pathFinding_8h_source.html

#ifndef Dijkstra_h

#define Dijkstra_h


#include "CscCommon.h"

#include "Axiomes/Csc2dTypes.h"


using namespace conscience_core::axiomes;


namespace conscience_core::ai::algorithms::path_finding {


typedef int DijkstraNodeId;

typedef double DijkstraCost;


struct CSC_DLL_IMPORTEXPORT child {

    DijkstraNodeId target;

    DijkstraCost weight;

    child(DijkstraNodeId target, DijkstraCost weight)

        : target(target), weight(weight) {}

};


typedef vector<vector<child>> DijkstraAdjacency;


class CSC_DLL_IMPORTEXPORT Dijkstra {

public:

    Dijkstra(vector<DijkstraNodeId> nodes, DijkstraAdjacency nodesNeighbors); // add time limit parameter ?

    void computePaths(DijkstraNodeId source);

    vector<DijkstraNodeId> getPath(DijkstraNodeId target);


    // set in stactic get instane

private:

    vector<DijkstraNodeId> nodes;

    DijkstraAdjacency nodesNeighbors;

    vector<DijkstraCost> minDistance;

    vector<DijkstraNodeId> previous;

};


struct CSC_DLL_IMPORTEXPORT Grid {

    int width{0};

    int height{0};


    double xMin{0};

    double yMin{0};

    double cellSizeX{0};

    double cellSizeY{0};


    string toJson() const;

};


vector<CscPoint2dOriented *> planHybridAStar(

    const CscPoint2d &start,

    double startAngleRads,

    const CscPoint2d &goal,

    const vector<bool> &nodesIsAccessible,

    const Grid &grid,

    const CscPoint2d &robotDimensions,

    CscPoint2d **outClosestValidPosition = nullptr,

    bool smoothingPathResult = true,

    optional<double> distanceForAddIntermediatePoints = 10,

    double desiredClearanceToObstacleInCm = 6,

    bool centerInCorridors = true);


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);


}


#endif