Detailed Description

Clearance information for one particular PTG and one set of obstacles.

Usage:

Declare an object of this type (it will be initialized to "empty"),
Call CParameterizedTrajectoryGenerator::initClearanceDiagram()
Repeatedly call CParameterizedTrajectoryGenerator::updateClearance() for each 2D obstacle point.

Definition at line 28 of file ClearanceDiagram.h.

#include <mrpt/nav/holonomic/ClearanceDiagram.h>

Public Types
using	dist2clearance_t = std::map< double, double >
	[TPS_distance] => normalized_clearance_for_exactly_that_robot_pose More...

Public Member Functions
	ClearanceDiagram ()
	default ctor More...

void	clear ()
	Reset to default, empty state. More...

void	resize (size_t actual_num_paths, size_t decimated_num_paths)
	Initializes the container to allocate `decimated_num_paths` entries, as a decimated subset of a total of `actual_num_paths` paths. More...

bool	empty () const

size_t	get_actual_num_paths () const

size_t	get_decimated_num_paths () const

double	getClearance (uint16_t k, double TPS_query_distance, bool integrate_over_path) const
	Gets the clearance for path `k` and distance `TPS_query_distance` in one of two modes: More...

void	renderAs3DObject (mrpt::opengl::CMesh &mesh, double min_x, double max_x, double min_y, double max_y, double cell_res, bool integrate_over_path) const

void	readFromStream (mrpt::serialization::CArchive &in)

void	writeToStream (mrpt::serialization::CArchive &out) const

dist2clearance_t &	get_path_clearance (size_t actual_k)

const dist2clearance_t &	get_path_clearance (size_t actual_k) const

dist2clearance_t &	get_path_clearance_decimated (size_t decim_k)

const dist2clearance_t &	get_path_clearance_decimated (size_t decim_k) const

size_t	real_k_to_decimated_k (size_t k) const

size_t	decimated_k_to_real_k (size_t k) const

Protected Attributes
std::vector< dist2clearance_t >	m_raw_clearances
	Container: [decimated_path_k][TPS_distance] => normalized_clearance_for_exactly_that_robot_pose. More...

size_t	m_actual_num_paths

double	m_k_a2d {.0}

double	m_k_d2a {.0}

Member Typedef Documentation

◆ dist2clearance_t

using mrpt::nav::ClearanceDiagram::dist2clearance_t = std::map<double, double>

[TPS_distance] => normalized_clearance_for_exactly_that_robot_pose

Definition at line 62 of file ClearanceDiagram.h.

Constructor & Destructor Documentation

◆ ClearanceDiagram()

ClearanceDiagram::ClearanceDiagram ( )

default

default ctor

Member Function Documentation

◆ clear()

void ClearanceDiagram::clear ( )

Reset to default, empty state.

Definition at line 173 of file ClearanceDiagram.cpp.

References m_actual_num_paths, m_k_a2d, m_k_d2a, and m_raw_clearances.

◆ decimated_k_to_real_k()

size_t mrpt::nav::ClearanceDiagram::decimated_k_to_real_k ( size_t k ) const

Definition at line 123 of file ClearanceDiagram.cpp.

References ASSERT_, and mrpt::round().

Referenced by mrpt::nav::CParameterizedTrajectoryGenerator::initClearanceDiagram(), and mrpt::nav::CParameterizedTrajectoryGenerator::updateClearance().

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◆ empty()

bool mrpt::nav::ClearanceDiagram::empty ( ) const

inline

Definition at line 39 of file ClearanceDiagram.h.

References m_raw_clearances.

Referenced by getClearance().

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◆ get_actual_num_paths()

size_t mrpt::nav::ClearanceDiagram::get_actual_num_paths ( ) const

inline

Definition at line 40 of file ClearanceDiagram.h.

References m_actual_num_paths.

Referenced by mrpt::nav::CParameterizedTrajectoryGenerator::updateClearance().

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◆ get_decimated_num_paths()

size_t mrpt::nav::ClearanceDiagram::get_decimated_num_paths ( ) const

inline

Definition at line 41 of file ClearanceDiagram.h.

References m_raw_clearances.

Referenced by mrpt::nav::CParameterizedTrajectoryGenerator::updateClearance().

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◆ get_path_clearance() [1/2]

ClearanceDiagram::dist2clearance_t & ClearanceDiagram::get_path_clearance ( size_t actual_k )

Definition at line 103 of file ClearanceDiagram.cpp.

References m_raw_clearances, and real_k_to_decimated_k().

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◆ get_path_clearance() [2/2]

const ClearanceDiagram::dist2clearance_t & ClearanceDiagram::get_path_clearance ( size_t actual_k ) const

Definition at line 109 of file ClearanceDiagram.cpp.

References m_raw_clearances, and real_k_to_decimated_k().

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◆ get_path_clearance_decimated() [1/2]

dist2clearance_t& mrpt::nav::ClearanceDiagram::get_path_clearance_decimated ( size_t decim_k )

inline

Definition at line 66 of file ClearanceDiagram.h.

References m_raw_clearances.

Referenced by mrpt::nav::CParameterizedTrajectoryGenerator::initClearanceDiagram(), and mrpt::nav::CParameterizedTrajectoryGenerator::updateClearance().

