Main class responsible for handling creation of routes between keyframes. More...

#include <routemaker.h>

Inheritance diagram for Routemaker::Routemaker:

Collaboration diagram for Routemaker::Routemaker:

Public Member Functions
	Routemaker (const Core::UTMCoordinate &origin, int size)
	Instatiates a routemaker object, along with it's Heightmap member.

std::vector< Core::CartesianCoordinate >	MakeRoute (const Core::Keyframe &a, const Core::Keyframe &b)
	Creates a a vector of coordinates defining a path between two keyframes.

NodePtr	GetNode (uint32_t x, uint32_t y) const
	Get a node at a position.

void	UpdateOrigin (Core::UTMCoordinate UTMOrigin, int size)
	Updates the origin coordinate and the size of the map.

void	UpdateResolution ()

Public Member Functions inherited from Routemaker::Graph< Cell2D >
virtual std::vector< NodePtr >	GetNeighbors (NodePtr node)=0
	Collects all neighbor nodes of `node`.

virtual double	GetCost (NodePtr a, NodePtr b)=0
	Returns the cost between `a` and `b`.

virtual bool	HasLineOfSight (NodePtr a, NodePtr b)=0
	Determines if there is a direct line of sight between node `a` and node `b`.

virtual void	ResetNodes (void)=0
	Resets all local and global goals and parent relationships of all nodes.

void	SolveAStar (NodePtr start, NodePtr goal)
	Finds cheapest path from `start` to `goal`.

void	PostSmooth (NodePtr start, NodePtr goal)
	Simplifies the path from `start` to `goal`.

Private Member Functions
std::vector< NodePtr >	GetNeighbors (NodePtr node) override
	Collects all neighbor nodes of `node`.

double	GetCost (NodePtr a, NodePtr b) override
	Returns the cost between `a` and `b`.

bool	HasLineOfSight (NodePtr a, NodePtr b) override
	Determines if there is a direct line of sight between node `a` and node `b`.

void	ResetNodes () override
	Resets all local and global goals and parent relationships of all nodes.

std::list< NodePtr >	BresenhamLine (const NodePtr &a, const NodePtr &b) const
	Calculates the Bresenham Line between two nodes.

Private Attributes
std::vector< NodePtr >	m_Nodes
	All the nodes that make up the graph.

std::unique_ptr< HeightManagement::HeightManager >	m_HeightMap
	HeightManager instance owned by Routemaker.

int	m_MapWidth
	Width (and height) of the active scenario.

int	m_RoutemakerRes
	Resolution of the routemaker in meters.

int	m_RoutemakerWidth
	Width (and height) of the routemaker.

Additional Inherited Members
Public Types inherited from Routemaker::Graph< Cell2D >
using	NodePtr = std::shared_ptr< Node< Cell2D > >
	Helper alias to make code more readable.

Detailed Description

Main class responsible for handling creation of routes between keyframes.

Definition at line 22 of file routemaker.h.

Constructor & Destructor Documentation

◆ Routemaker()

Routemaker::Routemaker::Routemaker	(	const Core::UTMCoordinate &	origin,
		int	size
	)

explicit

Instatiates a routemaker object, along with it's Heightmap member.

The origin and size of the scenario are simply passed to the HeightMap member. In the case that the HeightMap class is converted to a singleton or the scenario class gains ownership over the Heightmap, they should not be necessary.

Parameters

origin	The origin of the scenario in UTM coordinate space.
size	The size of the scenario in meters

Definition at line 15 of file routemaker.cpp.

Member Function Documentation

◆ BresenhamLine()

std::list< Routemaker::NodePtr > Routemaker::Routemaker::BresenhamLine	(	const NodePtr &	a,
		const NodePtr &	b
	)		const

private

Calculates the Bresenham Line between two nodes.

Parameters

a	Pointer to first node
b	Pointer to seconds node

Returns: A list of pointers to the nodes that make up the Bresenham Line between a and b.

Definition at line 203 of file routemaker.cpp.

◆ GetCost()

double Routemaker::Routemaker::GetCost	(	NodePtr	a,
		NodePtr	b
	)

overrideprivatevirtual

Returns the cost between a and b.

Implemented by sub-classes of Graph. The a* path-finding algorithm uses cost to efficiently find the best path between two nodes. In order to do this, it requires some method of calculating the cost of moving between any two nodes. It is up to the sub-class to define how this is calulated. An example of this cost may be the euclidean distance between two nodes.

Parameters

a	Pointer to the first Node
b	Pointer to the second Node

Returns: Cost between node a and node b.

Implements Routemaker::Graph< Cell2D >.

Definition at line 168 of file routemaker.cpp.

◆ GetNeighbors()

std::vector< Routemaker::NodePtr > Routemaker::Routemaker::GetNeighbors ( NodePtr node )

overrideprivatevirtual

Collects all neighbor nodes of node.

Implemented by sub-classes of Graph. The neighbor relationship between nodes define the edges of the graph. It is up to the subclass to define these relationships. For a 2D grid, the neighbors would simply be the nodes directly to the north, south, east and west, in addition to the corners between them. For a road network, the relationships may be more complex.

