| #define | MAP_WIDTH 30 |
| #define | MAP_HEIGHT 21 |
| #define | WALL_COST 1000 |
| #define | MAP_WALL 0xFF |
| #define | MAP_PATH 0xFE |
| #define | MAP_START 0xFD |
| #define | MAP_GOAL 0xFC |
| #define | MAP_NEW_OBSTACLE 0xFB |
| #define | MAP_FREE 0x00 |
| #define | SHM_MAP_KEY 555 |
| #define | GETMAPPOS(i, j) (*(map+i+j*MAP_WIDTH)) |
| #define | GRAPHX2FIELD(x) ((x+0.5)/10.0) |
| #define | GRAPHY2FIELD(y) ((abs(y-MAP_HEIGHT)-0.5)/10.0) |
| typedef unsigned char | map_t |
| #define | MAP_WIDTH 30 |
| #define | MAP_HEIGHT 21 |
| #define | WALL_COST 1000 |
| #define | MAP_WALL 0xFF |
| #define | MAP_PATH 0xFE |
| #define | MAP_START 0xFD |
| #define | MAP_GOAL 0xFC |
| #define | MAP_NEW_OBSTACLE 0xFB |
| #define | MAP_FREE 0x00 |
| #define | SHM_MAP_KEY 555 |
| #define | GETMAPPOS(i, j) (*(map+i+j*MAP_WIDTH)) |
| #define | GRAPHX2FIELD(x) ((x+0.5)/10.0) |
| #define | GRAPHY2FIELD(y) ((abs(y-MAP_HEIGHT)-0.5)/10.0) |
| typedef unsigned char | map_t |
| struct map * | map |
| #define | DBG printf |
Path Planner Error Codes | |
| #define | PP_ERROR_MAP_NOT_INIT -1 |
| #define | PP_ERROR_GOAL_IS_OBSTACLE -2 |
| #define | PP_ERROR_GOAL_NOT_REACHABLE -3 |
Functions | |
| int | path_planner (double xstart_real, double ystart_real, double xgoal_real, double ygoal_real, PathPoint **simple_path, double *angle) |
| void | freePathMemory (PathPoint *simple_path) |
For working it needs refmaplibmaplibrary@endlink.Itreturnsthenumberofpointsofthepathonsuccessoranerrorcode.Theresultofthealgorithmisstockedinalistof::PathPointfinishedwithNULLcontainingthepointsofthepath.Adoublepointertothepathmustbepassedasargument.Afterusethepath,memoryshouldbefreewithfreePathMemory().Apointerofthefinalanglemustbealsopassedasargument.ThemapmemorymustbeinitwithShmapInit()beforecallingpath_planner().DonotforgettofreethismapmemorywithShmapFree(),afterusethepath,freePathMemory()..Isnotnecessarytouseotherfunctionsofthelibrary.Howeverifyouareinterested,pleaseread@refppi@sectionpp_algorithmsTheinternalalgorithmsTheprogramuseanimplementationofA*algorithm,aalgorithm()andsimplifiesitbypath_simplifier().@sectionpp_exampleAnexempleofusingthisfunction:@codeintmain()PathPoint*path;//ApointertothepathPathPoint*tmp;//Atmppointerdoubleangle;//Theangleofthefinallinedoublestartx,starty,goalx,goaly;ShmapInit();//Initsharedmapmemory//Startandgoalpointsofthepathstartx=1.1;stary=1.1;goalx=2.2;goaly=2.0;//Calcthepathif(path_planner(startx, starty, goalx, goaly, &path, &angle))printf("Path ok!\n");elseprintf("The planner can not reach the goal\n");return0;//Printthepointsofthetrajectorytmp=path;printf("The points of the trajectory are: ");while(tmp!=NULL)printf("(%f, %f)",tmp->x,tmp->y);tmp=tmp->next;printf("\n");printf("The final angle is : %f\n", angle);//MemorydeallocationfreePathMemory(path);//Donotforgettofreethepathmemoryafteruse.ShmapFree();//FreeSharedMapMemoryreturn0;@endcode
| #define GETMAPPOS | ( | i, | |||
| j | ) | (*(map+i+j*MAP_WIDTH)) |
Field width
Definition at line 24 of file map_definitions.h.
| #define GETMAPPOS | ( | i, | |||
| j | ) | (*(map+i+j*MAP_WIDTH)) |
Field width
Definition at line 24 of file map_definitions.h.
Referenced by ShmapGetCellValue(), and ShmapSetCellValue().
| #define GRAPHX2FIELD | ( | x | ) | ((x+0.5)/10.0) |
Convert from cell coordonates X to real coordonates. Use better cell2real_X().
Definition at line 27 of file map_definitions.h.
| #define GRAPHX2FIELD | ( | x | ) | ((x+0.5)/10.0) |
Convert from cell coordonates X to real coordonates. Use better cell2real_X().
Definition at line 27 of file map_definitions.h.
| #define GRAPHY2FIELD | ( | y | ) | ((abs(y-MAP_HEIGHT)-0.5)/10.0) |
Convert from cell coordonates Y to real coordonates. Use better cell2real_Y().
Definition at line 28 of file map_definitions.h.
| #define GRAPHY2FIELD | ( | y | ) | ((abs(y-MAP_HEIGHT)-0.5)/10.0) |
Convert from cell coordonates Y to real coordonates. Use better cell2real_Y().
