19 : m_robotShape(), m_robotMaxRadius(.01)
49 const double BADNUM = std::numeric_limits<double>::max();
51 for (
unsigned int nPt = 0;; ++nPt)
56 const double ptx = cfg.
read_double(sSection, sPtx, BADNUM,
false);
57 const double pty = cfg.
read_double(sSection, sPty, BADNUM,
false);
58 if (ptx == BADNUM && pty == BADNUM)
break;
60 (ptx != BADNUM && pty != BADNUM),
61 "Error: mismatch between number of pts in {x,y} defining robot " 79 const int WN = 25, WV = 30;
88 "Robot polygonal shape, `x` [m].");
91 "Robot polygonal shape, `y` [m].");
104 for (
int i = 0; i < N; i++)
112 shap_x[0], shap_y[0], shap_z[0], shap_x[1], shap_y[1], shap_z[1]);
113 for (
int i = 0; i <= shap_x.size(); i++)
115 const int idx = i % shap_x.size();
152 const double x,
const double y)
const 158 const double ox,
const double oy)
const void internal_shape_saveToStream(mrpt::utils::CStream &out) const
virtual ~CPTG_RobotShape_Polygonal()
std::string format(const char *fmt,...) MRPT_printf_format_check(1
A std::string version of C sprintf.
void appendLineStrip(float x, float y, float z)
Appends a line whose starting point is the end point of the last line (similar to OpenGL's GL_LINE_ST...
void saveToConfigFile(mrpt::utils::CConfigFileBase &cfg, const std::string &sSection) const override
This method saves the options to a ".ini"-like file or memory-stored string list. ...
void loadDefaultParams() override
Loads a set of default parameters; provided exclusively for the PTG-configurator tool.
Column vector, like Eigen::MatrixX*, but automatically initialized to zeros since construction...
A wrapper of a TPolygon2D class, implementing CSerializable.
void composePoint(double lx, double ly, double &gx, double &gy) const
An alternative, slightly more efficient way of doing with G and L being 2D points and P this 2D pose...
void add_robotShape_to_setOfLines(mrpt::opengl::CSetOfLines &gl_shape, const mrpt::poses::CPose2D &origin=mrpt::poses::CPose2D()) const override
Auxiliary function for rendering.
void loadShapeFromConfigFile(const mrpt::utils::CConfigFileBase &source, const std::string §ion)
This class allows loading and storing values and vectors of different types from a configuration text...
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
virtual double evalClearanceToRobotShape(const double ox, const double oy) const override
Evals the clearance from an obstacle (ox,oy) in coordinates relative to the robot center...
void appendLine(const mrpt::math::TSegment3D &sgm)
Appends a line to the set.
virtual void internal_processNewRobotShape()=0
Will be called whenever the robot shape is set / updated.
void internal_shape_loadFromStream(mrpt::utils::CStream &in)
#define MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(__V)
For use in CSerializable implementations.
GLsizei const GLchar ** string
CPTG_RobotShape_Polygonal()
bool contains(const TPoint2D &point) const
Check whether a point is inside (or within geometryEpsilon of a polygon edge).
void setRobotShape(const mrpt::math::CPolygon &robotShape)
Robot shape must be set before initialization, either from ctor params or via this method...
void write(const std::string §ion, const std::string &name, enum_t value, const int name_padding_width=-1, const int value_padding_width=-1, const std::string &comment=std::string())
#define ASSERT_ABOVEEQ_(__A, __B)
A class used to store a 2D pose, including the 2D coordinate point and a heading (phi) angle...
double read_double(const std::string §ion, const std::string &name, double defaultValue, bool failIfNotFound=false) const
T hypot_fast(const T x, const T y)
Faster version of std::hypot(), to use when overflow is not an issue and we prefer fast code...
bool isPointInsideRobotShape(const double x, const double y) const override
Returns true if the point lies within the robot shape.
A set of independent lines (or segments), one line with its own start and end positions (X...
void AddVertex(double x, double y)
Add a new vertex to polygon.
#define ASSERTMSG_(f, __ERROR_MSG)
void keep_max(T &var, const K test_val)
If the second argument is above the first one, set the first argument to this higher value...
mrpt::math::CPolygon m_robotShape
double getMaxRobotRadius() const override
Returns an approximation of the robot radius.