HybridPlanner Class Reference

Implements a Hybrid Deliberative/Reactive Planner. More...

#include <HybridPlanner.h>

Inheritance diagram for HybridPlanner:

List of all members.

Classes
struct	door
	Gateway cell structure for hybrid planner. More...
Public Member Functions
	HybridPlanner (const ConfigFile &config)
	Constructor.
virtual	~HybridPlanner ()
	Destructor.
Protected Member Functions
int	cluster (int numrobots, const point *robotcells, const binMap &map, treeNode &parent, int nodetype)
	clusters a binmap
bool	clustering (const int &i, const int &j, binMap &aux, const binMap &map, door &cl, std::list< point > &seq, bool backfront)
	recursive clustering
treeNode *	createExplorationTree (int numrobots, const point *robotcells, const point &pos, const gridMapInterface &omap, const binMap &precisemap, const binMap &imprecisemap)
	creates an exploration tree
void	evalTree (treeNode &tree)
	evaluates the exploration tree
void	evalZone (int numrobots, const point *robotcells, const binMap &map, treeNode &node, const gridMapInterface &omap, const binMap &precisemap, const binMap &imprecisemap)
	evals a zone of the tree
void	execute ()
	virtual method for the thread main process.
void	onStop ()
	this virtual method will be executed when the stop method is called
void	seekChildren (int numrobots, const point *robotcells, const binMap &safezone, const binMap &filter, treeNode &node, const gridMapInterface &omap, const binMap &precisemap, const binMap &imprecisemap)
	seeks for adjacent zones
int	setup ()
	this virtual method will be executed when trying to start the thead, must return 0 if ok
Protected Attributes
float	actionradius
bool	badlocalized
ClMutex	closing
bool	endPlanner
int	eszdilationradius
IplImage *	im
int	min_frontier_length
int	min_gateway_length
bool	showPlanner
int	state
float	utility_radius
Private Types
typedef struct HybridPlanner::door	door
	Gateway cell structure for hybrid planner.

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Detailed Description

Implements a Hybrid Deliberative/Reactive Planner.

Definition at line 31 of file HybridPlanner.h.

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

• include/architecture/planner/HybridPlanner.h
• src/architecture/planner/HybridPlanner.cpp