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Classes | Typedefs | Enumerations | Functions
mrpt::nav Namespace Reference

Classes

class  CAbstractHolonomicReactiveMethod
 A base class for holonomic reactive navigation methods. More...
 
class  CHolonomicFullEval
 Full evaluation of all possible directions within the discrete set of input directions. More...
 
class  CLogFileRecord_FullEval
 A class for storing extra information about the execution of CHolonomicFullEval navigation. More...
 
class  CHolonomicLogFileRecord
 A base class for log records for different holonomic navigation methods. More...
 
class  CHolonomicND
 An implementation of the holonomic reactive navigation method "Nearness-Diagram". More...
 
class  CLogFileRecord_ND
 A class for storing extra information about the execution of CHolonomicND navigation. More...
 
class  CLogFileRecord_VFF
 A class for storing extra information about the execution of CHolonomicVFF navigation. More...
 
class  CHolonomicVFF
 A holonomic reactive navigation method, based on Virtual Force Fields (VFF). More...
 
class  ClearanceDiagram
 Clearance information for one particular PTG and one set of obstacles. More...
 
struct  TPlannerInputTempl
 
struct  TPlannerResultTempl
 
struct  RRTEndCriteria
 
struct  RRTAlgorithmParams
 
class  PlannerTPS_VirtualBase
 Virtual base class for TP-Space-based path planners. More...
 
class  PlannerRRT_SE2_TPS
 TP Space-based RRT path planning for SE(2) (planar) robots. More...
 
class  PlannerSimple2D
 Searches for collision-free path in 2D occupancy grids for holonomic circular robots. More...
 
struct  PoseDistanceMetric
 Generic base for metrics. More...
 
class  TMoveTree
 This class contains motions and motions tree structures for the hybrid navigation algorithm. More...
 
struct  TMoveEdgeSE2_TP
 An edge for the move tree used for planning in SE2 and TP-space. More...
 
struct  TNodeSE2
 
struct  PoseDistanceMetric< TNodeSE2 >
 Pose metric for SE(2) More...
 
struct  TNodeSE2_TP
 
struct  PoseDistanceMetric< TNodeSE2_TP >
 Pose metric for SE(2) limited to a given PTG manifold. More...
 
class  CAbstractNavigator
 This is the base class for any reactive/planned navigation system. More...
 
class  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  CLogFileRecord
 A class for storing, saving and loading a reactive navigation log record for the CReactiveNavigationSystem class. More...
 
class  CMultiObjectiveMotionOptimizerBase
 Virtual base class for multi-objective motion choosers, as used for reactive navigation engines. More...
 
class  CMultiObjMotionOpt_Scalarization
 Implementation of multi-objective motion chooser using scalarization: a user-given formula is used to collapse all the scores into a single scalar score. More...
 
class  CNavigatorManualSequence
 "Fake navigator" for tests: it just sends out a pre-programmed sequence of commands to the robot. More...
 
class  CReactiveNavigationSystem
 See base class CAbstractPTGBasedReactive for a description and instructions of use. More...
 
struct  TRobotShape
 A 3D robot shape stored as a "sliced" stack of 2D polygons, used for CReactiveNavigationSystem3D Depending on each PTG, only the 2D polygon or the circular radius will be taken into account. More...
 
class  CReactiveNavigationSystem3D
 See base class CAbstractPTGBasedReactive for a description and instructions of use. More...
 
class  CRobot2NavInterface
 The pure virtual interface between a real or simulated robot and any CAbstractNavigator-derived class. More...
 
class  CRobot2NavInterfaceForSimulator_Holo
 CRobot2NavInterface implemented for a simulator object based on mrpt::kinematics::CVehicleSimul_Holo. More...
 
class  CRobot2NavInterfaceForSimulator_DiffDriven
 CRobot2NavInterface implemented for a simulator object based on mrpt::kinematics::CVehicleSimul_DiffDriven Only senseObstacles() remains virtual for the user to implement it. More...
 
class  CWaypointsNavigator
 This class extends CAbstractNavigator with the capability of following a list of waypoints. More...
 
struct  TCandidateMovementPTG
 Stores a candidate movement in TP-Space-based navigation. More...
 
struct  TWaypoint
 A single waypoint within TWaypointSequence. More...
 
struct  TWaypointsRenderingParams
 used in getAsOpenglVisualization() More...
 
struct  TWaypointSequence
 The struct for requesting navigation requests for a sequence of waypoints. More...
 
struct  TWaypointStatus
 A waypoint with an execution status. More...
 
struct  TWaypointStatusSequence
 The struct for querying the status of waypoints navigation. More...
 
class  CParameterizedTrajectoryGenerator
 This is the base class for any user-defined PTG. More...
 
class  CPTG_RobotShape_Polygonal
 Base class for all PTGs using a 2D polygonal robot shape model. More...
 
class  CPTG_RobotShape_Circular
 Base class for all PTGs using a 2D circular robot shape model. More...
 
class  CPTG_DiffDrive_alpha
 The "a(symptotic)-alpha PTG", as named in PTG papers. More...
 
class  CPTG_DiffDrive_C
 A PTG for circular paths ("C" type PTG in papers). More...
 
class  CPTG_DiffDrive_CC
 A PTG for optimal paths of type "C|C" , as named in PTG papers. More...
 
class  CPTG_DiffDrive_CCS
 A PTG for optimal paths of type "C|C,S" (as named in PTG papers). More...
 
struct  TCPoint
 Trajectory points in C-Space for non-holonomic robots. More...
 
class  CPTG_DiffDrive_CollisionGridBased
 Base class for all PTGs suitable to non-holonomic, differentially-driven (or Ackermann) vehicles based on numerical integration of the trajectories and collision look-up-table. More...
 
class  CPTG_DiffDrive_CS
 A PTG for optimal paths of type "CS", as named in PTG papers. More...
 
class  CPTG_Holo_Blend
 A PTG for circular-shaped robots with holonomic kinematics. More...
 

