本文整理汇总了C++中OccupancyGrid::ny方法的典型用法代码示例。如果您正苦于以下问题：C++ OccupancyGrid::ny方法的具体用法？C++ OccupancyGrid::ny怎么用？C++ OccupancyGrid::ny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::ny方法的3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: display
void display() {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glEnable(GL_TEXTURE_2D);
glBindTexture(GL_TEXTURE_2D, grid_texture);
glColor3ub(255,255,255);
glBegin(GL_QUADS);
glTexCoord2f(1, 0);
glVertex2f(grid.nx(), 0);
glTexCoord2f(0, 0);
glVertex2f(0, 0);
glTexCoord2f(0, 1);
glVertex2f(0, grid.ny());
glTexCoord2f(1, 1);
glVertex2f(grid.nx(), grid.ny());
glEnd();
glDisable(GL_TEXTURE_2D);
if (valid(init)) {
glPushMatrix();
glColor3ub(63,255,63);
glTranslated(init.x(), init.y(), 0);
gluDisk(quadric, 0, goalr, 32, 1);
glRotated(initTheta*180/M_PI, 0, 0, 1);
glBegin(GL_TRIANGLES);
glVertex2f(6, 0);
glVertex2f(0, 2);
glVertex2f(0, -2);
glEnd();
glPopMatrix();
}
if (valid(goal)) {
glPushMatrix();
glColor3ub(255,63,63);
glTranslated(goal.x(), goal.y(), 0);
gluDisk(quadric, 0, goalr, 32, 1);
glPopMatrix();
}
draw(searchResult, true);
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
gluOrtho2D(0, width, 0, height);
std::ostringstream ostr;
ostr << "Goal pos: (" << goal.x() << ", " << goal.y() << ")\n"
<< "Init pos: (" << init.x() << ", " << init.y() << ")\n"
<< "Init theta: " << initTheta*180/M_PI << "\n"
<< "XY inflation: " << inflate_h << "\n"
<< "Z inflation: " << inflate_z << "\n"
<< "Max depth: " << maxDepth << "\n"
<< "View depth: " << viewDepth << "\n"
<< "Auto-plan: " << (auto_plan ? "on" : "off") << "\n"
<< "\n"
<< "Plan cost: " << (searchResult ? searchResult->costToCome : 0) << "\n"
<< "Plan time: " << (searchResult ? planTime : 0) << "\n";
if (show_help) {
ostr << "\n\n"
<< " Left-click init pos\n"
<< "Shift+click init theta\n"
<< "Right-click goal pos\n\n"
<< " 1/2 max depth\n"
<< " 3/4 view depth\n"
<< " -/+ XY inflation\n"
<< " A auto-plan\n"
<< " Enter re-plan\n"
<< " ESC quit\n"
<< " ? hide help";
} else {
ostr << "\nPress ? to toggle help.";
}
std::string str = ostr.str();
void* font = GLUT_BITMAP_8_BY_13;
const int tx = 8;
const int ty = 13;
const int th = ty+2;
int maxwidth = 0;
int linewidth = 0;
int rh = th;
//.........这里部分代码省略.........
示例2: makeSVG
void DubinSearch::makeSVG(Dubin* goal, std::string filename, OccupancyGrid& grid,
float goalx, float goaly, float goalr, int zoom){
//TODO
FILE* svg = fopen(filename.c_str(), "w");
if (!svg) {
std::cerr << "error opening svg for output! \n";
return;
}
int width = grid.nx() * zoom;
int height = grid.ny() * zoom;
fprintf(svg, "<?xml version=\"1.0\" encoding=\"utf-8\"?>\n");
fprintf(svg, "<!DOCTYPE svg PUBLIC \"-//W3C//DTD SVG 1.1//EN\"\n");
fprintf(svg, " \"http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd\">\n");
fprintf(svg, "<svg version=\"1.1\" xmlns=\"http://www.w3.org/2000/svg\"\n");
fprintf(svg, " xmlns:xlink=\"http://www.w3.org/1999/xlink\"\n");
fprintf(svg, " width=\"%upx\" height=\"%upx\" viewBox=\"0 0 %u %u\" >\n",
width, height, width, height);
// Draw background and obstacle
int f;
for (size_t y=0; y<grid.ny(); ++y) {
for (size_t x=0; x<grid.nx(); ++x) {
if (grid(x,y)==0){
f = 0;
}
else{
f = 255;
}
fprintf(svg, " <rect x=\"%d\" y=\"%d\" width=\"%d\" height=\"%d\" "
"fill=\"#%02x%02x%02x\" />\n",
(int)x*zoom, (int)y*zoom, zoom, zoom, f, f, f);
}
}
fprintf(svg, " <circle cx=\"%f\" cy=\"%f\" r=\"%f\" stroke=\"red\" stroke-width=\"2\" fill=\"none\"/>\n",
goalx*zoom, goaly*zoom, goalr*zoom);
fprintf(svg, " <g stroke=\"#bfbfbf\" stroke-width=\"1.5\">\n");
// Draw nodes and lines expanded
Dubin* curr;
Dubin* pred;
while (!_poppedNodes.empty()){
curr = _poppedNodes.back();
float cx = (curr->x + 0.5)*zoom;
float cy = (curr->y + 0.5)*zoom;
pred = curr->predecessor;
float r = 0.2 * zoom;
if(pred!=NULL){
float cxp = (pred->x + 0.5)*zoom;
float cyp = (pred->y + 0.5)*zoom;
float r = curr->archRadius * zoom;
if (r ==0) {
fprintf(svg, " <line x1=\"%f\" y1=\"%f\" x2=\"%f\" y2=\"%f\" %s/>\n",
cx, cy, cxp, cyp, "");
} else {
fprintf(svg, " <path d=\"M %f %f A %f %f 0 0 %d %f %f \" fill=\"none\"/>\n",
cxp, cyp, fabs(r), fabs(r), int(r>0), cx, cy);
}
}
fprintf(svg, " <circle cx=\"%f\" cy=\"%f\" r=\"%f\" fill=\"%s\" %s/>\n",
cx, cy, r, "#ffffff","");
_poppedNodes.pop_back();
}
while (!_queue.empty()){
curr = _queue.back();
float cx = (curr->x + 0.5)*zoom;
float cy = (curr->y + 0.5)*zoom;
pred = curr->predecessor;
float r = 0.5 * zoom;
if(pred!=NULL){
float cxp = (pred->x + 0.5)*zoom;
float cyp = (pred->y + 0.5)*zoom;
float r = curr->archRadius * zoom;
if (r ==0) {
fprintf(svg, " <line x1=\"%f\" y1=\"%f\" x2=\"%f\" y2=\"%f\" %s/>\n",
cx, cy, cxp, cyp, "");
} else {
fprintf(svg, " <path d=\"M %f %f A %f %f 0 0 %d %f %f \" fill=\"none\"/>\n",
cxp, cyp, fabs(r), fabs(r), int(r>0), cx, cy);
}
}
fprintf(svg, " </g>\n");
fprintf(svg, " <g stroke=\"#0000ff\" stroke-width=\"1\">\n");
//.........这里部分代码省略.........
示例3: main
int main(int argc, char** argv) {
getInputSegments(); //initialize the path planner
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);
glViewport(0, 0, 640, 480);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glOrtho(0, 640, 0, 480, 1, -1);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
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);
searchTrajectory();
glutMainLoop();
return 0;
}