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Dstar

D* navigation class

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

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
modify_cost Modify the costmap
costmap_get Return the current costmap

Example

load map1
ds = Dstar(map);
ds.plan(goal)
ds.path(start)

See also

Navigation, DXform, PRM


Dstar.Dstar

D* navigation constructor

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

See also

Navigation.Navigation


Dstar.char

Convert navigation object to string

DS.Dstar.display


Dstar.costmap_get

Get the current costmap

C = DS.

Dstar.modify_cost

Modify cost map

DS.

Dstar.plan

Plan path to goal

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

Note

  • if a path has already been planned, but the costmap was modified, then reinvoking this method will replan, incrementally updating the plan at lower cost than a full replan.

Dstar.reset

Reset the planner

DS.

Dstar.visualize

Visualize navigation environment

DS.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.