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D* navigation class
A concrete subclass of Navigation that implements the distance transform navigation algorithm. This provides minimum distance paths and facilitates incremental replanning.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 |
load map1 ds = Dstar(map); ds.plan(goal) ds.path(start)
D* navigation constructor
ds = Dstar(map, goal) as above but specify the goal point.Convert navigation object to string
DS.Dstar.displayGet the current costmap
C = DS.Modify cost map
DS.Plan path to goal
DS.plan(goal) as above but uses the specified goal.Reset the planner
DS.Visualize navigation environment
DS.visualize(p) as above but also overlays the points p in the path points which is an Nx2 matrix.© 1990-2011 Peter Corke.