PNS::WALKAROUND Class Reference

#include <pns_walkaround.h>

Inheritance diagram for PNS::WALKAROUND:

Classes
struct	RESULT

Public Types
enum	STATUS {   ST_IN_PROGRESS = 0 , ST_ALMOST_DONE , ST_DONE , ST_STUCK ,   ST_NONE }
enum	WALK_POLICY { WP_CW = 0 , WP_CCW = 1 , WP_SHORTEST = 2 }

Public Member Functions
	WALKAROUND (NODE *aWorld, ROUTER *aRouter)
	~WALKAROUND ()
void	SetWorld (NODE *aNode)
void	SetIterationLimit (const int aIterLimit)
void	SetSolidsOnly (bool aSolidsOnly)
void	SetItemMask (int aMask)
void	SetForceWinding (bool aEnabled, bool aCw)
void	SetPickShortestPath (bool aEnabled)
void	RestrictToCluster (bool aEnabled, const TOPOLOGY::CLUSTER &aCluster)
STATUS	Route (const LINE &aInitialPath, LINE &aWalkPath, bool aOptimize=true)
const RESULT	Route (const LINE &aInitialPath)
void	SetLengthLimit (bool aEnable, double aLengthExpansionFactor)
void	SetAllowedPolicies (std::vector< WALK_POLICY > aPolicies)
ROUTER *	Router () const
	Return current router settings.
ROUTING_SETTINGS &	Settings () const
	Return the logger object, allowing to dump geometry to a file.
virtual LOGGER *	Logger ()
void	SetLogger (LOGGER *aLogger)
void	SetDebugDecorator (DEBUG_DECORATOR *aDecorator)
	Assign a debug decorator allowing this algo to draw extra graphics for visual debugging.
DEBUG_DECORATOR *	Dbg () const
const BOX2I &	VisibleViewArea () const

Protected Attributes
DEBUG_DECORATOR *	m_debugDecorator
ROUTER *	m_router
LOGGER *	m_logger

Private Member Functions
void	start (const LINE &aInitialPath)
bool	singleStep ()
NODE::OPT_OBSTACLE	nearestObstacle (const LINE &aPath)

Private Attributes
NODE *	m_world
int	m_iteration
int	m_iterationLimit
int	m_itemMask
bool	m_forceWinding
bool	m_forceCw
VECTOR2I	m_cursorPos
VECTOR2I	m_lastP
std::set< const ITEM * >	m_restrictedSet
std::vector< VECTOR2I >	m_restrictedVertices
bool	m_forceLongerPath
bool	m_lengthLimitOn
bool	m_useShortestPath
double	m_lengthExpansionFactor
bool	m_enabledPolicies [MaxWalkPolicies]
NODE::OPT_OBSTACLE	m_currentObstacle [MaxWalkPolicies]
TOPOLOGY::CLUSTER	m_currentCluster [MaxWalkPolicies]
std::optional< TOPOLOGY::CLUSTER >	m_lastShortestCluster
RESULT	m_currentResult
double	m_initialLength

Static Private Attributes
static constexpr int	MaxWalkPolicies = 3

Detailed Description

Definition at line 36 of file pns_walkaround.h.

Member Enumeration Documentation

STATUS

enum PNS::WALKAROUND::STATUS

Enumerator
ST_IN_PROGRESS
ST_ALMOST_DONE
ST_DONE
ST_STUCK
ST_NONE

Definition at line 60 of file pns_walkaround.h.

WALK_POLICY

enum PNS::WALKAROUND::WALK_POLICY

Enumerator
WP_CW
WP_CCW
WP_SHORTEST

Definition at line 69 of file pns_walkaround.h.

Constructor & Destructor Documentation

WALKAROUND()

PNS::WALKAROUND::WALKAROUND ( NODE *  aWorld, ROUTER *  aRouter  )

inline

Definition at line 41 of file pns_walkaround.h.

References PNS::ITEM::ANY_T, m_forceCw, m_forceLongerPath, m_forceWinding, m_itemMask, m_iteration, m_iterationLimit, m_lengthExpansionFactor, m_lengthLimitOn, m_useShortestPath, PNS::ALGO_BASE::Settings(), and PNS::ROUTING_SETTINGS::WalkaroundIterationLimit().

~WALKAROUND()

PNS::WALKAROUND::~WALKAROUND ( )

inline

Definition at line 58 of file pns_walkaround.h.