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◆ get_path_clearance_decimated() [2/2]

const dist2clearance_t& mrpt::nav::ClearanceDiagram::get_path_clearance_decimated ( size_t decim_k ) const

inline

Definition at line 70 of file ClearanceDiagram.h.

References m_raw_clearances.

◆ getClearance()

double ClearanceDiagram::getClearance	(	uint16_t	k,
		double	TPS_query_distance,
		bool	integrate_over_path
	)		const

Gets the clearance for path k and distance TPS_query_distance in one of two modes:

[integrate_over_path=false] clearance from that specific spot, or
[integrate_over_path=true] average clearance over the path from the origin to that specific spot.

Definition at line 131 of file ClearanceDiagram.cpp.

References ASSERT_BELOW_, empty(), m_actual_num_paths, m_raw_clearances, and real_k_to_decimated_k().

Referenced by mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), and renderAs3DObject().

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◆ readFromStream()

void mrpt::nav::ClearanceDiagram::readFromStream ( mrpt::serialization::CArchive & in )

Definition at line 74 of file ClearanceDiagram.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, mrpt::serialization::CArchive::ReadAsAndCastTo(), and resize().

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◆ real_k_to_decimated_k()

size_t mrpt::nav::ClearanceDiagram::real_k_to_decimated_k ( size_t k ) const

Definition at line 115 of file ClearanceDiagram.cpp.

References ASSERT_, and mrpt::round().

Referenced by get_path_clearance(), and getClearance().

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◆ renderAs3DObject()

void ClearanceDiagram::renderAs3DObject	(	mrpt::opengl::CMesh &	mesh,
		double	min_x,
		double	max_x,
		double	min_y,
		double	max_y,
		double	cell_res,
		bool	integrate_over_path
	)		const

Definition at line 26 of file ClearanceDiagram.cpp.

References mrpt::nav::CParameterizedTrajectoryGenerator::alpha2index(), ASSERT_, mrpt::opengl::CMesh::enableColorFromZ(), mrpt::opengl::CMesh::enableTransparency(), mrpt::opengl::CMesh::enableWireFrame(), getClearance(), m_actual_num_paths, m_raw_clearances, mrpt::opengl::CRenderizable::setColorA_u8(), mrpt::opengl::CMesh::setXBounds(), mrpt::opengl::CMesh::setYBounds(), and mrpt::opengl::CMesh::setZ().

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◆ resize()

void mrpt::nav::ClearanceDiagram::resize	(	size_t	actual_num_paths,
		size_t	decimated_num_paths
	)

Initializes the container to allocate decimated_num_paths entries, as a decimated subset of a total of actual_num_paths paths.

Definition at line 180 of file ClearanceDiagram.cpp.

References ASSERT_ABOVEEQ_, and mrpt::containers::clear().

Referenced by mrpt::nav::CParameterizedTrajectoryGenerator::initClearanceDiagram().

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◆ writeToStream()

void mrpt::nav::ClearanceDiagram::writeToStream ( mrpt::serialization::CArchive & out ) const

Definition at line 93 of file ClearanceDiagram.cpp.

References out.

Member Data Documentation

◆ m_actual_num_paths

size_t mrpt::nav::ClearanceDiagram::m_actual_num_paths

protected

Initial value:

{

0}

Definition at line 84 of file ClearanceDiagram.h.

Referenced by clear(), get_actual_num_paths(), getClearance(), and renderAs3DObject().

◆ m_k_a2d

double mrpt::nav::ClearanceDiagram::m_k_a2d {.0}

protected

Definition at line 87 of file ClearanceDiagram.h.

Referenced by clear().

◆ m_k_d2a

double mrpt::nav::ClearanceDiagram::m_k_d2a {.0}

protected

Definition at line 87 of file ClearanceDiagram.h.

Referenced by clear().

◆ m_raw_clearances

std::vector<dist2clearance_t> mrpt::nav::ClearanceDiagram::m_raw_clearances

protected

Container: [decimated_path_k][TPS_distance] => normalized_clearance_for_exactly_that_robot_pose.

Definition at line 82 of file ClearanceDiagram.h.

Referenced by clear(), empty(), get_decimated_num_paths(), get_path_clearance(), get_path_clearance_decimated(), getClearance(), and renderAs3DObject().

Detailed Description

Public Types

Public Member Functions

Protected Attributes

Member Typedef Documentation

◆ dist2clearance_t

Constructor & Destructor Documentation

◆ ClearanceDiagram()

Member Function Documentation

◆ clear()

◆ decimated_k_to_real_k()

◆ empty()

◆ get_actual_num_paths()

◆ get_decimated_num_paths()

◆ get_path_clearance() [1/2]

◆ get_path_clearance() [2/2]

◆ get_path_clearance_decimated() [1/2]

◆ get_path_clearance_decimated() [2/2]

◆ getClearance()

◆ readFromStream()

◆ real_k_to_decimated_k()

◆ renderAs3DObject()

◆ resize()

◆ writeToStream()

Member Data Documentation

◆ m_actual_num_paths

◆ m_k_a2d

◆ m_k_d2a

◆ m_raw_clearances