Parameters

node	A pointer to the node from which to collect all neighbors

Returns: A vector of pointers to all the neighbors of node

Implements Routemaker::Graph< Cell2D >.

Definition at line 103 of file routemaker.cpp.

◆ GetNode()

Routemaker::NodePtr Routemaker::Routemaker::GetNode	(	uint32_t	x,
		uint32_t	y
	)		const

Get a node at a position.

Parameters

x	x-coordinate of position
y	y-coordinate of position

Returns: A shared pointer to the node at the specified location

Definition at line 250 of file routemaker.cpp.

◆ HasLineOfSight()

bool Routemaker::Routemaker::HasLineOfSight	(	NodePtr	a,
		NodePtr	b
	)

overrideprivatevirtual

Determines if there is a direct line of sight between node a and node b.

Implemented by sub-classes of Graph. The Graph::PostSmooth method traverses the already found path through the A* path-finding algorithm and simplifies it by using this method. In a graph representing a 2D grid, a Bresenham implementation or ray-casting can be used to determine line of sight.

Parameters

a	Pointer to the first Node
b	Pointer to the second Node

Returns: bool specifying whether or not there is a direct line of sight

Implements Routemaker::Graph< Cell2D >.

Definition at line 184 of file routemaker.cpp.

◆ MakeRoute()

std::vector< Core::CartesianCoordinate > Routemaker::Routemaker::MakeRoute	(	const Core::Keyframe &	a,
		const Core::Keyframe &	b
	)

Creates a a vector of coordinates defining a path between two keyframes.

Utilizes methods from the Graph interface, namely GetNeighbors, GetCost, HasLineOfSight and BresenhamLine, to generate a path between a and b.

Parameters

a	First keyframe to create to create path from
b	Second keyframe to create path from

returns A vector of coordinates in symmetrical cartesian coordinate system space, which together forms a path.

Definition at line 257 of file routemaker.cpp.

References Core::Keyframe::AgentId, CoordinateConverter::CoordConv::AsymmetricToSymmetric(), DRONE_FLIGHT_HEIGHT, Core::Keyframe::Position, CoordinateConverter::CoordConv::SymmetricToAsymmetric(), Core::Keyframe::TimeStamp, and Core::CartesianCoordinate::X.

Here is the call graph for this function:

◆ ResetNodes()

void Routemaker::Routemaker::ResetNodes ( void )

overrideprivatevirtual

Resets all local and global goals and parent relationships of all nodes.

Implemented by sub-classes of Graph. In order to be able to re-use the same graph for several A* searches, the Graph::SolveAStar method needs to be able to reset all the nodes. As this interface does not contain the actual collection of nodes, this needs to be implemented in the sub-classes.

Implements Routemaker::Graph< Cell2D >.

Definition at line 26 of file routemaker.cpp.

◆ UpdateOrigin()

void Routemaker::Routemaker::UpdateOrigin	(	Core::UTMCoordinate	UTMOrigin,
		int	size
	)

Updates the origin coordinate and the size of the map.

Parameters

UTMOrigin	The new origin coordinate for the map
size	The new size of the map in meters

Definition at line 64 of file routemaker.cpp.

References Routemaker::Node< T >::Data, and DRONE_FLIGHT_HEIGHT.

◆ UpdateResolution()

void Routemaker::Routemaker::UpdateResolution ( )

Definition at line 44 of file routemaker.cpp.

Member Data Documentation

◆ m_HeightMap

std::unique_ptr<HeightManagement::HeightManager> Routemaker::Routemaker::m_HeightMap

private

HeightManager instance owned by Routemaker.

Definition at line 93 of file routemaker.h.

◆ m_MapWidth

int Routemaker::Routemaker::m_MapWidth

private

Width (and height) of the active scenario.

Definition at line 96 of file routemaker.h.

◆ m_Nodes

std::vector<NodePtr> Routemaker::Routemaker::m_Nodes

private

All the nodes that make up the graph.

Definition at line 90 of file routemaker.h.

◆ m_RoutemakerRes

int Routemaker::Routemaker::m_RoutemakerRes

private

Resolution of the routemaker in meters.

A resolution of 3 meters would mean that any one move in vertical or horizontal direction would correspond to a 3 meter movement. A higher value increases performance of the routemaker, but decreases route fidelity.

Definition at line 104 of file routemaker.h.

◆ m_RoutemakerWidth

int Routemaker::Routemaker::m_RoutemakerWidth

private

Width (and height) of the routemaker.

Will always equal m_MapWidth divided by m_RoutemakerRes

Definition at line 109 of file routemaker.h.

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

include/routemaker/routemaker.h
src/routemaker/routemaker.cpp

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Routemaker()

Member Function Documentation

◆ BresenhamLine()

◆ GetCost()

◆ GetNeighbors()

◆ GetNode()

◆ HasLineOfSight()

◆ MakeRoute()

◆ ResetNodes()

◆ UpdateOrigin()

◆ UpdateResolution()

Member Data Documentation

◆ m_HeightMap

◆ m_MapWidth

◆ m_Nodes

◆ m_RoutemakerRes

◆ m_RoutemakerWidth