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mrpt::nav::CPTG_DiffDrive_alpha Class Reference

Detailed Description

The "a(symptotic)-alpha PTG", as named in PTG papers.

This PT generator functions are:

\[ v(\alpha) = V_{MAX} e^{ -\left( \dfrac{\alpha-\phi}{cte_{a0v}} \right)^2} \]

\[ \omega(\alpha) = W_{MAX} \left( -\dfrac{1}{2} +\dfrac{1}{1+ e^{ - \dfrac{\alpha-\phi}{cte_{a0w}} } } \right) \]

So, the radius of curvature of each trajectory is NOT constant for each "alpha" value in this PTG:

PTG2_paths.png
C-PTG path examples
Note
[Before MRPT 1.5.0 this was named CPTG2]

Definition at line 36 of file CPTG_DiffDrive_alpha.h.

#include <mrpt/nav/tpspace/CPTG_DiffDrive_alpha.h>

Inheritance diagram for mrpt::nav::CPTG_DiffDrive_alpha:
Inheritance graph

Public Member Functions

voidoperator new (size_t size)
 
voidoperator new[] (size_t size)
 
void operator delete (void *ptr) throw ()
 
void operator delete[] (void *ptr) throw ()
 
void operator delete (void *memory, void *ptr) throw ()
 
voidoperator new (size_t size, const std::nothrow_t &) throw ()
 
void operator delete (void *ptr, const std::nothrow_t &) throw ()
 
 CPTG_DiffDrive_alpha ()
 
 CPTG_DiffDrive_alpha (const mrpt::utils::CConfigFileBase &cfg, const std::string &sSection)
 
virtual void loadFromConfigFile (const mrpt::utils::CConfigFileBase &cfg, const std::string &sSection) MRPT_OVERRIDE
 Possible values in "params" (those in CParameterizedTrajectoryGenerator, which is called internally, plus): More...
 
virtual void saveToConfigFile (mrpt::utils::CConfigFileBase &cfg, const std::string &sSection) const MRPT_OVERRIDE
 This method saves the options to a ".ini"-like file or memory-stored string list. More...
 
std::string getDescription () const MRPT_OVERRIDE
 Gets a short textual description of the PTG and its parameters. More...
 
void ptgDiffDriveSteeringFunction (float alpha, float t, float x, float y, float phi, float &v, float &w) const MRPT_OVERRIDE
 The main method to be implemented in derived classes: it defines the differential-driven differential equation. More...
 
void loadDefaultParams () MRPT_OVERRIDE
 Loads a set of default parameters; provided exclusively for the PTG-configurator tool. More...
 
double getMax_V () const
 
double getMax_W () const
 
bool isPointInsideRobotShape (const double x, const double y) const MRPT_OVERRIDE
 Returns true if the point lies within the robot shape. More...
 
void add_robotShape_to_setOfLines (mrpt::opengl::CSetOfLines &gl_shape, const mrpt::poses::CPose2D &origin=mrpt::poses::CPose2D()) const MRPT_OVERRIDE
 Auxiliary function for rendering. More...
 
void updateNavDynamicState (const TNavDynamicState &newState, const bool force_update=false)
 To be invoked by the navigator before each navigation step, to let the PTG to react to changing dynamic conditions. More...
 
const TNavDynamicStategetCurrentNavDynamicState () const
 
void initialize (const std::string &cacheFilename=std::string(), const bool verbose=true)
 Must be called after setting all PTG parameters and before requesting converting obstacles to TP-Space, inverseMap_WS2TP(), etc. More...
 
void deinitialize ()
 This must be called to de-initialize the PTG if some parameter is to be changed. More...
 
bool isInitialized () const
 Returns true if initialize() has been called and there was no errors, so the PTG is ready to be queried for paths, obstacles, etc. More...
 
uint16_t getAlphaValuesCount () const
 Get the number of different, discrete paths in this family. More...
 
uint16_t getPathCount () const
 Get the number of different, discrete paths in this family. More...
 
double index2alpha (uint16_t k) const
 Alpha value for the discrete corresponding value. More...
 
uint16_t alpha2index (double alpha) const
 Discrete index value for the corresponding alpha value. More...
 
