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Star Class Reference

Star : A generic pattern for search strategies--provides basic infracstructure for A*/D*/LPA* et al type searches. More...

#include <star.h>

Inheritance diagram for Star:

Public Member Functions
	Star (OGrid *grid)
	Initializes with occupancy grid.
uint8	cost (int i, int j)
	return cost of location x,y
int	cost (int x, int y, CELL_STATE ctype, node_chain *shadow_nodes=NULL)
void	update_nodes (node_chain &changed_nodes)
Node *	node (uint8 x, uint8 y)
void	InitStar (void)
void	path_flag (motion_chain &path)
	Mark all segments in motion chain as within path.
Protected Member Functions
void	GetChildren (Node *n, Node *child[EDGES+1])
void	mark (int x, int y)
	Star (void)
Protected Attributes
Node	_field [MAX_STAR_NODES]
OGrid *	_ogrid

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Detailed Description

Star : A generic pattern for search strategies--provides basic infracstructure for A*/D*/LPA* et al type searches.

Currently used in both AStar and DStar (D* Lite) search algoriths.

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Constructor & Destructor Documentation

Star (  OGrid *  grid  )

Initializes with occupancy grid.

Star (  void   )  [protected]

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Member Function Documentation

int cost (  int  x, int  y, CELL_STATE  ctype, node_chain *  shadow_nodes = NULL )

set cost of node location x,y. incrementally updates all nodes whose cost has changed.

uint8 cost (  int  i, int  j )

return cost of location x,y

void GetChildren (  Node *  n, Node *  child[EDGES+1] )  [protected]

void InitStar (  void   )

cost has range 0..255; 0 is clear, and 255 is "absolute" obstacle (whatever that means). Can recommend areas not to take by setting cell to a value less than the MINIMUM_OBSTACLE value. Once the value exceeds MINIMUM_OBSTACLE, then the cell will not be evaluated in the A* algorithm.

void mark (  int  x, int  y )  [protected]

Node* node (  uint8  x, uint8  y )

Return Node at location x,y. (I forget why I needed this). Fills in a node with Terrain type specified.

void path_flag (  motion_chain &  path  )

Mark all segments in motion chain as within path.

void update_nodes (  node_chain &  changed_nodes  )

this is done this way because the node_chain is only so big, so this allows nodes to be updated incrementally. Reimplemented in DStar.

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Field Documentation

Node _field[MAX_STAR_NODES] [protected]

OGrid* _ogrid [protected]

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