Definition at line 28 of file map_definitions.h.
| #define MAP_FREE 0x00 |
Free cell. The robot can move on. White in robomon.
Definition at line 19 of file map_definitions.h.
| #define MAP_FREE 0x00 |
Free cell. The robot can move on. White in robomon.
Definition at line 19 of file map_definitions.h.
Referenced by robomon::paintMap(), ShmapAllFreeSpace(), ShmapClearOldPath(), ShmapIsFreeCell(), ShmapUpdateTmpObstacles(), and trajctory_recalc().
| #define MAP_GOAL 0xFC |
Goal cell. Green in robomon.
Definition at line 17 of file map_definitions.h.
| #define MAP_GOAL 0xFC |
Goal cell. Green in robomon.
Definition at line 17 of file map_definitions.h.
Referenced by getPathLength(), robomon::paintMap(), ShmapIsFreeCell(), and trajctory_recalc().
| #define MAP_HEIGHT 21 |
Field height
Definition at line 10 of file map_definitions.h.
| #define MAP_HEIGHT 21 |
Field height
Definition at line 10 of file map_definitions.h.
Referenced by calculateMapHeuristic(), initGraphStructure(), robomon::paintMap(), ShmapAllFreeSpace(), ShmapCell2Point_Y(), ShmapClearOldPath(), ShmapIsCellInMap(), ShmapPoint2Cell_Y(), ShmapUpdateTmpObstacles(), and robomon::showMap().
| #define MAP_NEW_OBSTACLE 0xFB |
Fouded obstacle cell. Blue in robomon.
Definition at line 18 of file map_definitions.h.
| #define MAP_NEW_OBSTACLE 0xFB |
Fouded obstacle cell. Blue in robomon.
Definition at line 18 of file map_definitions.h.
Referenced by robomon::paintMap(), ShmapUpdateTmpObstacles(), and trajctory_recalc().
| #define MAP_PATH 0xFE |
Path cell. Darkred in robomon.
Definition at line 15 of file map_definitions.h.
| #define MAP_PATH 0xFE |
Path cell. Darkred in robomon.
Definition at line 15 of file map_definitions.h.
Referenced by getPathLength(), robomon::paintMap(), ShmapIsFreeCell(), and trajctory_recalc().
| #define MAP_START 0xFD |
Start cell. Red in robomon.
Definition at line 16 of file map_definitions.h.
| #define MAP_START 0xFD |
Start cell. Red in robomon.
Definition at line 16 of file map_definitions.h.
Referenced by getPathLength(), robomon::paintMap(), and ShmapIsFreeCell().
| #define MAP_WALL 0xFF |
Wall cell. Black in robomon.
Definition at line 14 of file map_definitions.h.
| #define MAP_WALL 0xFF |
Wall cell. Black in robomon.
Definition at line 14 of file map_definitions.h.
Referenced by robomon::paintMap(), and trajctory_recalc().
| #define MAP_WIDTH 30 |
Field width
Definition at line 9 of file map_definitions.h.
| #define MAP_WIDTH 30 |
Field width
Definition at line 9 of file map_definitions.h.
Referenced by calculateMapHeuristic(), initGraphStructure(), robomon::paintMap(), ShmapAllFreeSpace(), ShmapCell2Point_X(), ShmapClearOldPath(), ShmapIsCellInMap(), ShmapUpdateTmpObstacles(), and robomon::showMap().
| #define SHM_MAP_KEY 555 |
Key use to share the memory SHM
Definition at line 21 of file map_definitions.h.
| #define SHM_MAP_KEY 555 |
Key use to share the memory SHM
Definition at line 21 of file map_definitions.h.
Referenced by ShmapInit(), and robomon::showMap().
| #define WALL_COST 1000 |
Cost fo jumping a wall.
Definition at line 12 of file map_definitions.h.
| #define WALL_COST 1000 |
| typedef unsigned char map_t |
Field width
Definition at line 30 of file map_definitions.h.
| typedef unsigned char map_t |
Field width
Definition at line 30 of file map_definitions.h.
| void freePathMemory | ( | PathPoint * | simple_path | ) |
Free memory allocated for simple path
| first_point | A pointer to the list of points of simplest path |
Definition at line 208 of file path_simplifier.c.
Referenced by new_goal().
| int path_planner | ( | double | xstart_real, | |
| double | ystart_real, | |||
| double | xgoal_real, | |||
| double | ygoal_real, | |||
| PathPoint ** | simple_path, | |||
| double * | angle | |||
| ) |
Returns a list of PathPoints of the path
| xstart | X coordinate in meters | |
| ystart | Y coordinate in meters | |
| xgoal | X coordinate in meters | |
| ygoal | Y coordinate in meters | |
| simple_path | A pointer to where the simple path will be stocked | |
| angle | A pointer to a double variable where the final angle of the trajectory will be stocked. |
Do not forget to free allocated memory with freePathMemory(). It takes parameters of start and goal points. It returns the number of points of the trajectory and the caller must specify pointers to path and angle.
Definition at line 27 of file path_planner.c.
References aAlgorithm(), DBG, _PathPoint::next, path_simplifier(), PP_ERROR_GOAL_IS_OBSTACLE, PP_ERROR_GOAL_NOT_REACHABLE, PP_ERROR_MAP_NOT_INIT, ShmapClearOldPath(), ShmapIsFreePoint(), and ShmapIsMapInit().
Field width
Definition at line 18 of file robot-planning.cc.
1.5.3