Detailed Description

A virtual base class for computing the optimal path for a robot from a origin location to a target point.

See derived classes for implementations.

See also: CDebugOutputCapable

Definition at line 28 of file CPathPlanningMethod.h.

#include <mrpt/slam/CPathPlanningMethod.h>

Inheritance diagram for mrpt::slam::CPathPlanningMethod:

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

virtual	~CPathPlanningMethod ()
	Destructor. More...

virtual void	computePath (const COccupancyGridMap2D &theMap, const CPose2D &origin, const CPose2D &target, std::deque< math::TPoint2D > &path, bool &notFound, float maxSearchPathLength=-1) const =0
	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	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

◆ CPathPlanningMethod()

mrpt::slam::CPathPlanningMethod::CPathPlanningMethod ( )

Default constructor.

◆ ~CPathPlanningMethod()

virtual mrpt::slam::CPathPlanningMethod::~CPathPlanningMethod ( )

inlinevirtual

Destructor.

Definition at line 37 of file CPathPlanningMethod.h.

Member Function Documentation

◆ computePath()

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

pure 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

map	[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".
notFound	[OUT] Will be true if no path has been found.
maxSearchPathLength	[IN] The maximum path length to search for, in meters (-1 = no limit)

Exceptions

std::exception On any error

Implemented in mrpt::slam::CPathPlanningCircularRobot.

◆ 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

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

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

Definition at line 43 of file CPathPlanningMethod.h.