Implements the Fast Marching Square Star (FM2*) planning algorithm. More...

#include <fm2star.hpp>

Inheritance diagram for FM2Star< grid_t, heap_t >:

Collaboration diagram for FM2Star< grid_t, heap_t >:

Public Member Functions
	FM2Star (HeurStrategy heurStrategy=TIME, double maxDistance=-1)
	maxDistance sets the velocities map saturation distance in real units (before normalization).

	FM2Star (const char *name, HeurStrategy heurStrategy=TIME, double maxDistance=-1)
	maxDistance sets the velocities map saturation distance in real units (before normalization).

virtual void	setInitialAndGoalPoints (const std::vector< unsigned int > &init_points, unsigned int goal_idx)
	Overloaded from FM2. In this case the precomputeDistances() method is called.

virtual void	setup ()
	Sets up the solver to check whether is ready to run.

virtual void	computeInternal ()
	Implements the actual FM2 method.

Public Member Functions inherited from FM2< grid_t, heap_t >
	FM2 (double maxDistance=-1)
	maxDistance sets the velocities map saturation distance in real units (before normalization).

	FM2 (const char *name, double maxDistance=-1)
	maxDistance sets the velocities map saturation distance in real units (before normalization).

virtual void	setEnvironment (grid_t *g)
	Sets the environment to run the solver and sets the sources for the velocities map computation.

void	computeVelocitiesMap ()
	Computes the velocities map of the FM2 algorithm. If maxDistance_ != -1 then the map is saturated to the set value. It is then normalized: velocities in [0,1].

virtual void	computePath (path_t p, std::vector< double > path_velocity, double step=1)
	Encapsulates the path extraction. More...

virtual void	clear ()
	Clears the solver, it is not recommended to be used out of the destructor.

virtual void	reset ()
	Clears temporal data, so it is ready to run again.

virtual double	getTimeVelocities () const
	Returns velocities map computation time.

Public Member Functions inherited from Solver< grid_t >
	Solver (const std::string &name)

virtual void	setInitialPoints (const std::vector< unsigned int > &init_points)
	Sets the initial points by the indices of the grid.

virtual void	setInitialAndGoalPoints (const std::array< unsigned int, grid_t::getNDims()> &init_coord, const std::array< unsigned int, grid_t::getNDims()> &goal_coord)
	Sets the initial and goal points by the coordinates of the grid.

virtual void	setInitialPoints (const std::array< unsigned int, grid_t::getNDims()> &init_coord)
	Sets the initial point by the coordinates of the grid.

void	compute ()
	Computes the distances map. Will call setup() if not done already.

template<class T >
T *	as ()
	Cast this instance to a desired type.

template<class T >
const T *	as () const
	Cast this instance to a desired type.

const std::string &	getName () const
	Returns name of the solver.

grid_t *	getGrid () const
	Returns a pointer to the grid used.

virtual double	getTime () const

virtual void	printRunInfo () const

Protected Attributes
HeurStrategy	heurStrategy_
	Stores the heuristic strategy to be used.

Protected Attributes inherited from FM2< grid_t, heap_t >
std::vector< unsigned int >	fm2_sources_
	Wave propagation sources for the Fast Marching Square velocities map computation.

FMM< grid_t, heap_t > *	solver_
	Underlying FMM-based solver.

double	maxDistance_
	Distance value to saturate the first potential.

double	time_vels_
	Time elapsed in the velocities map computation.

Protected Attributes inherited from Solver< grid_t >
grid_t *	grid_
	Grid container.

std::string	name_
	Solver name.

bool	setup_
	Setup status.

std::vector< unsigned int >	init_points_
	Initial index.

unsigned int	goal_idx_
	Goal index.

std::chrono::time_point < std::chrono::steady_clock >	start_
	Time measurement variables.

std::chrono::time_point < std::chrono::steady_clock >	end_

double	time_
	Time elapsed by the compute method.

Private Types
typedef std::vector < std::array< double, grid_t::getNDims()> >	path_t
	Path type encapsulation.

typedef FM2< grid_t, heap_t >	FM2Base
	Shorthand of the base clase.

Additional Inherited Members
Public Types inherited from FM2< grid_t, heap_t >
typedef std::vector < std::array< double, grid_t::getNDims()> >	path_t
	Path type encapsulation.

Protected Member Functions inherited from Solver< grid_t >
int	sanityChecks ()
	Performs different check before a solver can proceed.

Detailed Description

template<class grid_t, class heap_t = FMDaryHeap<FMCell>>
class FM2Star< grid_t, heap_t >

Todo:: Include support to other solvers (GMM, FIM, UFMM). Requires theoretical work on heuristics on these methods.

It uses as a main container the nDGridMap class. The nDGridMap template parameter has to be an FMCell or something inherited from it. It also uses a heap type in order to specify the underlying FMM.

IMPORTANT NOTE: When running FM2 many times on the same grid it is recommended to completely restart the grid (erase and create or resize). See test_fm2.cpp.

External documentation:: FM2: A. Valero, J.V. Gómez, S. Garrido and L. Moreno, The Path to Efficiency: Fast Marching Method for Safer, More Efficient Mobile Robot Trajectories, IEEE Robotics and Automation Magazine, Vol. 20, No. 4, 2013.

This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see < http://www.gnu.org/licenses/>.

Definition at line 51 of file fm2star.hpp.

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

/home/jvgomez/Desktop/fastmarching/include/fast_methods/fm2/fm2star.hpp

Public Member Functions

Protected Attributes

Private Types

Additional Inherited Members

Detailed Description

template<class grid_t, class heap_t = FMDaryHeap<FMCell>> class FM2Star< grid_t, heap_t >

template<class grid_t, class heap_t = FMDaryHeap<FMCell>>
class FM2Star< grid_t, heap_t >