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| VFH_Algorithm (double cell_size, int window_diameter, int sector_angle, double safety_dist_0ms, double safety_dist_1ms, int max_speed, int max_speed_narrow_opening, int max_speed_wide_opening, int max_acceleration, int min_turnrate, int max_turnrate_0ms, int max_turnrate_1ms, double min_turn_radius_safety_factor, double free_space_cutoff_0ms, double obs_cutoff_0ms, double free_space_cutoff_1ms, double obs_cutoff_1ms, double weight_desired_dir, double weight_current_dir) |
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int | Init () |
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int | Update_VFH (double laser_ranges[361][2], int current_speed, float goal_direction, float goal_distance, float goal_distance_tolerance, int &chosen_speed, int &chosen_turnrate) |
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int | GetMinTurnrate () |
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float | GetDesiredAngle () |
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float | GetPickedAngle () |
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int | GetMaxTurnrate (int speed) |
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int | GetCurrentMaxSpeed () |
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void | SetRobotRadius (float robot_radius) |
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void | SetMinTurnrate (int min_turnrate) |
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void | SetCurrentMaxSpeed (int Current_Max_Speed) |
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int | VFH_Allocate () |
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float | Delta_Angle (int a1, int a2) |
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float | Delta_Angle (float a1, float a2) |
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int | Bisect_Angle (int angle1, int angle2) |
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bool | Cant_Turn_To_Goal () |
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int | Calculate_Cells_Mag (double laser_ranges[361][2], int speed) |
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int | Build_Primary_Polar_Histogram (double laser_ranges[361][2], int speed) |
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int | Build_Binary_Polar_Histogram (int speed) |
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int | Build_Masked_Polar_Histogram (int speed) |
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int | Select_Candidate_Angle () |
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int | Select_Direction () |
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int | Set_Motion (int &speed, int &turnrate, int current_speed) |
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void | Print_Cells_Dir () |
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void | Print_Cells_Mag () |
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void | Print_Cells_Dist () |
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void | Print_Cells_Sector () |
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void | Print_Cells_Enlargement_Angle () |
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void | Print_Hist () |
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int | Get_Speed_Index (int speed) |
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int | Get_Safety_Dist (int speed) |
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float | Get_Binary_Hist_Low (int speed) |
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float | Get_Binary_Hist_High (int speed) |
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float | ROBOT_RADIUS |
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int | CENTER_X |
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int | CENTER_Y |
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int | HIST_SIZE |
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float | CELL_WIDTH |
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int | WINDOW_DIAMETER |
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int | SECTOR_ANGLE |
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float | SAFETY_DIST_0MS |
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float | SAFETY_DIST_1MS |
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int | Current_Max_Speed |
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int | MAX_SPEED |
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int | MAX_SPEED_NARROW_OPENING |
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int | MAX_SPEED_WIDE_OPENING |
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int | MAX_ACCELERATION |
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int | MIN_TURNRATE |
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int | NUM_CELL_SECTOR_TABLES |
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int | MAX_TURNRATE_0MS |
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int | MAX_TURNRATE_1MS |
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double | MIN_TURN_RADIUS_SAFETY_FACTOR |
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float | Binary_Hist_Low_0ms |
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float | Binary_Hist_High_0ms |
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float | Binary_Hist_Low_1ms |
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float | Binary_Hist_High_1ms |
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float | U1 |
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float | U2 |
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float | Desired_Angle |
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float | Dist_To_Goal |
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float | Goal_Distance_Tolerance |
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float | Picked_Angle |
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float | Last_Picked_Angle |
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int | Max_Speed_For_Picked_Angle |
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float | Blocked_Circle_Radius |
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std::vector< std::vector< float > > | Cell_Direction |
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std::vector< std::vector< float > > | Cell_Base_Mag |
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std::vector< std::vector< float > > | Cell_Mag |
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std::vector< std::vector< float > > | Cell_Dist |
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std::vector< std::vector< float > > | Cell_Enlarge |
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std::vector< std::vector< std::vector< std::vector< int > > > > | Cell_Sector |
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std::vector< float > | Candidate_Angle |
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std::vector< int > | Candidate_Speed |
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double | dist_eps |
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double | ang_eps |
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float * | Last_Binary_Hist |
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std::vector< int > | Min_Turning_Radius |
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timeval | last_update_time |
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int | last_chosen_speed |
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The documentation for this class was generated from the following files: