C# (CSharp) Magic.PathPlanning DStarAlgorithm Examples

Example #1

File: DStarPlanner.cs Project: iamchucky/3DpointCloud

        public DStarPlanner(double vehicleRadius, double achieveThreshold, double collideThreshold, double collideBackoff, double collapseThreshold, double bezierSegmentation, double blurWeight, double resX, double resY, double extentX, double extentY, int robotID)
        {
            this.vehicleRadius = vehicleRadius;
            this.achieveThreshold = achieveThreshold;
            this.collideThreshold = collideThreshold;
            this.collideBackoff = collideBackoff;

            this.collapseThreshold = collapseThreshold;
            this.bezierSegmentation = bezierSegmentation;
            this.blurWeight = blurWeight;

            this.resX = resX;
            this.resY = resY;
            this.extentX = extentX;
            this.extentY = extentY;

            waypointsAchieved = 0;
            this.robotID = robotID;

            dstar = new DStarAlgorithm(blurWeight, resX, resY, extentX, extentY);
            smoother = new PathSmoother.PathSmoother(vehicleRadius, resX, resY, extentX, extentY);
        }

Example #2

        public DStarPlanner(double vehicleRadius, double achieveThreshold, double collideThreshold, double collideBackoff, double collapseThreshold, double bezierSegmentation, double blurWeight, double resX, double resY, double extentX, double extentY, int robotID)
        {
            this.vehicleRadius    = vehicleRadius;
            this.achieveThreshold = achieveThreshold;
            this.collideThreshold = collideThreshold;
            this.collideBackoff   = collideBackoff;

            this.collapseThreshold  = collapseThreshold;
            this.bezierSegmentation = bezierSegmentation;
            this.blurWeight         = blurWeight;

            this.resX    = resX;
            this.resY    = resY;
            this.extentX = extentX;
            this.extentY = extentY;

            waypointsAchieved = 0;
            this.robotID      = robotID;

            dstar    = new DStarAlgorithm(blurWeight, resX, resY, extentX, extentY);
            smoother = new PathSmoother.PathSmoother(vehicleRadius, resX, resY, extentX, extentY);
        }