double getRefDistance () const
 
void initTPObstacles (std::vector< double > &TP_Obstacles) const
 Resizes and populates the initial appropriate contents in a vector of tp-obstacles (collision-free ranges, in "pseudometers", un-normalized). More...
 
void initTPObstacleSingle (uint16_t k, double &TP_Obstacle_k) const
 
double getScorePriority () const
 When used in path planning, a multiplying factor (default=1.0) for the scores for this PTG. More...
 
void setScorePriorty (double prior)
 
unsigned getClearanceStepCount () const
 
void setClearanceStepCount (const unsigned res)
 
unsigned getClearanceDecimatedPaths () const
 
void setClearanceDecimatedPaths (const unsigned num)
 
virtual void renderPathAsSimpleLine (const uint16_t k, mrpt::opengl::CSetOfLines &gl_obj, const double decimate_distance=0.1, const double max_path_distance=-1.0) const
 Returns the representation of one trajectory of this PTG as a 3D OpenGL object (a simple curved line). More...
 
bool debugDumpInFiles (const std::string &ptg_name) const
 Dump PTG trajectories in four text files: `. More...
 
void initClearanceDiagram (ClearanceDiagram &cd) const
 Must be called to resize a CD to its correct size, before calling updateClearance() More...
 
void updateClearance (const double ox, const double oy, ClearanceDiagram &cd) const
 Updates the clearance diagram given one (ox,oy) obstacle point, in coordinates relative to the PTG path origin. More...
 
void updateClearancePost (ClearanceDiagram &cd, const std::vector< double > &TP_obstacles) const
 
virtual void evalClearanceSingleObstacle (const double ox, const double oy, const uint16_t k, ClearanceDiagram::dist2clearance_t &inout_realdist2clearance, bool treat_as_obstacle=true) const
 Evals the robot clearance for each robot pose along path k, for the real distances in the key of the map<>, then keep in the map value the minimum of its current stored clearance, or the computed clearance. More...
 
virtual mxArraywriteToMatlab () const
 Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More...
 
mrpt::utils::CObjectPtr duplicateGetSmartPtr () const
 Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...
 
CObjectclone () const
 Cloning interface for smart pointers. More...
 
void loadFromConfigFileName (const std::string &config_file, const std::string &section)
 Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file. More...
 
void saveToConfigFileName (const std::string &config_file, const std::string &section) const
 Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file. More...
 
void dumpToConsole () const
 Just like dumpToTextStream() but sending the text to the console (std::cout) More...
 
virtual void dumpToTextStream (mrpt::utils::CStream &out) const
 This method should clearly display all the contents of the structure in textual form, sending it to a CStream. More...
 
Virtual interface of each PTG implementation
virtual bool inverseMap_WS2TP (double x, double y, int &out_k, double &out_d, double tolerance_dist=0.10) const MRPT_OVERRIDE
 The default implementation in this class relies on a look-up-table. More...
 
virtual
mrpt::kinematics::CVehicleVelCmdPtr 
directionToMotionCommand (uint16_t k) const MRPT_OVERRIDE
 In this class, out_action_cmd contains: [0]: linear velocity (m/s), [1]: angular velocity (rad/s). More...
 
virtual
mrpt::kinematics::CVehicleVelCmdPtr 
getSupportedKinematicVelocityCommand () const MRPT_OVERRIDE
 Returns an empty kinematic velocity command object of the type supported by this PTG. More...
 
virtual void setRefDistance (const double refDist) MRPT_OVERRIDE
 Launches an exception in this class: it is not allowed in numerical integration-based PTGs to change the reference distance after initialization. More...
 
size_t getPathStepCount (uint16_t k) const MRPT_OVERRIDE
 Access path k ([0,N-1]=>[-pi,pi] in alpha): number of discrete "steps" along the trajectory. More...
 
void getPathPose (uint16_t k, uint32_t step, mrpt::math::TPose2D &p) const MRPT_OVERRIDE
 Access path k ([0,N-1]=>[-pi,pi] in alpha): pose of the vehicle at discrete step step. More...
 
