[mrpt-nav]

Detailed Description

Autonomous navigation, path planning.

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Library `mrpt-nav`

This library is part of MRPT and can be installed in Debian-based systems with:

    sudo apt install libmrpt-nav-dev

See: Using MRPT from your CMake project

This library implements:

• Reactive navigation:

  • Holonomic navigation algorithms: Virtual Force Fields (VFF), Nearness Diagram (ND), ... See mrpt::nav::CAbstractHolonomicReactiveMethod
  • A complex reactive navigator: Using space transformations (PTGs) to drive a robot using an internal simpler holonomic algorithm. See mrpt::nav::CReactiveNavigationSystem
  • A number of different PTGs: See mrpt::nav::CParameterizedTrajectoryGenerator
  • See the full list of classes in mrpt::nav, or the online page https://www.mrpt.org/list-of-mrpt-apps/application-reactivenavigationdemo/ for a working application (see MRPT/apps/ReactiveNavigationDemo).

  Planned / hybrid navigation: See mrpt::nav

Collaboration diagram for [mrpt-nav]:

Modules
	Reactive navigation classes
	TP-Space and PTG classes
	Holonomic navigation methods
	Motion planning geometry utility functions
	(#include <mrpt/nav/nav_plan_geometry_utils.h>)
	Path planning