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agungprasetyosakti / ahastar

Automatically exported from code.google.com/p/ahastar
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AnnotatedMapAbstraction limited to 2 terrains #3

Closed GoogleCodeExporter closed 9 years ago

GoogleCodeExporter commented 9 years ago 
Currently, the software assumes only 2 terrains per map (ground and trees). 
AMA should be generalised to calculate clearance for any HOG-supported terrain 
type.

Original issue reported on code.google.com by dhara...@gmail.com on 7 Aug 2008 at 5:04

GoogleCodeExporter commented 9 years ago 
Part of the problem here was storing some number of terrains. 
From the paper, in the worst case each node is only required to store only 
annotations for capabilities 
involving the node's terrain type. In the worst case, this is [number of 
capabilities]/2 annotations per node.

A possible implementation is to store annotations in a data structure such as: 
map<capability, clearance>
This will return 0 for invalid capabilities which is correct. 

This issue is related to [http://code.google.com/p/ahastar/issues/detail?id=5 
issue 5]. Once that is 
implemented, storing annotations is only useful for pre-processing convenience 
and they can be discarded.

It might thus be better to keep a temporary data structure of clearances 
instead of extending the base "node" 
class (like now) to add extra attributes.

Original comment by dhara...@gmail.com on 15 Nov 2008 at 1:32

GoogleCodeExporter commented 9 years ago

Original comment by dhara...@gmail.com on 16 Nov 2008 at 11:29

GoogleCodeExporter commented 9 years ago 
This will probably never get done.
The code demonstrates how; extending it to be completely general is pointless 
at the moment and no new research into this area is planned.

Original comment by dhara...@gmail.com on 19 Aug 2010 at 1:48