Main MRPT website > C++ reference
MRPT logo
Classes | Namespaces | Enumerations
[mrpt-nav]

Detailed Description

Back to list of all libraries | See all modules

Library mrpt-nav


This library implements:

Reactive navigation: Holonomic navigation algorithms: Virtual Force Fields (VFF), Nearness Diagram (ND), ... See mrpt::nav::CAbstractHolonomicReactiveMethod A complex reactive navigator: Using space transformations (PTGs) to drive a robot using an internal simpler holonomic algorithm. See mrpt::nav::CReactiveNavigationSystem A number of different PTGs: See mrpt::nav::CParameterizedTrajectoryGenerator See the full list of classes in mrpt::reactivenav, or the online page http://www.mrpt.org/list-of-mrpt-apps/application-reactivenavigationdemo/ for a working application (see MRPT/apps/ReactiveNavigationDemo).

Planned / hybrid navigation: See mrpt::nav

Classes

class  mrpt::nav::CAbstractHolonomicReactiveMethod
 A base class for holonomic reactive navigation methods. More...
 
class  mrpt::nav::CHolonomicLogFileRecord
 A base class for log records for different holonomic navigation methods. More...
 
class  mrpt::nav::CHolonomicND
 An implementation of the holonomic reactive navigation method "Nearness-Diagram". More...
 
class  mrpt::nav::CLogFileRecord_VFF
 A class for storing extra information about the execution of CHolonomicVFF navigation. More...
 
class  mrpt::nav::CPathPlanningCircularRobot
 An implementation of CPathPlanningMethod. More...
 
class  mrpt::nav::CPathPlanningMethod
 A virtual base class for computing the optimal path for a robot from a origin location to a target point. More...
 
class  mrpt::nav::RRT< POSE, MOTIONS >
 This class implement an header-only RRT algorithm for hybrid navigation. More...
 
class  mrpt::nav::TMoveTree< MOVE_TYPE >
 This class contains motions and motions tree structures for the hybrid navigation algorithm. More...
 
class  mrpt::nav::TPath
 This class contains methods for path data structures and handling. More...
 
class  mrpt::nav::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::nav::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::nav::CLogFileRecord
 A class for storing, saving and loading a reactive navigation log record for the CReactiveNavigationSystem class. More...
 
struct  mrpt::nav::CLogFileRecord::TInfoPerPTG
 The structure used to store all relevant information about each transformation into TP-Space. More...
 
class  mrpt::nav::CReactiveNavigationSystem
 See base class CAbstractPTGBasedReactive for a description and instructions of use. More...
 
class  mrpt::nav::CReactiveNavigationSystem3D
 See base class CAbstractPTGBasedReactive for a description and instructions of use. More...
 
class  mrpt::nav::CParameterizedTrajectoryGenerator
 This is the base class for any user-defined PTG. More...
 
class  mrpt::nav::CPTG1
 A PTG for circular paths ("C" type PTG in papers). More...
 
class  mrpt::nav::CPTG2
 The "alpha-PTG", as named in PTG papers. More...
 
class  mrpt::nav::CPTG3
 A PTG for optimal paths of type "C|C,S" (as named in PTG papers). More...
 
class  mrpt::nav::CPTG4
 A PTG for optimal paths of type "C|C" , as named in PTG papers. More...
 
class  mrpt::nav::CPTG5
 A PTG for optimal paths of type "CS", as named in PTG papers. More...
 
class  mrpt::nav::CPTG6
 A variation of the alpha-PTG (with fixed parameters, for now) More...
 
class  mrpt::nav::CPTG7
 Trajectories with a fixed linear speed (V_MAX) and a first turning part followed by a straight segment. More...
 

Namespaces

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

Enumerations

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

Motion planning utilities

void NAV_IMPEXP mrpt::nav::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 25 of file CAbstractHolonomicReactiveMethod.h.

Function Documentation

void NAV_IMPEXP mrpt::nav::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



Page generated by Doxygen 1.8.6 for MRPT 1.3.0 SVN: at dom ago 20 02:26:12 CEST 2017 Hosted on:
SourceForge.net Logo