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Using Dijkstra for global planning for a significative performance boost (no need to optimize the graph before computing the path)

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matlabbe
2015-06-21 18:29:12 -04:00
parent bef408d4b9
commit a5efee20bc
11 changed files with 441 additions and 118 deletions
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corelib/src/DBDriverSqlite3.h
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@@ -74,6 +74,7 @@ private:
virtual void getNodeDataQuery(int signatureId, SensorData & data) const;
virtual bool getNodeInfoQuery(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, std::vector<unsigned char> & userData) const;
virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren) const;
virtual void getAllLinksQuery(std::multimap<int, Link> & links, bool ignoreNullLinks) const;
virtual void getLastIdQuery(const std::string & tableName, int & id) const;
virtual void getInvertedIndexNiQuery(int signatureId, int & ni) const;
virtual void getNodeIdByLabelQuery(const std::string & label, int & id) const;