Member Function Documentation

Dbg()

DEBUG_DECORATOR * PNS::ALGO_BASE::Dbg ( ) const

inlineinherited

Definition at line 78 of file pns_algo_base.h.

References PNS::ALGO_BASE::m_debugDecorator.

Referenced by PNS::SHOVE::AddLockedSpringbackNode(), PNS::LINE_PLACER::buildInitialLine(), PNS::LINE_PLACER::clipAndCheckCollisions(), PNS::MEANDER_PLACER::doMove(), PNS::COMPONENT_DRAGGER::Drag(), PNS::MULTI_DRAGGER::Drag(), PNS::DRAGGER::dragShove(), PNS::DRAGGER::dragWalkaround(), PNS::MULTI_DRAGGER::findNewLeaderSegment(), PNS::SHOVE::fixupViaCollisions(), PNS::LINE_PLACER::handlePullback(), PNS::LINE_PLACER::mergeHead(), PNS::DP_MEANDER_PLACER::Move(), PNS::MEANDER_SKEW_PLACER::Move(), PNS::MULTI_DRAGGER::multidragShove(), PNS::MULTI_DRAGGER::multidragWalkaround(), PNS::SHOVE::onCollidingArc(), PNS::SHOVE::onCollidingLine(), PNS::SHOVE::onCollidingSegment(), PNS::SHOVE::onCollidingSolid(), PNS::SHOVE::onCollidingVia(), PNS::SHOVE::onReverseCollidingVia(), PNS::DRAGGER::optimizeAndUpdateDraggedLine(), PNS::LINE_PLACER::optimizeTailHeadTransition(), PNS::SHOVE::preShoveCleanup(), PNS::SHOVE::pruneRootLines(), PNS::SHOVE::pushLineStack(), PNS::SHOVE::pushOrShoveVia(), PNS::SHOVE::pushSpringback(), PNS::SHOVE::reconstructHeads(), PNS::SHOVE::reduceSpringback(), PNS::LINE_PLACER::reduceTail(), PNS::SHOVE::removeHeads(), PNS::LINE_PLACER::removeLoops(), PNS::SHOVE::replaceItems(), PNS::SHOVE::replaceLine(), PNS::LINE_PLACER::rhShoveOnly(), PNS::LINE_PLACER::rhWalkBase(), PNS::LINE_PLACER::rhWalkOnly(), Route(), PNS::LINE_PLACER::routeStep(), PNS::SHOVE::Run(), PNS::SHOVE::runOptimizer(), PNS::SHOVE::shoveIteration(), PNS::SHOVE::shoveLineToHullSet(), PNS::SHOVE::shoveMainLoop(), PNS::SHOVE::ShoveObstacleLine(), singleStep(), PNS::LINE_PLACER::splitHeadTail(), PNS::LINE_PLACER::Start(), PNS::DRAGGER::Start(), PNS::MULTI_DRAGGER::Start(), PNS::SHOVE::touchRootLine(), PNS::LINE_PLACER::Trace(), PNS::DRAGGER::tryWalkaround(), PNS::MULTI_DRAGGER::tryWalkaround(), and PNS::SHOVE::unwindLineStack().

Logger()

LOGGER * PNS::ALGO_BASE::Logger ( )

virtualinherited

Definition at line 34 of file pns_algo_base.cpp.

References PNS::ALGO_BASE::m_logger.

Referenced by PNS::LINE_PLACER::rhShoveOnly(), PNS::LINE_PLACER::rhWalkBase(), PNS::DRAGGER::Start(), PNS::MULTI_DRAGGER::Start(), PNS::DRAGGER::tryWalkaround(), and PNS::MULTI_DRAGGER::tryWalkaround().

nearestObstacle()

NODE::OPT_OBSTACLE PNS::WALKAROUND::nearestObstacle ( const LINE &  aPath )

private

Definition at line 47 of file pns_walkaround.cpp.

References PNS::COLLISION_SEARCH_OPTIONS::m_filter, m_itemMask, PNS::COLLISION_SEARCH_OPTIONS::m_kindMask, m_restrictedSet, PNS::COLLISION_SEARCH_OPTIONS::m_useClearanceEpsilon, m_world, and PNS::NODE::NearestObstacle().

Referenced by singleStep().

RestrictToCluster()

void PNS::WALKAROUND::RestrictToCluster	(	bool	aEnabled,
		const TOPOLOGY::CLUSTER &	aCluster
	)

Definition at line 68 of file pns_walkaround.cpp.