double getPathDist (uint16_t k, uint32_t step) const MRPT_OVERRIDE
 Access path k ([0,N-1]=>[-pi,pi] in alpha): traversed distance at discrete step step. More...
 
bool getPathStepForDist (uint16_t k, double dist, uint32_t &out_step) const MRPT_OVERRIDE
 Access path k ([0,N-1]=>[-pi,pi] in alpha): largest step count for which the traversed distance is < dist More...
 
double getPathStepDuration () const MRPT_OVERRIDE
 Returns the duration (in seconds) of each "step". More...
 
double getMaxLinVel () const MRPT_OVERRIDE
 Returns the maximum linear velocity expected from this PTG [m/s]. More...
 
double getMaxAngVel () const MRPT_OVERRIDE
 Returns the maximum angular velocity expected from this PTG [rad/s]. More...
 
void updateTPObstacle (double ox, double oy, std::vector< double > &tp_obstacles) const MRPT_OVERRIDE
 Updates the radial map of closest TP-Obstacles given a single obstacle point at (ox,oy) More...
 
void updateTPObstacleSingle (double ox, double oy, uint16_t k, double &tp_obstacle_k) const MRPT_OVERRIDE
 Like updateTPObstacle() but for one direction only (k) in TP-Space. More...
 
virtual void onNewNavDynamicState () MRPT_OVERRIDE
 This family of PTGs ignores the dynamic states. More...
 
Robot shape
void setRobotShape (const mrpt::math::CPolygon &robotShape)
 Robot shape must be set before initialization, either from ctor params or via this method. More...
 
const mrpt::math::CPolygongetRobotShape () const
 
double getMaxRobotRadius () const MRPT_OVERRIDE
 Returns an approximation of the robot radius. More...
 
virtual double evalClearanceToRobotShape (const double ox, const double oy) const MRPT_OVERRIDE
 Evals the clearance from an obstacle (ox,oy) in coordinates relative to the robot center. More...
 
Virtual interface of each PTG implementation
virtual bool PTG_IsIntoDomain (double x, double y) const
 Returns the same than inverseMap_WS2TP() but without any additional cost. More...
 
virtual bool isBijectiveAt (uint16_t k, uint32_t step) const
 Returns true if a given TP-Space point maps to a unique point in Workspace, and viceversa. More...
 
virtual bool supportVelCmdNOP () const
 Returns true if it is possible to stop sending velocity commands to the robot and, still, the robot controller will be able to keep following the last sent trajectory ("NOP" velocity commands). More...
 
virtual bool supportSpeedAtTarget () const
 Returns true if this PTG takes into account the desired velocity at target. More...
 
virtual double maxTimeInVelCmdNOP (int path_k) const
 Only for PTGs supporting supportVelCmdNOP(): this is the maximum time (in seconds) for which the path can be followed without re-issuing a new velcmd. More...
 
virtual double getActualUnloopedPathLength (uint16_t k) const
 Returns the actual distance (in meters) of the path, discounting possible circular loops of the path (e.g. More...
 
virtual double evalPathRelativePriority (uint16_t k, double target_distance) const
 Query the PTG for the relative priority factor (0,1) of this PTG, in comparison to others, if the k-th path is to be selected. More...
 

Static Public Member Functions

static voidoperator new (size_t size, void *ptr)
 
static
CParameterizedTrajectoryGenerator
CreatePTG (const std::string &ptgClassName, const mrpt::utils::CConfigFileBase &cfg, const std::string &sSection, const std::string &sKeyPrefix)
 The class factory for creating a PTG from a list of parameters in a section of a given config file (physical file or in memory). More...
 
static double index2alpha (uint16_t k, const unsigned int num_paths)
 
static uint16_t alpha2index (double alpha, const unsigned int num_paths)
 

Static Public Attributes

static std::string OUTPUT_DEBUG_PATH_PREFIX = "./reactivenav.logs"
 The path used as defaul output in, for example, debugDumpInFiles. (Default="./reactivenav.logs/") More...
 
static PTG_collision_behavior_t COLLISION_BEHAVIOR = mrpt::nav::COLL_BEH_BACK_AWAY
 Defines the behavior when there is an obstacle inside the robot shape right at the beginning of a PTG trajectory. More...
 
static const
mrpt::utils::TRuntimeClassId 
classCObject
 
RTTI stuff
static const
mrpt::utils::TRuntimeClassId 
classCParameterizedTrajectoryGenerator
 
RTTI stuff
static const
mrpt::utils::TRuntimeClassId 
classCSerializable
 

Protected Types

typedef std::vector< std::pair
< uint16_t, float > > 
TCollisionCell
 A list of all the pairs (alpha,distance) such as the robot collides at that cell. More...
 

