M-File Help: DXform | View code for DXform |
Distance transform navigation class
A concrete subclass of Navigation that implements the distance transform navigation algorithm. This provides minimum distance paths.plan | Compute the cost map given a goal and map |
path | Compute a path to the goal |
visualize | Display the obstacle map |
display | Print the parameters in human readable form |
char | Convert the parameters to a human readable string |
metric | The distance metric, can be 'euclidean' (default) or 'cityblock' |
distance | The distance transform of the occupancy grid |
load map1 dx = DXform(map); dx.plan(goal) dx.path(start)
Navigation, Dstar, PRM, distancexform
Distance transform navigation constructor
dx = Dstar(map, goal) as above but specify the goal point.Convert navigation object to string
DX.DXform.displayPlan path to goal
DX.plan(goal) as above but uses the specified goal DX.the imorph primitive we need to set the target pixel to 0,
obstacles to NaN and the rest to Inf. invoked by superclass constructorVisualize navigation environment
DX.visualize(p) as above but also overlays the points p in the path points which is an Nx2 matrix.© 1990-2011 Peter Corke.