UAvoidCell Class Reference

Public Member Functions
int	getCellIdx (int nextID)
void	getPoly (UPolygon *poly, double maxVal)
void	init ()
bool	isBack (int nextID)
bool	isFwd (int nextID)
bool	isInRightY (double y)
	is this y-value inside right side of cell More...
void	link (UAvoidCell *arg1, UAvoidCell *arg2, UAvoidCell *arg3, UAvoidCell *arg4, bool openList)
void	print (FILE *dest)
bool	setCuts (double x, ULogFile *debugLog)
void	setXLeft (double x)
	set x value for start positions More...
void	setXRight (double x)
	set x value for start positions More...
	UAvoidCell ()
void	unlinkOpen ()

Public Attributes
UAvoidCell *	cells [4]
int	id
	ID of this cell. More...
UAvoidObst *	obsts [2]
U2Dpos	oPoss [4]
	position of corner - if free space set to +/- 1e6 More...

Constructor & Destructor Documentation

UAvoidCell::UAvoidCell ( )

inline

Constructor

Member Function Documentation

int UAvoidCell::getCellIdx ( int  nextID )

inline

Is index to this ID

Parameters

nextID

is the cell ID to look for.

Returns

-1 if cell ID is not found.

0..3 if the cell ID is found.

Referenced by UAvoidCellGraph::findCellPointPath().

void UAvoidCell::getPoly ( UPolygon *  poly, double  maxVal  )

inline

Set cell corners into polygon

References UPolygon::add(), and UPolygon::setAsPolygon().

Referenced by UAvoidCellGraph::getCellPathPoly(), and UAvoidCellGraph::getCellPoly().

void UAvoidCell::init ( )

inline

Clear cell

Referenced by UAvoidCellGraph::getNewCell().

bool UAvoidCell::isBack ( int  nextID )

inline

Is this next ID a cell behind this cell - i.e. either cell[0] or cell[1]

bool UAvoidCell::isFwd ( int  nextID )

inline

Is this next ID a cell in front of this cell - i.e. either cell[2] or cell[3]

bool UAvoidCell::isInRightY ( double  y )

inline

is this y-value inside right side of cell

void UAvoidCell::link ( UAvoidCell *  arg1, UAvoidCell *  arg2, UAvoidCell *  arg3, UAvoidCell *  arg4, bool  openList  )

inline

Link this cell to these 4 other cells.

Parameters

arg1	is the previous (upper) left
arg2	is the previous lower left
arg3	is the next (upper) right cell,
arg4	is the next lower right cell.

References cells.

Referenced by UAvoidCellGraph::makeCells().

void UAvoidCell::print ( FILE *  dest )

inline

Print cell content

References UAvoidVertexIdx::obst.

Referenced by UAvoidCellGraph::makeCells().

bool UAvoidCell::setCuts ( double  x, ULogFile *  debugLog  )

inline

Set intersection points for this open cell. Sets also the next cells further down the line.

Parameters

x	is the x-intersection value.
vt	is the related vertex

References ULogFile::getF(), UAvoidVertexIdx::obst, U2Dpos::set(), and U2Dpos::y.

Referenced by UAvoidCellGraph::makeCells().

void UAvoidCell::setXLeft ( double  x )

inline

set x value for start positions

void UAvoidCell::setXRight ( double  x )

inline

set x value for start positions

void UAvoidCell::unlinkOpen ( )

inline

Remove this open cell from open cell list

Referenced by UAvoidCellGraph::makeCells().

Member Data Documentation

UAvoidCell* UAvoidCell::cells[4]

add punishment to this cell

Parameters

value	is added to the cost of passing the cell Set const of this cell
value	set as the cost of the cell neighboring cells top-left, bot-left, top-right, bot-right top is higher y-value not valid are set to NULL

Referenced by UAvoidCellGraph::findCellPath(), UAvoidCellGraph::findCellPointPath(), link(), and UAvoidCellGraph::makeCells().

int UAvoidCell::id

ID of this cell.

Referenced by UAvoidCellGraph::findCellPointPath(), UAvoidCellGraph::getCellPathPoly(), and UAvoidCellGraph::makeCells().

UAvoidObst* UAvoidCell::obsts[2]

neighboring obstacles top (high y), bottom (low y) if free space then set to NULL

Referenced by UAvoidCellGraph::findCellPointPath(), and UAvoidCellGraph::makeCells().

U2Dpos UAvoidCell::oPoss[4]

position of corner - if free space set to +/- 1e6

Referenced by UAvoidCellGraph::findCellPath(), UAvoidCellGraph::findCellPointPath(), and UAvoidCellGraph::makeCells().

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

• uavoidcellgraph.cpp