本文整理汇总了C++中OccupancyGrid::empty方法的典型用法代码示例。如果您正苦于以下问题：C++ OccupancyGrid::empty方法的具体用法？C++ OccupancyGrid::empty怎么用？C++ OccupancyGrid::empty使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类OccupancyGrid的用法示例。
在下文中一共展示了OccupancyGrid::empty方法的2个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: main
int main(int argc, char** argv) {
glutInit(&argc, argv);
glutInitDisplayMode(GLUT_DOUBLE | GLUT_DEPTH | GLUT_RGB);
glutInitWindowSize(640, 480);
if (argc < 2) { usage(1); }
grid.load(argv[1]);
if (grid.empty()) {
std::cerr << "Error loading grid: " << argv[1] << "\n";
exit(1);
}
glutCreateWindow("Biped plan demo");
glutDisplayFunc(display);
glutReshapeFunc(reshape);
glutKeyboardFunc(keyboard);
glutMouseFunc(mouse);
glutMotionFunc(motion);
glClearColor(1,1,1,1);
glGenTextures(1, &grid_texture);
glBindTexture(GL_TEXTURE_2D, grid_texture);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
std::vector<unsigned char> rgbbuf(grid.nx() * grid.ny() * 4);
int offs = 0;
for (size_t y=0; y<grid.ny(); ++y) {
for (size_t x=0; x<grid.nx(); ++x) {
rgbbuf[offs++] = grid(x,y);
rgbbuf[offs++] = grid(x,y);
rgbbuf[offs++] = grid(x,y);
rgbbuf[offs++] = 255;
}
}
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA,
grid.nx(), grid.ny(), 0, GL_RGBA,
GL_UNSIGNED_BYTE, &(rgbbuf[0]));
quadric = gluNewQuadric();
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
glutMainLoop();
return 0;
}示例2: main
int main(int argc, char** argv) {
std::string inputfile;
float radius;
float initx, inity, initTheta, goalx, goaly, goalr, goalTheta;
int depth;
bool heuristic;
float inflate;
goalTheta = 0;
parseArgs(argc, argv, inputfile, radius, initx, inity, initTheta, goalx, goaly, goalr, goalTheta, depth, heuristic, inflate);
// Load grid
OccupancyGrid grid;
grid.load(inputfile);
if (grid.empty()) {
std::cerr << "error loading grid!\n";
return 1;
}
// expand obstacles
if (radius > 0) {
OccupancyGrid tmp;
expandObstacles(grid, radius, tmp, false);
grid = tmp;
}
// Run search
DubinSearch helper;
GridChecker* checker = new GridChecker(&grid);
Dubin* goal = helper.search(initx, inity, initTheta, goalx, goaly, goalr, goalTheta, checker, depth, heuristic, inflate);
if (goal==NULL) {
cout<<"Search failed"<<endl;
std::string filename = "DebugImage.svg";
helper.makeSVG(NULL,filename,grid,goalx,goaly,goalr);
return -1;
}
else {
cout<<"Search successful after "<<helper.getCount()<<" expansions"<<endl;
std::string filename = "DebugImage.svg";
helper.makeSVG(goal,filename,grid,goalx,goaly,goalr);
}
return 0;
}