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Hybrid A* Planner
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Hybrid A* Planner
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A two dimensional node class used for the holonomic with obstacles heuristic. More...
#include <node2d.h>
Public Member Functions | |
| Node2D () | |
| The default constructor for 2D array initialization. | |
| Node2D (int x, int y, float g, float h, Node2D *pred) | |
| Constructor for a node with the given arguments. | |
| int | getX () const |
| get the x position | |
| int | getY () const |
| get the y position | |
| float | getG () const |
| get the cost-so-far (real value) | |
| float | getH () const |
| get the cost-to-come (heuristic value) | |
| float | getC () const |
| get the total estimated cost | |
| int | getIdx () const |
| get the index of the node in the 2D array | |
| bool | isOpen () const |
| determine whether the node is open | |
| bool | isClosed () const |
| determine whether the node is closed | |
| bool | isDiscovered () const |
| determine whether the node is discovered | |
| Node2D * | getPred () const |
| get a pointer to the predecessor | |
| void | setX (const int &x) |
| set the x position | |
| void | setY (const int &y) |
| set the y position | |
| void | setG (const float &g) |
| set the cost-so-far (real value) | |
| void | setH (const float &h) |
| set the cost-to-come (heuristic value) | |
| int | setIdx (int width) |
| set and get the index of the node in the 2D array | |
| void | open () |
| open the node | |
| void | close () |
| close the node | |
| void | reset () |
| set the node neither open nor closed | |
| void | discover () |
| discover the node | |
| void | setPred (Node2D *pred) |
| set a pointer to the predecessor of the node | |
| void | updateG () |
| Updates the cost-so-far for the node x' coming from its predecessor. It also discovers the node. | |
| void | updateH (const Node2D &goal) |
| Updates the cost-to-go for the node x' to the goal node. | |
| float | movementCost (const Node2D &pred) const |
| The heuristic as well as the cost measure. | |
| bool | operator== (const Node2D &rhs) const |
| Custom operator to compare nodes. Nodes are equal if their x and y position is the same. | |
| bool | isOnGrid (const int width, const int height) const |
| Validity check to test, whether the node is in the 2D array. | |
| Node2D * | createSuccessor (const int i) |
| Creates a successor on a eight-connected grid. | |
Static Public Attributes | |
| static const int | dir = 8 |
| Number of possible directions. | |
| static const int | dx [] = { -1, -1, 0, 1, 1, 1, 0, -1 } |
| Possible movements in the x direction. | |
| static const int | dy [] = { 0, 1, 1, 1, 0, -1, -1, -1 } |
| Possible movements in the y direction. | |
Private Attributes | |
| int | x |
| the x position | |
| int | y |
| the y position | |
| float | g |
| the cost-so-far | |
| float | h |
| the cost-to-go | |
| int | idx |
| the index of the node in the 2D array | |
| bool | o |
| the open value | |
| bool | c |
| the closed value | |
| bool | d |
| the discovered value | |
| Node2D * | pred |
| the predecessor pointer | |
A two dimensional node class used for the holonomic with obstacles heuristic.
Each node has a unique discrete position (x,y).
1.8.6
