Main MRPT website > C++ reference
MRPT logo
List of all members | Public Member Functions | Static Public Member Functions | Public Attributes
mrpt::slam::CPathPlanningMethod Class Referenceabstract

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:
Inheritance graph
[legend]

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::exceptionOn 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.




Page generated by Doxygen 1.8.14 for MRPT 1.1.0 SVN: at lun oct 28 00:54:49 CET 2019 Hosted on:
SourceForge.net Logo