References PNS::ITEM::HasHole(), PNS::ITEM::Hole(), PNS::TOPOLOGY::CLUSTER::m_items, m_restrictedSet, and m_restrictedVertices.

Referenced by PNS::SHOVE::onCollidingSolid().

Route() [1/2]

const WALKAROUND::RESULT PNS::WALKAROUND::Route

(

const LINE &

aInitialPath

)

Definition at line 279 of file pns_walkaround.cpp.

References PNS::NODE::CheckColliding(), PNS::LINK_HOLDER::ClearLinks(), PNS::LINE::CLine(), PNS::LINE::CPoint(), PNS::ALGO_BASE::Dbg(), PNS::LINE::EndsWithVia(), SHAPE_LINE_CHAIN::Length(), PNS::WALKAROUND::RESULT::lines, m_currentResult, m_enabledPolicies, m_initialLength, m_itemMask, m_iteration, m_iterationLimit, m_lengthExpansionFactor, m_lengthLimitOn, m_world, MaxWalkPolicies, PNS_DBG, PNS::LINE::PointCount(), singleStep(), ST_ALMOST_DONE, ST_DONE, ST_IN_PROGRESS, ST_STUCK, start(), PNS::WALKAROUND::RESULT::status, PNS::LINE::Via(), and WHITE.

Route() [2/2]

STATUS PNS::WALKAROUND::Route	(	const LINE &	aInitialPath,
		LINE &	aWalkPath,
		bool	aOptimize = true
	)

Referenced by PNS::DIFF_PAIR_PLACER::attemptWalk(), PNS::SHOVE::onCollidingSolid(), PNS::LINE_PLACER::rhWalkBase(), PNS::DRAGGER::tryWalkaround(), and PNS::MULTI_DRAGGER::tryWalkaround().

Router()

ROUTER * PNS::ALGO_BASE::Router ( ) const

inlineinherited

Return current router settings.

Definition at line 54 of file pns_algo_base.h.

References PNS::ALGO_BASE::m_router.

Referenced by PNS::DIFF_PAIR_PLACER::attemptWalk(), PNS::MEANDER_PLACER_BASE::Clearance(), PNS::DIFF_PAIR_PLACER::CommitPlacement(), PNS::DP_MEANDER_PLACER::CommitPlacement(), PNS::LINE_PLACER::CommitPlacement(), PNS::MEANDER_PLACER::CommitPlacement(), PNS::COMPONENT_DRAGGER::FixRoute(), PNS::DRAGGER::FixRoute(), PNS::MULTI_DRAGGER::FixRoute(), PNS::DIFF_PAIR_PLACER::initPlacement(), PNS::LINE_PLACER::initPlacement(), PNS::LINE_PLACER::makeVia(), PNS::MULTI_DRAGGER::multidragShove(), PNS::SHOVE::onCollidingSolid(), PNS::SHOVE::reconstructHeads(), PNS::SHOVE::removeHeads(), PNS::LINE_PLACER::rhWalkBase(), PNS::SHOVE::Run(), PNS::SHOVE::runOptimizer(), PNS::SHOVE::shoveIteration(), PNS::DIFF_PAIR_PLACER::Start(), PNS::DP_MEANDER_PLACER::Start(), PNS::LINE_PLACER::Start(), PNS::MEANDER_PLACER::Start(), PNS::MEANDER_SKEW_PLACER::Start(), PNS::DRAGGER::Start(), PNS::MULTI_DRAGGER::Start(), PNS::DRAGGER::tryWalkaround(), and PNS::MULTI_DRAGGER::tryWalkaround().

SetAllowedPolicies()

void PNS::WALKAROUND::SetAllowedPolicies

(

std::vector< WALK_POLICY >

aPolicies

)

Definition at line 370 of file pns_walkaround.cpp.

References m_enabledPolicies, and MaxWalkPolicies.

Referenced by PNS::DIFF_PAIR_PLACER::attemptWalk(), PNS::SHOVE::onCollidingSolid(), PNS::LINE_PLACER::rhWalkBase(), PNS::DRAGGER::tryWalkaround(), and PNS::MULTI_DRAGGER::tryWalkaround().

SetDebugDecorator()

void PNS::ALGO_BASE::SetDebugDecorator ( DEBUG_DECORATOR *  aDecorator )

inlineinherited

Assign a debug decorator allowing this algo to draw extra graphics for visual debugging.

