◆ GridMaze() [1/3]

GridMaze::GridMaze ( )

default

◆ GridMaze() [2/3]

GridMaze::GridMaze ( const GridMaze & environment )

◆ GridMaze() [3/3]

GridMaze::GridMaze	(	unsigned int	seed,
		unsigned int	width,
		unsigned int	height,
		double	voxelSize = `1.`
	)

◆ ~GridMaze()

GridMaze::~GridMaze ( )

Member Function Documentation

◆ cells()

unsigned int GridMaze::cells ( ) const

inline

◆ collides() [1/2]

bool GridMaze::collides ( const Polygon & polygon )

overridevirtual

Reimplemented from Environment.

◆ collides() [2/2]

bool GridMaze::collides	(	double	x,
		double	y
	)

overridevirtual

Reimplemented from Environment.

◆ computeDistances()

void GridMaze::computeDistances ( )

Brute-force, quadratic in the number of cells, algorithm to compute the distance field, i.e.

distance to the nearest obstacle for every voxel.

◆ coord2key()

unsigned int GridMaze::coord2key	(	double	x,
		double	y
	)		const

inlineprotected

◆ createFromImage()

std::shared_ptr< GridMaze > GridMaze::createFromImage	(	const std::string &	filename,
		double	occupancy_threshold = `0.5`,
		int	width = `0`,
		int	height = `0`
	)

static

Creates a map from a grayscale image where tones below the occupancy threshold are considered obstacles.

Optional resizing is applied if the provided width and height are nonzero.

◆ createFromMovingAiScenario()

std::shared_ptr< GridMaze > GridMaze::createFromMovingAiScenario ( Scenario & scenario )

static

◆ createFromObstacles()

shared_ptr< GridMaze > GridMaze::createFromObstacles	(	const std::vector< Rectangle > &	obstacles,
		unsigned int	width = `DefaultWidth`,
		unsigned int	height = `DefaultHeight`,
		int	borderSize = `1`
	)

static

◆ createRandom()

std::shared_ptr< GridMaze > GridMaze::createRandom	(	unsigned int	width = `DefaultWidth`,
		unsigned int	height = `DefaultHeight`,
		double	obsRatio = `0.3`,
		unsigned int	seed = `(unsigned int)time(nullptr)`,
		int	borderSize = `1`
	)

static

◆ createRandomCorridor()

std::shared_ptr< GridMaze > GridMaze::createRandomCorridor	(	unsigned int	width = `DefaultWidth`,
		unsigned int	height = `DefaultHeight`,
		double	radius = `2`,
		int	branches = `30`,
		unsigned int	seed = `(unsigned int)time(nullptr)`,
		int	borderSize = `1`
	)

static

◆ createSimple()

shared_ptr< GridMaze > GridMaze::createSimple ( )

static

◆ distance() [1/3]

double GridMaze::distance	(	double	x,
		double	y
	)

inlineoverridevirtual

Computes distances field if necessary, and returns the distance to the nearest obstacle.

Reimplemented from Environment.

◆ distance() [2/3]

double GridMaze::distance ( unsigned int index )

inline

Computes distances field if necessary, and returns the distance to the nearest obstacle.

◆ distance() [3/3]

double GridMaze::distance	(	unsigned int	xi,
		unsigned int	yi
	)

inline

Computes distances field if necessary, and returns the distance to the nearest obstacle.

◆ distanceComputationMethod()

distance_computation::Method GridMaze::distanceComputationMethod ( ) const

inlineprotected

◆ empty()

bool GridMaze::empty ( ) const

inline

◆ fill() [1/2]

void GridMaze::fill	(	const Rectangle &	r,
		bool	value
	)

protected

◆ fill() [2/2]

void GridMaze::fill	(	double	x,
		double	y,
		bool	value
	)

protected

◆ fillBorder()

void GridMaze::fillBorder	(	bool	value,
		int	size = `1`
	)

protected

◆ generatorType()

std::string GridMaze::generatorType ( ) const

◆ mapData()

void GridMaze::mapData	(	unsigned char *	data,
		double	resolution = `1.`
	)

◆ mapDistances()

std::vector< double > GridMaze::mapDistances ( )

◆ mapString()

std::string GridMaze::mapString ( ) const

◆ name() [1/2]

std::string & GridMaze::name ( )

inline

◆ name() [2/2]

std::string GridMaze::name ( ) const

inlineoverridevirtual

Reimplemented from Environment.

