A DynamicVoronoi object computes and updates a distance map and Voronoi diagram. More...

#include <dynamicvoronoi.h>

Classes
struct	dataCell

Public Types
enum	State { voronoiKeep = -4, freeQueued = -3, voronoiRetry = -2, voronoiPrune = -1, free = 0, occupied = 1 }

enum	QueueingState { fwNotQueued = 1, fwQueued = 2, fwProcessed = 3, bwQueued = 4, bwProcessed = 1 }

enum	ObstDataState { invalidObstData = SHRT_MAX / 2 }

enum	markerMatchResult { pruned, keep, retry }

Public Member Functions
void	initializeEmpty (int _sizeX, int _sizeY, bool initGridMap=true)
	Initialization with an empty map.

void	initializeMap (int _sizeX, int _sizeY, bool **_gridMap)
	Initialization with a given binary map (false==free, true==occupied)

void	occupyCell (int x, int y)
	add an obstacle at the specified cell coordinate

void	clearCell (int x, int y)
	remove an obstacle at the specified cell coordinate

void	exchangeObstacles (std::vector< INTPOINT > newObstacles)
	remove old dynamic obstacles and add the new ones

void	update (bool updateRealDist=true)
	update distance map and Voronoi diagram to reflect the changes

void	prune ()
	prune the Voronoi diagram

float	getDistance (int x, int y)
	returns the obstacle distance at the specified location

bool	isVoronoi (int x, int y)
	returns whether the specified cell is part of the (pruned) Voronoi graph

bool	isOccupied (int x, int y)
	checks whether the specficied location is occupied

void	visualize (const char *filename="result.ppm")
	write the current distance map and voronoi diagram as ppm file

unsigned int	getSizeX ()
	returns the horizontal size of the workspace/map

unsigned int	getSizeY ()
	returns the vertical size of the workspace/map

void	setObstacle (int x, int y)

void	removeObstacle (int x, int y)

void	checkVoro (int x, int y, int nx, int ny, dataCell &c, dataCell &nc)

void	recheckVoro ()

void	commitAndColorize (bool updateRealDist=true)

void	reviveVoroNeighbors (int &x, int &y)

bool	isOccupied (int &x, int &y, dataCell &c)

markerMatchResult	markerMatch (int x, int y)

Public Attributes
BucketPrioQueue	open

std::queue< INTPOINT >	pruneQueue

std::vector< INTPOINT >	removeList

std::vector< INTPOINT >	addList

std::vector< INTPOINT >	lastObstacles

int	sizeY

int	sizeX

dataCell **	data

bool **	gridMap

int	padding

double	doubleThreshold

double	sqrt2

Detailed Description

A DynamicVoronoi object computes and updates a distance map and Voronoi diagram.

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

include/dynamicvoronoi.h
src/dynamicvoronoi.cpp

Classes

Public Types

Public Member Functions

Public Attributes

Detailed Description