Detailed Description
Collaboration diagram for TP-Space and PTG classes:
|
Classes | |
| class | mrpt::nav::ClearanceDiagram |
| Clearance information for one particular PTG and one set of obstacles. More... | |
| class | mrpt::nav::CParameterizedTrajectoryGenerator |
| This is the base class for any user-defined PTG. More... | |
| class | mrpt::nav::CPTG_RobotShape_Polygonal |
| Base class for all PTGs using a 2D polygonal robot shape model. More... | |
| class | mrpt::nav::CPTG_RobotShape_Circular |
| Base class for all PTGs using a 2D circular robot shape model. More... | |
| class | mrpt::nav::CPTG_DiffDrive_alpha |
| The "a(symptotic)-alpha PTG", as named in PTG papers. More... | |
| class | mrpt::nav::CPTG_DiffDrive_C |
| A PTG for circular paths ("C" type PTG in papers). More... | |
| class | mrpt::nav::CPTG_DiffDrive_CC |
| A PTG for optimal paths of type "C|C" , as named in PTG papers. More... | |
| class | mrpt::nav::CPTG_DiffDrive_CCS |
| A PTG for optimal paths of type "C|C,S" (as named in PTG papers). More... | |
| struct | mrpt::nav::TCPoint |
| Trajectory points in C-Space for non-holonomic robots. More... | |
| class | mrpt::nav::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 | mrpt::nav::CPTG_DiffDrive_CS |
| A PTG for optimal paths of type "CS", as named in PTG papers. More... | |
| class | mrpt::nav::CPTG_Holo_Blend |
| A PTG for circular-shaped robots with holonomic kinematics. More... | |
Typedefs | |
| typedef std::vector< TCPoint > | mrpt::nav::TCPointVector |
Enumerations | |
| enum | mrpt::nav::PTG_collision_behavior_t { mrpt::nav::COLL_BEH_BACK_AWAY = 0, mrpt::nav::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::CStream NAV_IMPEXP & | mrpt::nav::operator<< (mrpt::utils::CStream &o, const mrpt::nav::TCPoint &p) |
| mrpt::utils::CStream NAV_IMPEXP & | mrpt::nav::operator>> (mrpt::utils::CStream &i, mrpt::nav::TCPoint &p) |
Typedef Documentation
◆ TCPointVector
| typedef std::vector<TCPoint> mrpt::nav::TCPointVector |
Definition at line 34 of file CPTG_DiffDrive_CollisionGridBased.h.
Enumeration Type Documentation
◆ PTG_collision_behavior_t
Defines behaviors for where there is an obstacle inside the robot shape right at the beginning of a PTG trajectory.
- See also
- Used in CParameterizedTrajectoryGenerator::COLLISION_BEHAVIOR
| Enumerator | |
|---|---|
| COLL_BEH_BACK_AWAY | Favor getting back from too-close (almost collision) obstacles. |
| COLL_BEH_STOP | Totally dissallow any movement if there is any too-close (almost collision) obstacles. |
Definition at line 34 of file CParameterizedTrajectoryGenerator.h.
Function Documentation
◆ operator<<()
| mrpt::utils::CStream & mrpt::nav::operator<< | ( | mrpt::utils::CStream & | o, |
| const mrpt::nav::TCPoint & | p | ||
| ) |
Definition at line 76 of file CPTG_DiffDrive_CollisionGridBased.cpp.
◆ operator>>()
| mrpt::utils::CStream & mrpt::nav::operator>> | ( | mrpt::utils::CStream & | i, |
| mrpt::nav::TCPoint & | p | ||
| ) |
Definition at line 81 of file CPTG_DiffDrive_CollisionGridBased.cpp.