A stand-alone, standard C++ class which represents each one of the cells of a gridmap and its typical members when used together with Fast Marching Methods. Inherited from Cell class, in this case the value_ member represents the distance value (or time of arrival) and occupancy_ represents the propagation velocity. More...

#include <fmcell.h>

Inheritance diagram for FMCell:

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Collaboration diagram for FMCell:

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Public Member Functions
	FMCell ()
	Default constructor which performs and implicit Fast Marching-like initialization of the grid.

virtual void	setVelocity (double v)

virtual void	setArrivalTime (double at)

virtual void	setHeuristicTime (double hv)

virtual void	setState (FMState state)

virtual void	setBucket (int b)

virtual void	setDefault ()
	Sets default values for the cell. Concretely, restarts value_ = Inf, state_ = OPEN and hValue_ = 0 but occupancy_ is not modified.

std::string	type ()

virtual double	getArrivalTime () const

virtual double	getHeuristicValue () const

virtual double	getTotalValue () const

virtual double	getVelocity () const

virtual FMState	getState () const

virtual int	getBucket () const

Public Member Functions inherited from Cell
	Cell ()
	Default constructor: sets value_ to -1 and occupancy_ to true (clear cell, not occupied).

	Cell (double v, double o=1)

virtual void	setValue (double v)

virtual void	setOccupancy (double o)

virtual void	setIndex (int i)

virtual double	getValue () const

virtual double	getOccupancy () const

virtual unsigned int	getIndex () const

virtual bool	isOccupied () const

Protected Attributes
FMState	state_
	State of the cell.

int	bucket_
	Used when sorted with FMUntidyQueue.

double	hValue_
	Heuristic value.

Protected Attributes inherited from Cell
double	value_
	Value of the cell.

double	occupancy_
	Binary occupancy, true means clear, false occupied.

unsigned int	index_

Friends
std::ostream &	operator<< (std::ostream &os, const FMCell &c)

Detailed Description

Todo:: Overload functions to add the option of input checking. No checks are faster.

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 36 of file fmcell.h.

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

/home/jvgomez/Desktop/fastmarching/include/fast_methods/ndgridmap/fmcell.h

Public Member Functions

Protected Attributes

Friends

Detailed Description