pji_desktop_script/simulation/catkin_ws/install/include/global_planner/expander.h

#ifndef _EXPANDER_H
#define _EXPANDER_H
#include <global_planner/potential_calculator.h>
#include <global_planner/planner_core.h>

namespace global_planner {

class Expander {
    public:
        Expander(PotentialCalculator* p_calc, int nx, int ny) :
                lethal_cost_(253), neutral_cost_(50), factor_(3.0), p_calc_(p_calc) {
            setSize(nx, ny);
        }
        virtual bool calculatePotentials(unsigned char* costs, double start_x, double start_y, double end_x, double end_y,int cycles, float* potential) = 0;

        /**
         * @brief  Sets or resets the size of the map
         * @param nx The x size of the map
         * @param ny The y size of the map
         */
        virtual void setSize(int nx, int ny)
        {
            nx_ = nx;
            ny_ = ny;
            ns_ = nx * ny;
        } /**< sets or resets the size of the map */
        void setLethalCost(unsigned char lethal_cost)
        {
            lethal_cost_ = lethal_cost;
        }
        void setNeutralCost(unsigned char neutral_cost)
        {
            neutral_cost_ = neutral_cost;
        }
        void setFactor(float factor)
        {
            factor_ = factor;
        }
        void clearEndpoint(unsigned char* costs, float* potential, int gx, int gy, int s)
        {
            int startCell = toIndex(gx, gy);

            for(int i=-s;i<=s;i++)
            {
                for(int j=-s;j<=s;j++)
                {
                    int n = startCell+i+nx_*j;

                    if(potential[n]<POT_HIGH)
                        continue;

                    float c = costs[n] + neutral_cost_;

                    float pot = p_calc_->calculatePotential(potential, c, n);

                    potential[n] = pot;
                }
            }
        }

    protected:
        inline int toIndex(int x, int y)
        {
            return x + nx_ * y;
        }

        int nx_, ny_, ns_; /**< size of grid, in pixels */

        unsigned char lethal_cost_, neutral_cost_;

        float factor_;

        PotentialCalculator* p_calc_;
};

} //end namespace global_planner
#endif