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| Original file line number | Diff line number | Diff line change |
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| #ifndef ASTARSemantic_HPP | ||
| #define ASTARSemantic_HPP | ||
| /** | ||
| * @file AStarSemantic.hpp | ||
| * @author Jose Antonio Cobano ([email protected]) | ||
| * | ||
| * @brief This algorithm is a variation of the A*. The only | ||
| * difference is that it reimplements the computeG method adding the | ||
| * following cost term to the resturned result: | ||
| * | ||
| * auto cost_term = static_cast<unsigned int>(cost_weight_ * _suc * dist_scale_factor_reduced_); | ||
| * | ||
| * @version 0.1 | ||
| * @date 2024-01-23 | ||
| * | ||
| * @copyright Copyright (c) 2021 | ||
| * | ||
| */ | ||
| #include <Planners/AStar.hpp> | ||
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| namespace Planners{ | ||
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| /** | ||
| * @brief | ||
| * | ||
| */ | ||
| class AStarSemantic : public AStar | ||
| { | ||
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| public: | ||
| /** | ||
| * @brief Construct a new AStarSemantic object | ||
| * @param _use_3d This parameter allows the user to choose between | ||
| * planning on a plane (8 directions possibles) | ||
| * or in the 3D full space (26 directions) | ||
| * @param _name Algorithm name stored internally | ||
| * | ||
| */ | ||
| AStarSemantic(bool _use_3d, std::string _name ); | ||
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| /** | ||
| * @brief Construct a new Cost Aware A Star M1 object | ||
| * | ||
| * @param _use_3d | ||
| */ | ||
| AStarSemantic(bool _use_3d); | ||
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| protected: | ||
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| /** | ||
| * @brief Overrided ComputeG function. | ||
| * | ||
| * @param _current Pointer to the current node | ||
| * @param _suc Pointer to the successor node | ||
| * @param _n_i The index of the direction in the directions vector. | ||
| * Depending on this index, the distance wi | ||
| * @param _dirs Number of directions used (to distinguish between 2D and 3D) | ||
| * @return unsigned int The G Value calculated by the function | ||
| */ | ||
| inline virtual unsigned int computeG(const Node* _current, Node* _suc, unsigned int _n_i, unsigned int _dirs) override; | ||
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| }; | ||
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| } | ||
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| #endif |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,66 @@ | ||
| #ifndef ASTARSemanticCost_HPP | ||
| #define ASTARSemanticCost_HPP | ||
| /** | ||
| * @file AStarSemantic.hpp | ||
| * @author Jose Antonio Cobano ([email protected]) | ||
| * | ||
| * @brief This algorithm is a variation of the A*. The only | ||
| * difference is that it reimplements the computeG method adding the | ||
| * following cost term to the resturned result: | ||
| * | ||
| * auto cost_term = static_cast<unsigned int>(cost_weight_ * _suc * dist_scale_factor_reduced_); | ||
| * | ||
| * @version 0.1 | ||
| * @date 2024-01-23 | ||
| * | ||
| * @copyright Copyright (c) 2021 | ||
| * | ||
| */ | ||
| #include <Planners/AStar.hpp> | ||
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| namespace Planners{ | ||
|
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| /** | ||
| * @brief | ||
| * | ||
| */ | ||
| class AStarSemanticCost : public AStar | ||
| { | ||
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| public: | ||
| /** | ||
| * @brief Construct a new AStarSemantic object | ||
| * @param _use_3d This parameter allows the user to choose between | ||
| * planning on a plane (8 directions possibles) | ||
| * or in the 3D full space (26 directions) | ||
| * @param _name Algorithm name stored internally | ||
| * | ||
| */ | ||
| AStarSemanticCost(bool _use_3d, std::string _name ); | ||
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| /** | ||
| * @brief Construct a new Cost Aware A Star M1 object | ||
| * | ||
| * @param _use_3d | ||
| */ | ||
| AStarSemanticCost(bool _use_3d); | ||
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| protected: | ||
|
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| /** | ||
| * @brief Overrided ComputeG function. | ||
| * | ||
| * @param _current Pointer to the current node | ||
| * @param _suc Pointer to the successor node | ||
| * @param _n_i The index of the direction in the directions vector. | ||
| * Depending on this index, the distance wi | ||
| * @param _dirs Number of directions used (to distinguish between 2D and 3D) | ||
| * @return unsigned int The G Value calculated by the function | ||
| */ | ||
| inline virtual unsigned int computeG(const Node* _current, Node* _suc, unsigned int _n_i, unsigned int _dirs) override; | ||
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| }; | ||
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| } | ||
|
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| #endif |
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| #ifndef LAZYTHETASTARSEMANTIC_HPP | ||
| #define LAZYTHETASTARSEMANTIC_HPP | ||
| /** | ||
| * @file LazyThetaStarSemantic.hpp | ||
| * @author Jose Antonio Cobano ([email protected]) | ||
| * @brief | ||
| * @version 0.1 | ||
| * @date 2024-01-23 | ||
| * | ||
| * @copyright Copyright (c) 2024 | ||
| * | ||
| */ | ||
| #include <Planners/ThetaStarSemantic.hpp> | ||
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| namespace Planners | ||
| { | ||
| /** | ||
| * @brief Lazy Theta* Algorithm Class | ||
| * | ||
| */ | ||
| class LazyThetaStarSemantic : public ThetaStarSemantic | ||
| { | ||
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| public: | ||
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| /** | ||
| * @brief Construct a new Semantic Lazy Theta Star object | ||
| * | ||
| * @param _use_3d This parameter allows the user to choose between planning on a plane | ||
| * (8 directions possibles) or in the 3D full space (26 directions) | ||
| * @param _name Algorithm name stored internally | ||
| * | ||
| */ | ||
| LazyThetaStarSemantic(bool _use_3d, std::string _name ); | ||
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| /** | ||
| * @brief Construct a new Semantic Lazy Theta Star object | ||
| * | ||
| * @param _use_3d | ||
| */ | ||
| LazyThetaStarSemantic(bool _use_3d); | ||
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| /** | ||
| * @brief | ||
| * | ||
| * @param _source | ||
| * @param _target | ||
| * @return PathData | ||
| */ | ||
| virtual PathData findPath(const Vec3i &_source, const Vec3i &_target) override; | ||
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| protected: | ||
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| /** | ||
| * @brief Compute cost function of the Lazy version of the algorithm | ||
| * | ||
| * @param _s_aux Pointer to first node | ||
| * @param _s2_aux Pointer to second node | ||
| */ | ||
| inline virtual void ComputeCost(Node *_s_aux, Node *_s2_aux) override; | ||
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| /** | ||
| * @brief SetVertex function | ||
| * Line of sight is checked inside this function | ||
| * @param _s_aux | ||
| */ | ||
| virtual void SetVertex(Node *_s_aux); | ||
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| /** | ||
| * @brief | ||
| * | ||
| * @param _current | ||
| * @param _suc | ||
| * @param _n_i | ||
| * @param _dirs | ||
| * @return unsigned int | ||
| */ | ||
| inline virtual unsigned int computeG(const Node* _current, Node* _suc, unsigned int _n_i, unsigned int _dirs) override; | ||
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| // Variable to ensure that the los is true between the parent of the current and one neighbour, so SetVertex function should not be executed | ||
| bool los_neighbour_{false}; /*!< TODO Comment */ | ||
| int coef=3; | ||
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|
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| }; | ||
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| } | ||
|
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| #endif |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,91 @@ | ||
| #ifndef LAZYTHETASTARSEMANTICCOST_HPP | ||
| #define LAZYTHETASTARSEMANTICCOST_HPP | ||
| /** | ||
| * @file LazyThetaStarSemantic.hpp | ||
| * @author Jose Antonio Cobano ([email protected]) | ||
| * @brief | ||
| * @version 0.1 | ||
| * @date 2024-01-23 | ||
| * | ||
| * @copyright Copyright (c) 2024 | ||
| * | ||
| */ | ||
| #include <Planners/ThetaStarSemanticCost.hpp> | ||
| // #include <Planners/ThetaStarSemantic.hpp> | ||
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| namespace Planners | ||
| { | ||
| /** | ||
| * @brief Lazy Theta* Algorithm Class | ||
| * | ||
| */ | ||
| class LazyThetaStarSemanticCost : public ThetaStarSemanticCost | ||
| // class LazyThetaStarSemanticCost : public ThetaStarSemantic | ||
| { | ||
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| public: | ||
|
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| /** | ||
| * @brief Construct a new Semantic Lazy Theta Star object | ||
| * | ||
| * @param _use_3d This parameter allows the user to choose between planning on a plane | ||
| * (8 directions possibles) or in the 3D full space (26 directions) | ||
| * @param _name Algorithm name stored internally | ||
| * | ||
| */ | ||
| LazyThetaStarSemanticCost(bool _use_3d, std::string _name ); | ||
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| /** | ||
| * @brief Construct a new Semantic Lazy Theta Star object | ||
| * | ||
| * @param _use_3d | ||
| */ | ||
| LazyThetaStarSemanticCost(bool _use_3d); | ||
|
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| /** | ||
| * @brief | ||
| * | ||
| * @param _source | ||
| * @param _target | ||
| * @return PathData | ||
| */ | ||
| virtual PathData findPath(const Vec3i &_source, const Vec3i &_target) override; | ||
|
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| protected: | ||
|
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| /** | ||
| * @brief Compute cost function of the Lazy version of the algorithm | ||
| * | ||
| * @param _s_aux Pointer to first node | ||
| * @param _s2_aux Pointer to second node | ||
| */ | ||
| inline virtual void ComputeCost(Node *_s_aux, Node *_s2_aux) override; | ||
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| /** | ||
| * @brief SetVertex function | ||
| * Line of sight is checked inside this function | ||
| * @param _s_aux | ||
| */ | ||
| virtual void SetVertex(Node *_s_aux); | ||
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| /** | ||
| * @brief | ||
| * | ||
| * @param _current | ||
| * @param _suc | ||
| * @param _n_i | ||
| * @param _dirs | ||
| * @return unsigned int | ||
| */ | ||
| inline virtual unsigned int computeG(const Node* _current, Node* _suc, unsigned int _n_i, unsigned int _dirs) override; | ||
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| // Variable to ensure that the los is true between the parent of the current and one neighbour, so SetVertex function should not be executed | ||
| bool los_neighbour_{false}; /*!< TODO Comment */ | ||
| int coef=3; | ||
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|
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| }; | ||
|
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| } | ||
|
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| #endif |
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