conscience_core::ai::algorithms::path_finding Namespace Reference

Classes
struct	child
class	Dijkstra
struct	Grid

Typedefs
using	State = tuple< int, int, int >
using	QElem = std::pair< double, State >
typedef int	DijkstraNodeId
typedef double	DijkstraCost
typedef vector< vector< child > >	DijkstraAdjacency

Functions
vector< CscPoint2dOriented * >	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	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	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)

Variables
std::unique_ptr< CscLogger >	logger = CscLogger::getForCategory("Dijkstra Algorithm")
const DijkstraCost	MAX_WEIGHT = numeric_limits<double>::infinity()

Typedef Documentation

DijkstraAdjacency

typedef vector<vector<child> > conscience_core::ai::algorithms::path_finding::DijkstraAdjacency

DijkstraCost

typedef double conscience_core::ai::algorithms::path_finding::DijkstraCost

DijkstraNodeId

typedef int conscience_core::ai::algorithms::path_finding::DijkstraNodeId

QElem

using conscience_core::ai::algorithms::path_finding::QElem = typedef std::pair<double, State>

State

using conscience_core::ai::algorithms::path_finding::State = typedef tuple<int, int, int>

Function Documentation

addLidarScanToGrid()

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
	)

Parameters

lidarValues

Distance (in centimeters) by angle from robot center, by angles in degrees from 0 in front of the robot to 360 rotating to the right

planHybridAStar()

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
	)

Planner with adaptive stop and empty-path on failure.

Computes Hybrid A* algorithm based on following parameters.

Note

2D reference frame is X to the right, Z to the bottom. Unit is assumed to be centimeters but could be something else

Parameters

start	start position in 2D reference frame
startAngleRads	start angle - yaw from pi (left) to -pi (right)
goal	target position in 2D reference frame
nodesIsAccessible	occupandy values -> each value is a cell of the grid (see grid param). index = i + j * gridColumnCount, true if accessible, false is not accessible
grid	grid characteristics, such as width & height in 2D referential, position in 2D referential (xMin, yMin
robotDimensions	robot dimensions in 2D reference frame
outClosestValidPosition	if not nullptr, pointer will be set to the closest valid position
smoothingPathResult	If true, enables path smoothing to reduce small turns and generate a straighter path while avoiding collisions with obstacles.
distanceForAddIntermediatePoints	insert Intermediate points evry X cm. If empty optional, no add intermediate points.

Returns

computed path, or empty if unreachable with given parameters

savePathFindingDebugFiles()

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
	)

Variable Documentation

logger

static auto conscience_core::bridging::commands::logger = CscLogger::getForCategory("Dijkstra Algorithm")

MAX_WEIGHT

const DijkstraCost conscience_core::ai::algorithms::path_finding::MAX_WEIGHT = numeric_limits<double>::infinity()