Definition at line 73 of file pns_algo_base.h.

References PNS::ALGO_BASE::m_debugDecorator.

Referenced by PNS::SHOVE::onCollidingSolid(), PNS::LINE_PLACER::rhWalkBase(), PNS::SHOVE::SHOVE(), PNS::DRAGGER::tryWalkaround(), and PNS::MULTI_DRAGGER::tryWalkaround().

SetForceWinding()

void PNS::WALKAROUND::SetForceWinding ( bool  aEnabled, bool  aCw  )

inline

Definition at line 111 of file pns_walkaround.h.

References m_forceCw, and m_forceWinding.

SetItemMask()

void PNS::WALKAROUND::SetItemMask ( int  aMask )

inline

Definition at line 106 of file pns_walkaround.h.

References m_itemMask.

Referenced by PNS::LINE_PLACER::rhWalkBase().

SetIterationLimit()

void PNS::WALKAROUND::SetIterationLimit ( const int  aIterLimit )

inline

Definition at line 93 of file pns_walkaround.h.

References m_iterationLimit.

Referenced by PNS::DIFF_PAIR_PLACER::attemptWalk(), PNS::SHOVE::onCollidingSolid(), PNS::LINE_PLACER::rhWalkBase(), PNS::DRAGGER::tryWalkaround(), and PNS::MULTI_DRAGGER::tryWalkaround().

SetLengthLimit()

void PNS::WALKAROUND::SetLengthLimit ( bool  aEnable, double  aLengthExpansionFactor  )

inline

Definition at line 129 of file pns_walkaround.h.

References m_lengthExpansionFactor, and m_lengthLimitOn.

Referenced by PNS::DRAGGER::tryWalkaround(), and PNS::MULTI_DRAGGER::tryWalkaround().

SetLogger()

void PNS::ALGO_BASE::SetLogger ( LOGGER *  aLogger )

inlineinherited

Definition at line 65 of file pns_algo_base.h.

References PNS::ALGO_BASE::m_logger.

Referenced by PNS::LINE_PLACER::rhWalkBase(), PNS::DRAGGER::tryWalkaround(), and PNS::MULTI_DRAGGER::tryWalkaround().

SetPickShortestPath()

void PNS::WALKAROUND::SetPickShortestPath ( bool  aEnabled )

inline

Definition at line 117 of file pns_walkaround.h.

References m_useShortestPath.

SetSolidsOnly()

void PNS::WALKAROUND::SetSolidsOnly ( bool  aSolidsOnly )

inline

Definition at line 98 of file pns_walkaround.h.

References PNS::ITEM::ANY_T, m_itemMask, and PNS::ITEM::SOLID_T.

Referenced by PNS::DIFF_PAIR_PLACER::attemptWalk(), PNS::SHOVE::onCollidingSolid(), PNS::LINE_PLACER::rhWalkBase(), PNS::DRAGGER::tryWalkaround(), and PNS::MULTI_DRAGGER::tryWalkaround().

Settings()

ROUTING_SETTINGS & PNS::ALGO_BASE::Settings ( ) const

inherited

Return the logger object, allowing to dump geometry to a file.

Definition at line 28 of file pns_algo_base.cpp.

References PNS::ALGO_BASE::m_router, and PNS::ROUTER::Settings().

Referenced by PNS::DIFF_PAIR_PLACER::attemptWalk(), PNS::LINE_PLACER::buildInitialLine(), PNS::LINE_PLACER::CommitPlacement(), PNS::MULTI_DRAGGER::Drag(), PNS::DRAGGER::dragMarkObstacles(), PNS::DRAGGER::dragShove(), PNS::DRAGGER::dragWalkaround(), PNS::COMPONENT_DRAGGER::FixRoute(), PNS::MULTI_DRAGGER::FixRoute(), PNS::DIFF_PAIR_PLACER::FixRoute(), PNS::LINE_PLACER::FixRoute(), PNS::LINE_PLACER::Move(), PNS::SHOVE::onCollidingSolid(), PNS::DRAGGER::optimizeAndUpdateDraggedLine(), PNS::DIFF_PAIR_PLACER::propagateDpHeadForces(), PNS::DRAGGER::propagateViaForces(), PNS::SHOVE::pushOrShoveVia(), PNS::LINE_PLACER::rhMarkObstacles(), PNS::LINE_PLACER::rhShoveOnly(), PNS::LINE_PLACER::rhWalkBase(), PNS::LINE_PLACER::rhWalkOnly(), PNS::DIFF_PAIR_PLACER::route(), PNS::LINE_PLACER::routeHead(), PNS::LINE_PLACER::routeStep(), PNS::SHOVE::runOptimizer(), PNS::SHOVE::shoveMainLoop(), singleStep(), PNS::LINE_PLACER::Start(), PNS::DRAGGER::Start(), PNS::MULTI_DRAGGER::Start(), PNS::DRAGGER::tryWalkaround(), PNS::MULTI_DRAGGER::tryWalkaround(), PNS::LINE_PLACER::UnfixRoute(), and WALKAROUND().

