/// <summary>
/// constructor
/// </summary>
/// <param name="navigable_space">2D binary array of navigable (probably vacant) space</param>
/// <param name="cellSize_mm">size of each occupancy grid cell in millimetres</param>
/// <param name="OccupancyGridCentre_x_mm">location of the centre of the occupancy grid in millimetres</param>
/// <param name="OccupancyGridCentre_y_mm">location of the centre of the occupancy grid in millimetres</param>
public pathplanner(bool[][] navigable_space, int cellSize_mm,
float OccupancyGridCentre_x_mm, float OccupancyGridCentre_y_mm)
{
this.cellSize_mm = cellSize_mm;
init(navigable_space, OccupancyGridCentre_x_mm, OccupancyGridCentre_y_mm);
// for efficiency reasons the dimension of the navigable
// safety grid must be a power of 2
int safe_dimension = 1;
int i = 0;
bool finished = false;
while ((i < 100) && (!finished))
{
int dimension = (int)Math.Pow(2, i);
int diff = dimension - navigable_space.GetLength(0);
if (diff >= 0)
{
safe_dimension = dimension;
safety_offset = diff / 2;
finished = true;
}
i++;
}
// create a safety array, to remain friendly
navigable_safety = new Byte[safe_dimension][];
for (int j = 0; j < navigable_safety.Length; j++)
{
navigable_safety[j] = new Byte[safe_dimension];
}
pathfinder = new AStar_PathFinderFast(navigable_safety);
}
/// <summary>
/// constructor
/// </summary>
/// <param name="navigable_space">2D binary array of navigable (probably vacant) space</param>
/// <param name="cellSize_mm">size of each occupancy grid cell in millimetres</param>
/// <param name="OccupancyGridCentre_x_mm">location of the centre of the occupancy grid in millimetres</param>
/// <param name="OccupancyGridCentre_y_mm">location of the centre of the occupancy grid in millimetres</param>
public pathplanner(bool[][] navigable_space, int cellSize_mm,
float OccupancyGridCentre_x_mm, float OccupancyGridCentre_y_mm)
{
this.cellSize_mm = cellSize_mm;
init(navigable_space, OccupancyGridCentre_x_mm, OccupancyGridCentre_y_mm);
// for efficiency reasons the dimension of the navigable
// safety grid must be a power of 2
int safe_dimension = 1;
int i = 0;
bool finished = false;
while ((i < 100) && (!finished))
{
int dimension = (int)Math.Pow(2, i);
int diff = dimension - navigable_space.GetLength(0);
if (diff >= 0)
{
safe_dimension = dimension;
safety_offset = diff / 2;
finished = true;
}
i++;
}
// create a safety array, to remain friendly
navigable_safety = new Byte[safe_dimension][];
for (int j = 0; j < navigable_safety.Length; j++)
navigable_safety[j] = new Byte[safe_dimension];
pathfinder = new AStar_PathFinderFast(navigable_safety);
}