Protected Member Functions

void internal_processNewRobotShape () MRPT_OVERRIDE
 Will be called whenever the robot shape is set / updated. More...
 
void internal_initialize (const std::string &cacheFilename=std::string(), const bool verbose=true) MRPT_OVERRIDE
 Must be called after setting all PTG parameters and before requesting converting obstacles to TP-Space, inverseMap_WS2TP(), etc. More...
 
void internal_deinitialize () MRPT_OVERRIDE
 This must be called to de-initialize the PTG if some parameter is to be changed. More...
 
void internal_readFromStream (mrpt::utils::CStream &in) MRPT_OVERRIDE
 
void internal_writeToStream (mrpt::utils::CStream &out) const MRPT_OVERRIDE
 
void simulateTrajectories (float max_time, float max_dist, unsigned int max_n, float diferencial_t, float min_dist, float *out_max_acc_v=NULL, float *out_max_acc_w=NULL)
 Numerically solve the diferential equations to generate a family of trajectories. More...
 
bool saveColGridsToFile (const std::string &filename, const mrpt::math::CPolygon &computed_robotShape) const
 
bool loadColGridsFromFile (const std::string &filename, const mrpt::math::CPolygon &current_robotShape)
 
void loadShapeFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
 
void internal_shape_loadFromStream (mrpt::utils::CStream &in)
 
void internal_shape_saveToStream (mrpt::utils::CStream &out) const
 
void internal_TPObsDistancePostprocess (const double ox, const double oy, const double new_tp_obs_dist, double &inout_tp_obs) const
 To be called by implementors of updateTPObstacle() and updateTPObstacleSingle() to honor the user settings regarding COLLISION_BEHAVIOR. More...
 
CSerializable virtual methods
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const
 Introduces a pure virtual method responsible for writing to a CStream. More...
 
void readFromStream (mrpt::utils::CStream &in, int version)
 Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...
 

Static Protected Member Functions

static void dumpVar_int (CStream &out, const char *varName, int v)
 Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. More...
 
static void dumpVar_float (CStream &out, const char *varName, float v)
 
static void dumpVar_double (CStream &out, const char *varName, double v)
 
static void dumpVar_bool (CStream &out, const char *varName, bool v)
 
static void dumpVar_string (CStream &out, const char *varName, const std::string &v)
 

Protected Attributes

double cte_a0v
 
double cte_a0w
 
double V_MAX
 
double W_MAX
 
double turningRadiusReference
 
std::vector< TCPointVectorm_trajectory
 
double m_resolution
 
double m_stepTimeDuration
 
CCollisionGrid m_collisionGrid
 The collision grid. More...
 
mrpt::utils::CDynamicGrid
< TCellForLambdaFunction
m_lambdaFunctionOptimizer
 This grid will contain indexes data for speeding-up the default, brute-force lambda function. More...
 
mrpt::math::CPolygon m_robotShape
 
double m_robotMaxRadius
 
double refDistance
 
uint16_t m_alphaValuesCount
 The number of discrete values for "alpha" between -PI and +PI. More...
 
double m_score_priority
 
uint16_t m_clearance_num_points
 Number of steps for the piecewise-constant approximation of clearance from TPS distances [0,1] (Default=5) More...
 
uint16_t m_clearance_decimated_paths
 Number of paths for the decimated paths analysis of clearance. More...
 
