sa Namespace Reference

Functions
void	InitOccFrom (nav_msgs::OccupancyGrid &rInput, nav_msgs::OccupancyGrid &rOutput)
bool	IsInBounds (nav_msgs::OccupancyGrid &rInput, Vec2i &rPos)
bool	CheckAny (nav_msgs::OccupancyGrid &rInput, const Vec2i &rStart, const Vec2i &rEnd, const int &rVal)
void	ComputePath (nav_msgs::OccupancyGrid &rOcc, const Vec2i &rStart, const Vec2i &rEnd, std::list< Vec2i > &rOutPath)
void	ComputePathWavefront (nav_msgs::OccupancyGrid &rInput, const Vec2i &rStart, const Vec2i &rEnd, std::list< Vec2i > &rOutPath)
void	ComputeFrontiers (nav_msgs::OccupancyGrid &rInput, nav_msgs::OccupancyGrid &rOutput, std::vector< Vec2i > &rFrontiers)
void	ComputeClusters (nav_msgs::OccupancyGrid &rFrontiersMap, std::vector< Vec2i > &rFrontiers, std::vector< std::vector< Vec2i >> &rOutClusters)
Vec2i	ClosestFrontierCluster (const Vec2i &rPos, std::vector< Vec2i > &rCluster)
Vec2i	MedianFrontierCluster (const Vec2i &rPos, std::vector< Vec2i > &rCluster)
void	ComputeCentroids (const Vec2i &rPos, std::vector< std::vector< Vec2i >> &rClusters, std::vector< Vec2i > &rOutCentroids)
void	ComputeAverageCentroids (const Vec2i &rPos, std::vector< std::vector< Vec2i >> &rClusters, std::vector< Vec2i > &rOutCentroids)

Function Documentation

CheckAny()

bool sa::CheckAny	(	nav_msgs::OccupancyGrid &	rInput,
		const Vec2i &	rStart,
		const Vec2i &	rEnd,
		const int &	rVal
	)

ClosestFrontierCluster()

Vec2i sa::ClosestFrontierCluster	(	const Vec2i &	rPos,
		std::vector< Vec2i > &	rCluster
	)

ComputeAverageCentroids()

void sa::ComputeAverageCentroids	(	const Vec2i &	rPos,
		std::vector< std::vector< Vec2i >> &	rClusters,
		std::vector< Vec2i > &	rOutCentroids
	)

ComputeCentroids()

void sa::ComputeCentroids	(	const Vec2i &	rPos,
		std::vector< std::vector< Vec2i >> &	rClusters,
		std::vector< Vec2i > &	rOutCentroids
	)

ComputeClusters()

void sa::ComputeClusters	(	nav_msgs::OccupancyGrid &	rFrontiersMap,
		std::vector< Vec2i > &	rFrontiers,
		std::vector< std::vector< Vec2i >> &	rOutClusters
	)

ComputeFrontiers()

void sa::ComputeFrontiers	(	nav_msgs::OccupancyGrid &	rInput,
		nav_msgs::OccupancyGrid &	rOutput,
		std::vector< Vec2i > &	rFrontiers
	)

ComputePath()

void sa::ComputePath	(	nav_msgs::OccupancyGrid &	rOcc,
		const Vec2i &	rStart,
		const Vec2i &	rEnd,
		std::list< Vec2i > &	rOutPath
	)

ComputePathWavefront()

void sa::ComputePathWavefront	(	nav_msgs::OccupancyGrid &	rInput,
		const Vec2i &	rStart,
		const Vec2i &	rEnd,
		std::list< Vec2i > &	rOutPath
	)

InitOccFrom()

void sa::InitOccFrom	(	nav_msgs::OccupancyGrid &	rInput,
		nav_msgs::OccupancyGrid &	rOutput
	)

IsInBounds()

bool sa::IsInBounds	(	nav_msgs::OccupancyGrid &	rInput,
		Vec2i &	rPos
	)

MedianFrontierCluster()

Vec2i sa::MedianFrontierCluster	(	const Vec2i &	rPos,
		std::vector< Vec2i > &	rCluster
	)