M-File Help: DXform View code for DXform

DXform

Distance transform navigation class

A concrete subclass of Navigation that implements the distance transform navigation algorithm. This provides minimum distance paths.

Methods

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

Properties

metric The distance metric, can be 'euclidean' (default) or 'cityblock'
distance The distance transform of the occupancy grid

Example

load map1
dx = DXform(map);
dx.plan(goal)
dx.path(start)

See also

Navigation, Dstar, PRM, distancexform


DXform.DXform

Distance transform navigation constructor

dx = Dstar(map, goal) as above but specify the goal point.

See also

Navigation.Navigation


DXform.char

Convert navigation object to string

DX.DXform.display


DXform.plan

Plan path to goal

DX.plan(goal) as above but uses the specified goal DX.

DXform.setgoal

the imorph primitive we need to set the target pixel to 0,

obstacles to NaN and the rest to Inf. invoked by superclass constructor

DXform.visualize

Visualize navigation environment

DX.visualize(p) as above but also overlays the points p in the path points which is an Nx2 matrix.

See also

Navigation.visualize


 

© 1990-2011 Peter Corke.