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陈狗翔 / PRM-US-path-planning

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PRM_USS.h 1.37 KB
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陈狗翔 authored 2018-01-24 22:02 . PRM US path planning
#ifndef PRM_USS_H
#define PRM_USS_H
#include "map_pgm.h"
#include <opencv2/opencv.hpp>
#include <vector>
struct point
{
int x;
int y;
point(int x=0,int y=0){this->x=x;this->y=y;}
bool operator==(const point p)
{
return (x==p.x &&y == p.y);
}
};
struct p_node
{
point pose;
std::vector<p_node *> neighbors;
p_node(point p){this->pose=p;};
};
struct g_node
{
p_node * pose;
int start_cost;
int goal_cost;
int cost;
//std::vector<g_node *> neighbors;
g_node * father;
g_node(p_node * p ,int cost_start,int cost_goal,g_node * fa=NULL)
{
this->pose = p;
if (fa == NULL)
{
this->start_cost = 0;
}
else
{
start_cost = cost_start;
}
goal_cost = cost_goal;
cost = start_cost + goal_cost;
this->father = fa;
}
};
class PRM_map
{
public:
PRM_map(const char * filename);
bool getPath(point start,point goal);
std::vector<p_node * >allnode;
void showResult(const char * filename);
private:
const int steplength;
int sizeX;
int sizeY;
bool isCreated;
int getDistance(const point p1,const point p2);
double getDistance(int x1,int y1,int x2,int y2);
std::vector<point> line;
bool if_line(const point p1,const point p2);
const PRM_map operator=(const PRM_map &);
bool collisionCheck(int x,int y);
std::vector<p_node * > path;
Pgm_map map;
int test;
int ** buff;
// int ** graph;
// std::vector <point> output_path;
cv::Mat img;
};
#endif

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