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[mrpt-reactivenav]

Detailed Description

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Library mrpt-reactivenav


This library implements:

See the full list of classes in mrpt::reactivenav, or the online page http://www.mrpt.org/Application:ReactiveNavigationDemo for a discussion of a working application (see MRPT/apps/ReactiveNavigationDemo).

Classes

class  mrpt::reactivenav::CAbstractHolonomicReactiveMethod
 A base class for holonomic reactive navigation methods. More...
 
class  mrpt::reactivenav::CAbstractPTGBasedReactive
 Base class for reactive navigator systems based on TP-Space, with an arbitrary holonomic reactive method running on it and any number of PTGs for transforming the navigation space. More...
 
class  mrpt::reactivenav::CReactiveInterfaceImplementation
 The pure virtual class that a user of CAbstractReactiveNavigationSystem-derived classes must implement in order to allow the navigator sense the world and send motion commands to the robot. More...
 
class  mrpt::reactivenav::CHolonomicLogFileRecord
 A base class for log records for different holonomic navigation methods. More...
 
class  mrpt::reactivenav::CHolonomicND
 An implementation of the holonomic reactive navigation method "Nearness-Diagram". More...
 
class  mrpt::reactivenav::CLogFileRecord_VFF
 A class for storing extra information about the execution of CHolonomicVFF navigation. More...
 
class  mrpt::reactivenav::CLogFileRecord
 A class for storing, saving and loading a reactive navigation log record for the CReactiveNavigationSystem class. More...
 
struct  mrpt::reactivenav::CLogFileRecord::TInfoPerPTG
 The structure used to store all relevant information about each transformation into TP-Space. More...
 
class  mrpt::reactivenav::CParameterizedTrajectoryGenerator
 This is the base class for any user-defined PTG. More...
 
class  mrpt::reactivenav::CPRRTNavigator
 This class is a multi-threaded mobile robot navigator, implementing an (anytime) PTG-based Rapidly-exploring Random Tree (PRRT) search algorithm. More...
 
class  mrpt::reactivenav::CPTG1
 A PTG for circular paths ("C" type PTG in papers). More...
 
class  mrpt::reactivenav::CPTG2
 The "alpha-PTG", as named in PTG papers. More...
 
class  mrpt::reactivenav::CPTG3
 A PTG for optimal paths of type "C|C,S" (as named in PTG papers). More...
 
class  mrpt::reactivenav::CPTG4
 A PTG for optimal paths of type "C|C" , as named in PTG papers. More...
 
class  mrpt::reactivenav::CPTG5
 A PTG for optimal paths of type "CS", as named in PTG papers. More...
 
class  mrpt::reactivenav::CPTG6
 A variation of the alpha-PTG (with fixed parameters, for now) More...
 
class  mrpt::reactivenav::CPTG7
 Trajectories with a fixed linear speed (V_MAX) and a first turning part followed by a straight segment. More...
 
class  mrpt::reactivenav::CReactiveNavigationSystem
 See base class CAbstractPTGBasedReactive for a description and instructions of use. More...
 
class  mrpt::reactivenav::CReactiveNavigationSystem3D
 See base class CAbstractPTGBasedReactive for a description and instructions of use. More...
 

Namespaces

 mrpt::reactivenav
 This namespace contains classes for building a TP-Space Reactive Navigation System.
 

Enumerations

enum  mrpt::reactivenav::THolonomicMethod { mrpt::reactivenav::hmVIRTUAL_FORCE_FIELDS = 0, mrpt::reactivenav::hmSEARCH_FOR_BEST_GAP = 1 }
 The implemented reactive navigation methods. More...
 

Motion planning utilities

void REACTIVENAV_IMPEXP mrpt::reactivenav::build_PTG_collision_grids (CParameterizedTrajectoryGenerator *PTG, const mrpt::math::CPolygon &robotShape, const std::string &cacheFilename, const bool verbose=true)
 Builds the collision grid for a given PTGs, or load it from a cache file. More...
 

Enumeration Type Documentation

The implemented reactive navigation methods.

This enum works with mrpt::utils::TEnumType

Enumerator
hmVIRTUAL_FORCE_FIELDS 
hmSEARCH_FOR_BEST_GAP 

Definition at line 28 of file CAbstractHolonomicReactiveMethod.h.

Function Documentation

void REACTIVENAV_IMPEXP mrpt::reactivenav::build_PTG_collision_grids ( CParameterizedTrajectoryGenerator *  PTG,
const mrpt::math::CPolygon robotShape,
const std::string &  cacheFilename,
const bool  verbose = true 
)

Builds the collision grid for a given PTGs, or load it from a cache file.

The collision grid must be calculated before calling CParameterizedTrajectoryGenerator::CColisionGrid::getTPObstacle

Parameters
PTGsThe list of PTGs to calculate their grids.
robotShapeThe shape of the robot.
cacheFilenameThe filename where the collision grids will be dumped to speed-up future recalculations. If it exists upon call, the collision grid will be loaded from here if all PTG parameters match. Example: "PTG_%03d.dat.gz".
See Also
CReactiveNavigationSystem



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