HybridAStar.cpp File Reference

#include "pathFinding.h"
#include "Util/geom.h"
#include <Axiomes/Csc2dTypes.h>
#include <Util/json.h>
#include <Util/fs.h>
#include <queue>
#include <vector>
#include <cmath>
#include <limits>
#include <algorithm>
#include <cstdint>
#include <stdexcept>
#include <optional>
#include <cstdlib>
#include <chrono>
#include <map>
#include <opencv2/opencv.hpp>

Namespaces
	conscience_core
	conscience_core::ai
	conscience_core::ai::algorithms
	conscience_core::ai::algorithms::path_finding

Typedefs
using	conscience_core::ai::algorithms::path_finding::State = tuple< int, int, int >
using	conscience_core::ai::algorithms::path_finding::QElem = std::pair< double, State >

Functions
vector< CscPoint2dOriented * >	conscience_core::ai::algorithms::path_finding::planHybridAStar (const CscPoint2d &start, double startAngleRads, const CscPoint2d &goal, const vector< bool > &nodesIsAccessible, const Grid &grid, const CscPoint2d &robotDimensions, CscPoint2d **outClosestValidPosition, bool smoothingPathResult, optional< double > distanceForAddIntermediatePoints, double desiredClearanceToObstacleInCm, bool centerInCorridors)
void	conscience_core::ai::algorithms::path_finding::savePathFindingDebugFiles (const fs::path &basePath, const vector< bool > &nodesIsAccessible, const vector< CscPoint2dOriented * > &path, const CscPoint2dOriented &robotPose, const CscPoint2d &targetPose, const Grid &grid, const CscPoint2d &robotDimensions2d)
void	conscience_core::ai::algorithms::path_finding::addLidarScanToGrid (double gridXMin, double gridYMin, double cellSizeX, double cellSizeY, size_t gridWidth, size_t gridHeight, vector< bool > &nodesIsAccessible, const map< double, double > &lidarValues, const CscPoint2dOriented &robotPose)

Variable Documentation

c

double c

f

double f

i

int i

j

int j

s

double s