TNavDynamicState m_nav_dyn_state
 Updated before each nav step by. More...
 
uint16_t m_nav_dyn_state_target_k
 Update in updateNavDynamicState(), contains the path index (k) for the target. More...
 
bool m_is_initialized
 

Static Protected Attributes

static const uint16_t INVALID_PTG_PATH_INDEX = static_cast<uint16_t>(-1)
 

RTTI stuff

typedef CPTG_DiffDrive_alphaPtr Ptr
 
typedef CPTG_DiffDrive_alphaPtr ConstPtr
 
static mrpt::utils::CLASSINIT _init_CPTG_DiffDrive_alpha
 
static mrpt::utils::TRuntimeClassId classCPTG_DiffDrive_alpha
 
static const
mrpt::utils::TRuntimeClassId
classinfo
 
static const
mrpt::utils::TRuntimeClassId
_GetBaseClass ()
 
virtual const
mrpt::utils::TRuntimeClassId
GetRuntimeClass () const
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::utils::CObjectduplicate () const
 Returns a copy of the object, indepently of its class. More...
 
static mrpt::utils::CObjectCreateObject ()
 
static CPTG_DiffDrive_alphaPtr Create ()
 

Member Typedef Documentation

typedef CPTG_DiffDrive_alphaPtr mrpt::nav::CPTG_DiffDrive_alpha::ConstPtr

Definition at line 38 of file CPTG_DiffDrive_alpha.h.

typedef CPTG_DiffDrive_alphaPtr mrpt::nav::CPTG_DiffDrive_alpha::Ptr

A typedef for the associated smart pointer

Definition at line 38 of file CPTG_DiffDrive_alpha.h.

typedef std::vector<std::pair<uint16_t,float> > mrpt::nav::CPTG_DiffDrive_CollisionGridBased::TCollisionCell
protectedinherited

A list of all the pairs (alpha,distance) such as the robot collides at that cell.

  • map key (uint16_t) -> alpha value (k)
    • map value (float) -> the MINIMUM distance (d), in meters, associated with that "k".

Definition at line 132 of file CPTG_DiffDrive_CollisionGridBased.h.

Constructor & Destructor Documentation

mrpt::nav::CPTG_DiffDrive_alpha::CPTG_DiffDrive_alpha ( )
inline

Definition at line 40 of file CPTG_DiffDrive_alpha.h.

mrpt::nav::CPTG_DiffDrive_alpha::CPTG_DiffDrive_alpha ( const mrpt::utils::CConfigFileBase cfg,
const std::string sSection 
)
inline

Definition at line 41 of file CPTG_DiffDrive_alpha.h.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::nav::CPTG_DiffDrive_alpha::_GetBaseClass ( )
staticprotected
void CPTG_RobotShape_Polygonal::add_robotShape_to_setOfLines ( mrpt::opengl::CSetOfLines gl_shape,
const mrpt::poses::CPose2D origin = mrpt::poses::CPose2D() 
) const
virtualinherited
uint16_t CParameterizedTrajectoryGenerator::alpha2index ( double  alpha) const
inherited
uint16_t CParameterizedTrajectoryGenerator::alpha2index ( double  alpha,
const unsigned int  num_paths 
)
staticinherited
CObject* mrpt::utils::CObject::clone ( ) const
inlineinherited

Cloning interface for smart pointers.

Definition at line 143 of file CObject.h.

static CPTG_DiffDrive_alphaPtr mrpt::nav::CPTG_DiffDrive_alpha::Create ( )
static
static mrpt::utils::CObject* mrpt::nav::CPTG_DiffDrive_alpha::CreateObject ( )
static
CParameterizedTrajectoryGenerator * CParameterizedTrajectoryGenerator::CreatePTG ( const std::string ptgClassName,
const mrpt::utils::CConfigFileBase cfg,
const std::string sSection,
const std::string sKeyPrefix 
)
staticinherited

The class factory for creating a PTG from a list of parameters in a section of a given config file (physical file or in memory).

Possible parameters are:

ptgClassName can be any PTG class name which has been registered as any other mrpt::utils::CSerializable class.

Exceptions
std::logic_errorOn invalid or missing parameters.

Definition at line 21 of file CParameterizedTrajectoryGenerator_factory.cpp.

