GradientDescent< grid_t > Class Template Reference

Implements gradient descent to be used together with nDGridMap and FMCell or derived types. More...

#include <gradientdescent.hpp>

Static Public Member Functions
static void	apply (grid_t &grid, unsigned int &idx, Path &path, std::vector< double > &path_velocity, double step=1)
	Computes the path over grid from idx to a minimum and extracts the velocity in every point. More...

Private Types
typedef std::array< unsigned int, ndims_ >	Coord
	Shorthand for coordinates.
typedef std::array< double, ndims_ >	Point
	Shorhand for real points.
typedef std::vector< Point >	Path
	Shorthand for path type of real points.

Static Private Attributes
static constexpr size_t	ndims_ = grid_t::getNDims()
	Shorthand for number of dimensions.

Detailed Description

template<class grid_t>
class GradientDescent< grid_t >

Copyright (C) 2014 Javier V. Gomez www.javiervgomez.com

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 41 of file gradientdescent.hpp.

Member Function Documentation

template<class grid_t>

static void GradientDescent< grid_t >::apply ( grid_t &  grid, unsigned int &  idx, Path &  path, std::vector< double > &  path_velocity, double  step = 1  )

inlinestatic

Simple gradient approximation is used: dimension 0: gx = f((x-1,y)+f(x+1,y))/2 dimension 1: gy = f((x,y-1)+f(x,y+1))/2 and so on.

No checks are done (points in the borders, points in obstacles...). IMPORTANT NOTE: both minimum and initial index cannot be in the border of the map. This situation is not checked. We recommend to set a 1 pixel black border around the map image.

Definition at line 67 of file gradientdescent.hpp.

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

• /home/jvgomez/Desktop/fastmarching/include/fast_methods/gradientdescent/gradientdescent.hpp