DtHumanPathMetric Class Reference

Path planning metric used with the DtPathPlanner. More...

Inheritance diagram for DtHumanPathMetric:

Public Member Functions
*	DtHumanPathMetric (DtVrfObject *entity)
**virtual	~DtHumanPathMetric ()
**virtual bool	init ()
***********virtual double	transitionCost (const DtPoint &startPoint,*const DtPoint &endPoint) const
	Calculates the cost of moving directly from startPoint to endPoint.
***virtual double	turningCost (double cosAngle) const
	Returns a cost based on the turning radius of the vehicle.
*******virtual double	multiplierForPoint (const DtPoint &point) const
	Override this function to add your own cost calculations to.
*****virtual void	setTerrainSampleDistance (double distance)
	Sets the distance between terrain sample points used when.
***virtual double	terrainSampleDistance () const
	Returns the current terrain sample distance.

Static Public Member Functions
**static DtPathMetric *	creator (DtVrfObject *entity)

Protected Attributes
*DtPhysicalWorld *	myPhysicalWorld
*double	myTerrainSampleDistance

Detailed Description

Path planning metric used with the DtPathPlanner.

Checks the slope and of the terrain being passed over, compares them to the capabilities of the entity, and returns a cost based on those values. The returned cost is equivalent to the distance across a flat paved surface the vehicle would need to travel to cross the segment.

Constructor & Destructor Documentation

* DtHumanPathMetric::DtHumanPathMetric

(

DtVrfObject *

entity

)

* * virtual DtHumanPathMetric::~DtHumanPathMetric ( )

virtual

Member Function Documentation

* * virtual bool DtHumanPathMetric::init ( )

virtual

* * * * * * * * * * * virtual double DtHumanPathMetric::transitionCost ( const DtPoint &  startPoint, *const DtPoint &  endPoint  ) const

virtual

Calculates the cost of moving directly from startPoint to endPoint.

based on what slope is between the points. Takes samples of the terrain along the segment at terrainSampleDistance apart and calls multiplierForPoint() for each point checked along the segment. Note: this function makes a blocking terrain call to insure the required data is paged in. It also sets overrideBlockingAssert on its call to DtPhysicalWorld::terrainHeightAndSurface to prevent an assertion. This is safe because this function is not called from the main simulation thread.

* * * virtual double DtHumanPathMetric::turningCost ( double  cosAngle ) const

virtual

Returns a cost based on the turning radius of the vehicle.

* * * * * * * virtual double DtHumanPathMetric::multiplierForPoint ( const DtPoint &  point ) const

virtual

Override this function to add your own cost calculations to.

the path. Default implementation return 1.0. To further customize this metric, override this method and return a multiplier for each point. Do not return less than 1.0 in order to keep the optimistic heuristic rule.

* * * * * virtual void DtHumanPathMetric::setTerrainSampleDistance ( double  distance )

virtual

Sets the distance between terrain sample points used when.

calculating the cost of moving between two points. This distance will be the average used.

* * * virtual double DtHumanPathMetric::terrainSampleDistance ( ) const

virtual

Returns the current terrain sample distance.

* * static DtPathMetric* DtHumanPathMetric::creator ( DtVrfObject *  entity )

static

Member Data Documentation

* DtPhysicalWorld* DtHumanPathMetric::myPhysicalWorld

protected

* double DtHumanPathMetric::myTerrainSampleDistance

protected

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

• /exports/nfedora7-1/nightly/docs/vrforcesDevelopment.tot/include/vrfmodel/humanPathMetric.h