Detailed Description

An implementation of CPathPlanningMethod.

See also: CPathPlanningMethod

Definition at line 24 of file CPathPlanningCircularRobot.h.

#include <mrpt/slam/CPathPlanningCircularRobot.h>

Inheritance diagram for mrpt::slam::CPathPlanningCircularRobot:

Public Member Functions
	CPathPlanningCircularRobot ()
	Default constructor. More...

virtual	~CPathPlanningCircularRobot ()
	Destructor. More...

void	computePath (const COccupancyGridMap2D &theMap, const CPose2D &origin, const CPose2D &target, std::deque< math::TPoint2D > &path, bool &notFound, float maxSearchPathLength=-1) const
	This method compute the optimal path for a circular robot, in the given occupancy grid map, from the origin location to a target point. More...

Static Public Member Functions
static void	printf_debug (const char *frmt,...)
	Sends a formated text to "debugOut" if not NULL, or to cout otherwise. More...

Public Attributes
float	robotRadius
	The aproximate robot radius used in the planification. More...

float	occupancyThreshold
	The maximum occupancy probability to consider a cell as an obstacle, default=0.5. More...

float	minStepInReturnedPath
	The minimum distance between points in the returned found path (default=0.4); Notice that full grid resolution is used in path finding, this is only a way to reduce the amount of redundant information to be returned. More...

Constructor & Destructor Documentation

◆ CPathPlanningCircularRobot()

mrpt::slam::CPathPlanningCircularRobot::CPathPlanningCircularRobot ( )

Default constructor.

◆ ~CPathPlanningCircularRobot()

virtual mrpt::slam::CPathPlanningCircularRobot::~CPathPlanningCircularRobot ( )

inlinevirtual

Destructor.

Definition at line 33 of file CPathPlanningCircularRobot.h.

Member Function Documentation

◆ computePath()

void mrpt::slam::CPathPlanningCircularRobot::computePath	(	const COccupancyGridMap2D &	theMap,
		const CPose2D &	origin,
		const CPose2D &	target,
		std::deque< math::TPoint2D > &	path,
		bool &	notFound,
		float	maxSearchPathLength = `-1`
	)		const

virtual

This method compute the optimal path for a circular robot, in the given occupancy grid map, from the origin location to a target point.

The options and additional parameters to this method can be set with member configuration variables.

Parameters

theMap	[IN] The occupancy gridmap used to the planning.
origin	[IN] The starting pose of the robot, in coordinates of "map".
target	[IN] The desired target pose for the robot, in coordinates of "map".
path	[OUT] The found path, in global coordinates relative to "map".
notFount	[OUT] Will be true if no path has been found.
maxSearchPathLength	[IN] The maximum path length to search for, in meters (-1 = no limit)

See also: robotRadius

Exceptions

std::exception On any error

Implements mrpt::slam::CPathPlanningMethod.

◆ printf_debug()

static void mrpt::utils::CDebugOutputCapable::printf_debug	(	const char *	frmt,
			...
	)

staticinherited

Sends a formated text to "debugOut" if not NULL, or to cout otherwise.

Referenced by mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute().

Member Data Documentation

◆ minStepInReturnedPath

float mrpt::slam::CPathPlanningMethod::minStepInReturnedPath

inherited

The minimum distance between points in the returned found path (default=0.4); Notice that full grid resolution is used in path finding, this is only a way to reduce the amount of redundant information to be returned.

Definition at line 49 of file CPathPlanningMethod.h.

◆ occupancyThreshold

float mrpt::slam::CPathPlanningMethod::occupancyThreshold

inherited

The maximum occupancy probability to consider a cell as an obstacle, default=0.5.

Definition at line 43 of file CPathPlanningMethod.h.

◆ robotRadius

float mrpt::slam::CPathPlanningCircularRobot::robotRadius

The aproximate robot radius used in the planification.

Default is 0.35m

Definition at line 39 of file CPathPlanningCircularRobot.h.