SetWorld()

void PNS::WALKAROUND::SetWorld ( NODE *  aNode )

inline

Definition at line 88 of file pns_walkaround.h.

References m_world.

singleStep()

bool PNS::WALKAROUND::singleStep ( )

private

Definition at line 102 of file pns_walkaround.cpp.

References SHAPE_LINE_CHAIN::Append(), PNS::TOPOLOGY::AssembleCluster(), SHAPE_LINE_CHAIN::BBox(), BLUE, PNS::NODE::CheckColliding(), SHAPE_LINE_CHAIN::Clear(), PNS::LINE::CLine(), PNS::ALGO_BASE::Dbg(), PNS::NODE::Depth(), BOX2< Vec >::GetBottom(), PNS::NODE::GetClearance(), PNS::ROUTING_SETTINGS::GetCornerMode(), BOX2< Vec >::GetLeft(), BOX2< Vec >::GetRight(), BOX2< Vec >::GetTop(), SHAPE_LINE_CHAIN::Length(), PNS::LINE::Line(), PNS::WALKAROUND::RESULT::lines, m_currentResult, m_enabledPolicies, m_initialLength, PNS::TOPOLOGY::CLUSTER::m_items, m_lastShortestCluster, m_world, MaxWalkPolicies, DIRECTION_45::MITERED_90, nearestObstacle(), PNS_DBG, PNS_DBGN, RED, DIRECTION_45::ROUNDED_90, PNS::ALGO_BASE::Settings(), ST_DONE, ST_IN_PROGRESS, ST_STUCK, PNS::WALKAROUND::RESULT::status, WHITE, WP_CCW, WP_CW, WP_SHORTEST, and YELLOW.

Referenced by Route().

start()

void PNS::WALKAROUND::start ( const LINE &  aInitialPath )

private

Definition at line 35 of file pns_walkaround.cpp.

References PNS::LINK_HOLDER::ClearLinks(), PNS::WALKAROUND::RESULT::lines, m_currentResult, m_iteration, MaxWalkPolicies, ST_IN_PROGRESS, and PNS::WALKAROUND::RESULT::status.

Referenced by Route().

VisibleViewArea()

const BOX2I & PNS::ALGO_BASE::VisibleViewArea ( ) const

inherited

Definition at line 40 of file pns_algo_base.cpp.

References PNS::ALGO_BASE::m_router, and PNS::ROUTER::VisibleViewArea().

Referenced by PNS::SHOVE::runOptimizer().

Member Data Documentation

m_currentCluster

TOPOLOGY::CLUSTER PNS::WALKAROUND::m_currentCluster[MaxWalkPolicies]

private

Definition at line 159 of file pns_walkaround.h.

m_currentObstacle

NODE::OPT_OBSTACLE PNS::WALKAROUND::m_currentObstacle[MaxWalkPolicies]

private

Definition at line 158 of file pns_walkaround.h.

m_currentResult

RESULT PNS::WALKAROUND::m_currentResult

private

Definition at line 161 of file pns_walkaround.h.

Referenced by Route(), singleStep(), and start().

m_cursorPos

VECTOR2I PNS::WALKAROUND::m_cursorPos

private

Definition at line 149 of file pns_walkaround.h.

m_debugDecorator

DEBUG_DECORATOR* PNS::ALGO_BASE::m_debugDecorator

protectedinherited

Definition at line 86 of file pns_algo_base.h.

Referenced by PNS::ALGO_BASE::Dbg(), and PNS::ALGO_BASE::SetDebugDecorator().

m_enabledPolicies

bool PNS::WALKAROUND::m_enabledPolicies[MaxWalkPolicies]

private

Definition at line 157 of file pns_walkaround.h.

