mrpt::nav::TRobotShape Struct Reference

Detailed Description

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.

Definition at line 22 of file nav/reactive/CReactiveNavigationSystem3D.h.

#include <mrpt/nav/reactive/CReactiveNavigationSystem3D.h>

Public Member Functions
size_t	size () const
void	resize (size_t num_levels)
const mrpt::math::CPolygon &	polygon (size_t level) const
const double &	getRadius (size_t level) const
const double &	getHeight (size_t level) const
mrpt::math::CPolygon &	polygon (size_t level)
void	setRadius (size_t level, double r)
void	setHeight (size_t level, double h)
const std::vector< double > &	getHeights () const

Private Attributes
std::vector< mrpt::math::CPolygon >	polygons
std::vector< double >	radius
std::vector< double >	heights

Member Function Documentation

getHeight()

const double& mrpt::nav::TRobotShape::getHeight ( size_t  level ) const

inline

Definition at line 34 of file nav/reactive/CReactiveNavigationSystem3D.h.

Referenced by mrpt::nav::CReactiveNavigationSystem3D::implementSenseObstacles().

getHeights()

const std::vector<double>& mrpt::nav::TRobotShape::getHeights ( ) const

inline

Definition at line 39 of file nav/reactive/CReactiveNavigationSystem3D.h.

getRadius()

const double& mrpt::nav::TRobotShape::getRadius ( size_t  level ) const

inline

Definition at line 33 of file nav/reactive/CReactiveNavigationSystem3D.h.

Referenced by mrpt::nav::CReactiveNavigationSystem3D::loggingGetWSObstaclesAndShape(), and mrpt::nav::CReactiveNavigationSystem3D::STEP1_InitPTGs().

polygon() [1/2]

const mrpt::math::CPolygon& mrpt::nav::TRobotShape::polygon ( size_t  level ) const

inline

Definition at line 32 of file nav/reactive/CReactiveNavigationSystem3D.h.

Referenced by mrpt::nav::CReactiveNavigationSystem3D::changeRobotShape(), mrpt::nav::CReactiveNavigationSystem3D::loadConfigFile(), mrpt::nav::CReactiveNavigationSystem3D::loggingGetWSObstaclesAndShape(), and mrpt::nav::CReactiveNavigationSystem3D::STEP1_InitPTGs().

polygon() [2/2]

mrpt::math::CPolygon& mrpt::nav::TRobotShape::polygon ( size_t  level )

inline

Definition at line 35 of file nav/reactive/CReactiveNavigationSystem3D.h.

resize()

void mrpt::nav::TRobotShape::resize ( size_t  num_levels )

inline

Definition at line 25 of file nav/reactive/CReactiveNavigationSystem3D.h.

Referenced by mrpt::nav::CReactiveNavigationSystem3D::loadConfigFile().

setHeight()

void mrpt::nav::TRobotShape::setHeight ( size_t  level, double  h  )

inline

Definition at line 37 of file nav/reactive/CReactiveNavigationSystem3D.h.

Referenced by mrpt::nav::CReactiveNavigationSystem3D::loadConfigFile().

setRadius()

void mrpt::nav::TRobotShape::setRadius ( size_t  level, double  r  )

inline

Definition at line 36 of file nav/reactive/CReactiveNavigationSystem3D.h.

Referenced by mrpt::nav::CReactiveNavigationSystem3D::loadConfigFile().

size()

size_t mrpt::nav::TRobotShape::size ( ) const

inline

Definition at line 24 of file nav/reactive/CReactiveNavigationSystem3D.h.

Referenced by mrpt::nav::CReactiveNavigationSystem3D::changeRobotShape(), mrpt::nav::CReactiveNavigationSystem3D::checkCollisionWithLatestObstacles(), mrpt::nav::CReactiveNavigationSystem3D::implementSenseObstacles(), mrpt::nav::CReactiveNavigationSystem3D::loadConfigFile(), mrpt::nav::CReactiveNavigationSystem3D::loggingGetWSObstaclesAndShape(), mrpt::nav::CReactiveNavigationSystem3D::saveConfigFile(), mrpt::nav::CReactiveNavigationSystem3D::STEP1_InitPTGs(), and mrpt::nav::CReactiveNavigationSystem3D::STEP3_WSpaceToTPSpace().

Member Data Documentation

heights

std::vector<double> mrpt::nav::TRobotShape::heights

private

Definition at line 43 of file nav/reactive/CReactiveNavigationSystem3D.h.

polygons

std::vector<mrpt::math::CPolygon> mrpt::nav::TRobotShape::polygons

private

Definition at line 41 of file nav/reactive/CReactiveNavigationSystem3D.h.

radius

std::vector<double> mrpt::nav::TRobotShape::radius

private

Definition at line 42 of file nav/reactive/CReactiveNavigationSystem3D.h.