◆ obstacleRatio()

double GridMaze::obstacleRatio ( ) const

◆ obstacles() [1/2]

std::vector< Rectangle > GridMaze::obstacles ( ) const

◆ obstacles() [2/2]

std::vector< Rectangle > GridMaze::obstacles	(	double	x1,
		double	y1,
		double	x2,
		double	y2
	)		const

◆ occupied() [1/2]

bool GridMaze::occupied	(	double	x,
		double	y
	)

inline

◆ occupied() [2/2]

bool GridMaze::occupied ( unsigned int index ) const

inline

◆ occupiedCell()

bool GridMaze::occupiedCell	(	unsigned int	xi,
		unsigned int	yi
	)		const

inline

◆ saveSbplConfigFile()

bool GridMaze::saveSbplConfigFile ( const std::string & filename ) const

Writes cfg file for planners based on sbpl.

Parameters

filename The filename of the ".cfg" file.

Returns: True if saving succeeded, false otherwise.

◆ seed()

unsigned int GridMaze::seed ( ) const

inline

◆ to_json()

void GridMaze::to_json ( nlohmann::json & j )

inlineoverridevirtual

Reimplemented from Environment.

◆ voxels_x()

unsigned int GridMaze::voxels_x ( ) const

inline

◆ voxels_y()

unsigned int GridMaze::voxels_y ( ) const

inline

◆ voxelSize()

double GridMaze::voxelSize ( ) const

inline

Friends And Related Function Documentation

◆ operator<<

std::ostream & operator<<	(	std::ostream &	stream,
		const GridMaze &	m
	)

friend

Member Data Documentation

◆ _collision_timer

Stopwatch Environment::_collision_timer

protected

◆ DefaultHeight

const unsigned int GridMaze::DefaultHeight = 50

inlinestatic

◆ DefaultWidth

const unsigned int GridMaze::DefaultWidth = 50

inlinestatic

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

src/base/environments/GridMaze.h
src/base/environments/src/GridMaze.cpp

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Friends

Constructor & Destructor Documentation

◆ GridMaze() [1/3]

◆ GridMaze() [2/3]

◆ GridMaze() [3/3]

◆ ~GridMaze()

Member Function Documentation

◆ cells()

◆ collides() [1/2]

◆ collides() [2/2]

◆ computeDistances()

◆ coord2key()

◆ createFromImage()

◆ createFromMovingAiScenario()

◆ createFromObstacles()

◆ createRandom()

◆ createRandomCorridor()

◆ createSimple()

◆ distance() [1/3]

◆ distance() [2/3]

◆ distance() [3/3]

◆ distanceComputationMethod()

◆ empty()

◆ fill() [1/2]

◆ fill() [2/2]

◆ fillBorder()

◆ generatorType()

◆ mapData()

◆ mapDistances()

◆ mapString()

◆ name() [1/2]

◆ name() [2/2]

◆ obstacleRatio()

◆ obstacles() [1/2]

◆ obstacles() [2/2]

◆ occupied() [1/2]

◆ occupied() [2/2]

◆ occupiedCell()

◆ saveSbplConfigFile()

◆ seed()

◆ to_json()

◆ voxels_x()

◆ voxels_y()

◆ voxelSize()

Friends And Related Function Documentation

◆ operator<<

Member Data Documentation

◆ _collision_timer

◆ DefaultHeight

◆ DefaultWidth