Referenced by Route(), SetAllowedPolicies(), and singleStep().

m_forceCw

bool PNS::WALKAROUND::m_forceCw

private

Definition at line 148 of file pns_walkaround.h.

Referenced by SetForceWinding(), and WALKAROUND().

m_forceLongerPath

bool PNS::WALKAROUND::m_forceLongerPath

private

Definition at line 153 of file pns_walkaround.h.

Referenced by WALKAROUND().

m_forceWinding

bool PNS::WALKAROUND::m_forceWinding

private

Definition at line 147 of file pns_walkaround.h.

Referenced by SetForceWinding(), and WALKAROUND().

m_initialLength

double PNS::WALKAROUND::m_initialLength

private

Definition at line 162 of file pns_walkaround.h.

Referenced by Route(), and singleStep().

m_itemMask

int PNS::WALKAROUND::m_itemMask

private

Definition at line 146 of file pns_walkaround.h.

Referenced by nearestObstacle(), Route(), SetItemMask(), SetSolidsOnly(), and WALKAROUND().

m_iteration

int PNS::WALKAROUND::m_iteration

private

Definition at line 144 of file pns_walkaround.h.

Referenced by Route(), start(), and WALKAROUND().

m_iterationLimit

int PNS::WALKAROUND::m_iterationLimit

private

Definition at line 145 of file pns_walkaround.h.

Referenced by Route(), SetIterationLimit(), and WALKAROUND().

m_lastP

VECTOR2I PNS::WALKAROUND::m_lastP

private

Definition at line 150 of file pns_walkaround.h.

m_lastShortestCluster

std::optional<TOPOLOGY::CLUSTER> PNS::WALKAROUND::m_lastShortestCluster

private

Definition at line 160 of file pns_walkaround.h.

Referenced by singleStep().

m_lengthExpansionFactor

double PNS::WALKAROUND::m_lengthExpansionFactor

private

Definition at line 156 of file pns_walkaround.h.

Referenced by Route(), SetLengthLimit(), and WALKAROUND().

m_lengthLimitOn

bool PNS::WALKAROUND::m_lengthLimitOn

private

Definition at line 154 of file pns_walkaround.h.

Referenced by Route(), SetLengthLimit(), and WALKAROUND().

m_logger

LOGGER* PNS::ALGO_BASE::m_logger

protectedinherited

Definition at line 88 of file pns_algo_base.h.

Referenced by PNS::ALGO_BASE::Logger(), and PNS::ALGO_BASE::SetLogger().

m_restrictedSet

std::set<const ITEM*> PNS::WALKAROUND::m_restrictedSet

private

Definition at line 151 of file pns_walkaround.h.

Referenced by nearestObstacle(), and RestrictToCluster().

m_restrictedVertices

std::vector<VECTOR2I> PNS::WALKAROUND::m_restrictedVertices

private

Definition at line 152 of file pns_walkaround.h.

Referenced by RestrictToCluster().

m_router

ROUTER* PNS::ALGO_BASE::m_router

protectedinherited

Definition at line 87 of file pns_algo_base.h.

Referenced by PNS::MEANDER_PLACER::doMove(), PNS::LINE_PLACER::FixRoute(), PNS::MEANDER_PLACER_BASE::lineLength(), PNS::DP_MEANDER_PLACER::Move(), PNS::MEANDER_SKEW_PLACER::Move(), PNS::ALGO_BASE::Router(), PNS::ALGO_BASE::Settings(), PNS::DIFF_PAIR_PLACER::updateLeadingRatLine(), PNS::LINE_PLACER::updateLeadingRatLine(), and PNS::ALGO_BASE::VisibleViewArea().

m_useShortestPath

bool PNS::WALKAROUND::m_useShortestPath

private

Definition at line 155 of file pns_walkaround.h.

Referenced by SetPickShortestPath(), and WALKAROUND().

m_world

NODE* PNS::WALKAROUND::m_world

private

Definition at line 142 of file pns_walkaround.h.

Referenced by nearestObstacle(), Route(), SetWorld(), and singleStep().

MaxWalkPolicies

constexpr int PNS::WALKAROUND::MaxWalkPolicies = 3

staticconstexprprivate

Definition at line 38 of file pns_walkaround.h.

Referenced by PNS::WALKAROUND::RESULT::RESULT(), Route(), SetAllowedPolicies(), singleStep(), and start().

---

The documentation for this class was generated from the following files:

• pns_walkaround.h
• pns_walkaround.cpp