Typedefs

typedef TMoveTree< TNodeSE2_TP,
TMoveEdgeSE2_TP
TMoveTreeSE2_TP
 tree data structure for planning in SE2 within TP-Space manifolds More...
 
typedef std::vector
< mrpt::nav::CParameterizedTrajectoryGenerator * > 
TListPTGs
 A list of PTGs (bare pointers) More...
 
typedef std::vector
< mrpt::nav::CParameterizedTrajectoryGeneratorPtr > 
TListPTGPtr
 A list of PTGs (smart pointers) More...
 
typedef std::vector< TCPointTCPointVector
 

Enumerations

enum  THolonomicMethod { hmVIRTUAL_FORCE_FIELDS = 0, hmSEARCH_FOR_BEST_GAP = 1, hmFULL_EVAL = 2 }
 The implemented reactive navigation methods. More...
 
enum  PTG_collision_behavior_t { COLL_BEH_BACK_AWAY = 0, COLL_BEH_STOP }
 Defines behaviors for where there is an obstacle inside the robot shape right at the beginning of a PTG trajectory. More...
 

Functions

::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CAbstractHolonomicReactiveMethodPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CLogFileRecord_FullEvalPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CHolonomicFullEvalPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CHolonomicLogFileRecordPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CLogFileRecord_NDPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CHolonomicNDPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CLogFileRecord_VFFPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CHolonomicVFFPtr &pObj)
 
bool NAV_IMPEXP collision_free_dist_segment_circ_robot (const mrpt::math::TPoint2D &p_start, const mrpt::math::TPoint2D &p_end, const double robot_radius, const mrpt::math::TPoint2D &obstacle, double &out_col_dist)
 Computes the collision-free distance for a linear segment path between two points, for a circular robot, and a point obstacle (ox,oy). More...
 
bool NAV_IMPEXP collision_free_dist_arc_circ_robot (const double arc_radius, const double robot_radius, const mrpt::math::TPoint2D &obstacle, double &out_col_dist)
 Computes the collision-free distance for a forward path (+X) circular arc path segment from pose (0,0,0) and radius of curvature R (>0 -> +Y, <0 -> -Y), a circular robot and a point obstacle (ox,oy). More...
 
bool NAV_IMPEXP operator== (const CAbstractNavigator::TNavigationParamsBase &, const CAbstractNavigator::TNavigationParamsBase &)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CLogFileRecordPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CParameterizedTrajectoryGeneratorPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CPTG_DiffDrive_alphaPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CPTG_DiffDrive_CPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CPTG_DiffDrive_CCPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CPTG_DiffDrive_CCSPtr &pObj)
 
mrpt::utils::CStream NAV_IMPEXPoperator<< (mrpt::utils::CStream &o, const mrpt::nav::TCPoint &p)
 
mrpt::utils::CStream NAV_IMPEXPoperator>> (mrpt::utils::CStream &i, mrpt::nav::TCPoint &p)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CPTG_DiffDrive_CSPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CPTG_Holo_BlendPtr &pObj)
 

Typedef Documentation

typedef std::vector<mrpt::nav::CParameterizedTrajectoryGeneratorPtr> mrpt::nav::TListPTGPtr

A list of PTGs (smart pointers)

Definition at line 344 of file CParameterizedTrajectoryGenerator.h.

A list of PTGs (bare pointers)

Definition at line 343 of file CParameterizedTrajectoryGenerator.h.

Function Documentation

bool mrpt::nav::operator== ( const CAbstractNavigator::TNavigationParamsBase a,
const CAbstractNavigator::TNavigationParamsBase b 
)
::mrpt::utils::CStream& mrpt::nav::operator>> ( mrpt::utils::CStream in,
CPTG_DiffDrive_CCSPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::nav::operator>> ( mrpt::utils::CStream in,
CPTG_DiffDrive_CCPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::nav::operator>> ( mrpt::utils::CStream in,
CPTG_DiffDrive_CSPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::nav::operator>> ( mrpt::utils::CStream in,
CPTG_DiffDrive_alphaPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::nav::operator>> ( mrpt::utils::CStream in,
CPTG_DiffDrive_CPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::nav::operator>> ( mrpt::utils::CStream in,
CPTG_Holo_BlendPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::nav::operator>> ( mrpt::utils::CStream in,
CLogFileRecord_NDPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::nav::operator>> ( mrpt::utils::CStream in,
CLogFileRecord_FullEvalPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::nav::operator>> ( mrpt::utils::CStream in,
CHolonomicLogFileRecordPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::nav::operator>> ( mrpt::utils::CStream in,
CHolonomicNDPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::nav::operator>> ( mrpt::utils::CStream in,
CHolonomicFullEvalPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::nav::operator>> ( mrpt::utils::CStream in,
CLogFileRecord_VFFPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::nav::operator>> ( mrpt::utils::CStream in,
CLogFileRecordPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::nav::operator>> ( mrpt::utils::CStream in,
CParameterizedTrajectoryGeneratorPtr &  pObj 
)



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