PlannerSimple2D.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
#ifndef PlannerSimple2D_H
#define PlannerSimple2D_H

#include <mrpt/nav/link_pragmas.h>
#include <mrpt/maps/COccupancyGridMap2D.h>
#include <mrpt/poses/CPoint2D.h>

namespace mrpt
{
namespace nav
{
        /** \addtogroup nav_planners Path planning
          * \ingroup mrpt_nav_grp
          * @{ */
          
        /** Searches for collision-free path in 2D occupancy grids for holonomic circular robots. 
         *  The implementation first enlargest obstacles with robot radius, then applies a 
         *  wavefront algorithm to find the shortest free path between origin and target 2D points.
         *
         * Notice that this simple planner does not take into account robot kinematic constraints.
         */
        class NAV_IMPEXP PlannerSimple2D
        {
        public:
                PlannerSimple2D();  //!< Default constructor
                virtual ~PlannerSimple2D() //!< Destructor
                {
                }

                /** The maximum occupancy probability to consider a cell as an obstacle, default=0.5  */
                float   occupancyThreshold;
                
                /** 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.
                  */
                float   minStepInReturnedPath;

                float   robotRadius;  //!< The aproximate robot radius used in the planification. Default is 0.35m

                /** 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.
                  *
                  * \param theMap       [IN] The occupancy gridmap used to the planning.
                  * \param origin       [IN] The starting pose of the robot, in coordinates of "map".
                  * \param target       [IN] The desired target pose for the robot, in coordinates of "map".
                  * \param path         [OUT] The found path, in global coordinates relative to "map".
                  * \param notFount     [OUT] Will be true if no path has been found.
                  * \param maxSearchPathLength [IN] The maximum path length to search for, in meters (-1 = no limit)
                  *
                  * \sa robotRadius
                  *
                  * \exception std::exception On any error
                  */
                void  computePath(
                                const mrpt::maps::COccupancyGridMap2D   &theMap,
                                const mrpt::poses::CPose2D                              &origin,
                                const mrpt::poses::CPose2D                              &target,
                                std::deque<mrpt::math::TPoint2D>        &path,
                                bool                                            &notFound,
                                float                                           maxSearchPathLength = -1
                                ) const;

        };

          /** @} */
        } // End of namespace
} // End of namespace

#endif