Updated for new dsl cost interface

Ke8627 · Apr 21, 2015 · 764b578 · 764b578
1 parent 0172aa8
commit 764b578
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Showing 2 changed files with 4 additions and 3 deletions.
diff --git a/include/dsl_gridsearch/dsl_grid2d.h b/include/dsl_gridsearch/dsl_grid2d.h
@@ -6,7 +6,7 @@
 #include <shape_msgs/Mesh.h>
 #include <nav_msgs/Path.h>
 
-#include "dsl/travsearch.h"
+#include "dsl/gridsearch.h"
 #include "dsl_gridsearch/occupancy_grid.h"
 
 
@@ -32,7 +32,7 @@ class DslGrid2D
   nav_msgs::Path dslPathToRosMsg(const dsl::GridPath& dsl_path);
   bool isPosInBounds(const Eigen::Vector3d& pos);
 
-  dsl::TravSearch* gdsl_;
+  dsl::GridSearch* gdsl_;
   dsl::GridPath path_, optpath_;
   OccupancyGrid* ogrid_;
 

diff --git a/src/dsl_gridsearch/dsl_grid2d.cpp b/src/dsl_gridsearch/dsl_grid2d.cpp
@@ -1,5 +1,6 @@
 #include "dsl_gridsearch/dsl_grid2d.h"
 #include "dsl_gridsearch/mesh_utility.h"
+#include "dsl/travedgecost.h"
 
 #include <limits>
 
@@ -62,7 +63,7 @@ DslGrid2D::DslGrid2D(ros::NodeHandle nh, ros::NodeHandle nh_private) :
   optpath_pub_ = nh_.advertise<nav_msgs::Path>( "/dsl_grid2d/optpath",  0);
 
   ROS_INFO("Building search graph...");
-  gdsl_ = new dsl::TravSearch(ogrid_->getLength(), ogrid_->getWidth(), ogrid_->getOccupancyMap());
+  gdsl_ = new dsl::GridSearch(ogrid_->getLength(), ogrid_->getWidth(), new dsl::TravEdgeCost(), ogrid_->getOccupancyMap());
   gdsl_->SetStart(0, 0);
   gdsl_->SetGoal(0, 0);
   ROS_INFO("Graph built");