Dijkstra< T > Class Template Reference

Generic Dijkstra shortest path algorithm for graphs/maps with callback-based cost and validity. More...

#include <Dijkstra.h>

Public Types
using	CostCallback = std::function< float(const Coordinate< T > &, const Coordinate< T > &, void *ref)>
using	ValidCallback = std::function< bool(const Coordinate< T > &, void *ref)>

Public Member Functions
void	setCostCallback (CostCallback cb)
void	setValidCallback (ValidCallback cb)
	provide a callback to determine if a node is valid (e.g., not an obstacle)
void	setReference (void *reference)
Path< Coordinate< T > >	findPath (const IMapNeighbors< T > &map, const Coordinate< T > &start, const Coordinate< T > &goal)
	Finds the shortest path from start to goal.

Static Protected Member Functions
static float	defaultCost (const Coordinate< T > &from, const Coordinate< T > &to, void *ref)
static bool	defaultValid (const Coordinate< T > &node, void *ref)

Protected Attributes
CostCallback	cost_cb = defaultCost
ValidCallback	valid_cb = defaultValid
void *	ref = this

Detailed Description

template<typename T = DistanceM>
class tinyrobotics::Dijkstra< T >

Generic Dijkstra shortest path algorithm for graphs/maps with callback-based cost and validity.

Template Parameters

MapType

Must provide: std::vector<Node> getNeighbors(const Node& node) const

Member Function Documentation

findPath()

Path< Coordinate< T > > findPath ( const IMapNeighbors< T > &  map, const Coordinate< T > &  start, const Coordinate< T > &  goal  )

inline

Finds the shortest path from start to goal.

Parameters

start	The starting node.
goal	The goal node.

Returns

Vector of nodes representing the path (empty if no path found).

setCostCallback()

void setCostCallback ( CostCallback  cb )

inline

provide a callback to determine the cost of moving from one node to another

setReference()

void setReference ( void *  reference )

inline

provide reference for callbacks (e.g., to access map data or other context)

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

• src/TinyRobotics/planning/Dijkstra.h