References mrpt::utils::CConfigFilePrefixer::bind(), mrpt::utils::TRuntimeClassId::createObject(), mrpt::utils::findRegisteredClass(), mrpt::nav::CParameterizedTrajectoryGenerator::loadFromConfigFile(), MRPT_END, MRPT_START, mrpt::utils::registerAllPendingClasses(), mrpt::utils::CConfigFilePrefixer::setPrefixes(), THROW_EXCEPTION_FMT, and mrpt::system::trim().

Referenced by mrpt::nav::PlannerTPS_VirtualBase::internal_loadConfig_PTG(), mrpt::nav::CReactiveNavigationSystem::loadConfigFile(), and mrpt::nav::CReactiveNavigationSystem3D::loadConfigFile().

bool CParameterizedTrajectoryGenerator::debugDumpInFiles ( const std::string ptg_name) const
inherited

Dump PTG trajectories in four text files: `.

/reactivenav.logs/PTGs/PTGi_{x,y,phi,d}.txt Text files are loadable from MATLAB/Octave, and can be visualized with the script[MRPT_DIR]/scripts/viewPTG.m`

Note
The directory "./reactivenav.logs/PTGs" will be created if doesn't exist.
Returns
false on any error writing to disk.
See Also
OUTPUT_DEBUG_PATH_PREFIX

Definition at line 222 of file CParameterizedTrajectoryGenerator.cpp.

References mrpt::system::createDirectory(), mrpt::mrpt::format(), mrpt::nav::CParameterizedTrajectoryGenerator::getAlphaValuesCount(), mrpt::nav::CParameterizedTrajectoryGenerator::getPathDist(), mrpt::nav::CParameterizedTrajectoryGenerator::getPathPose(), mrpt::nav::CParameterizedTrajectoryGenerator::getPathStepCount(), min, mrpt::nav::CParameterizedTrajectoryGenerator::OUTPUT_DEBUG_PATH_PREFIX, mrpt::math::TPose2D::phi, mrpt::math::TPose2D::x, and mrpt::math::TPose2D::y.

void CParameterizedTrajectoryGenerator::deinitialize ( )
inherited

This must be called to de-initialize the PTG if some parameter is to be changed.

After changing it, call initialize again

Definition at line 329 of file CParameterizedTrajectoryGenerator.cpp.

References mrpt::nav::CParameterizedTrajectoryGenerator::internal_deinitialize(), and mrpt::nav::CParameterizedTrajectoryGenerator::m_is_initialized.

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

mrpt::kinematics::CVehicleVelCmdPtr CPTG_DiffDrive_CollisionGridBased::directionToMotionCommand ( uint16_t  k) const
virtualinherited

In this class, out_action_cmd contains: [0]: linear velocity (m/s), [1]: angular velocity (rad/s).

In this class, out_action_cmd contains: [0]: linear velocity (m/s), [1]: angular velocity (rad/s)

See more docs in CParameterizedTrajectoryGenerator::directionToMotionCommand()

Implements mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 252 of file CPTG_DiffDrive_CollisionGridBased.cpp.

References mrpt::kinematics::CVehicleVelCmd_DiffDriven::ang_vel, mrpt::nav::CParameterizedTrajectoryGenerator::index2alpha(), mrpt::kinematics::CVehicleVelCmd_DiffDriven::lin_vel, and mrpt::nav::CPTG_DiffDrive_CollisionGridBased::ptgDiffDriveSteeringFunction().

void CLoadableOptions::dumpToConsole ( ) const
inherited
void CLoadableOptions::dumpToTextStream ( mrpt::utils::CStream out) const
virtualinherited

This method should clearly display all the contents of the structure in textual form, sending it to a CStream.

The default implementation in this base class relies on saveToConfigFile() to generate a plain text representation of all the parameters.

Reimplemented in mrpt::vision::TMultiResDescOptions, mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams, mrpt::vision::TMultiResDescMatchOptions, mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams, mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions, mrpt::hmtslam::CHMTSLAM::TOptions, mrpt::maps::COccupancyGridMap2D::TInsertionOptions, mrpt::vision::TMatchingOptions, mrpt::maps::TSetOfMetricMapInitializers, mrpt::maps::CLandmarksMap::TLikelihoodOptions, mrpt::maps::CColouredPointsMap::TColourOptions, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::GraphVisualizationParams, mrpt::maps::CPointsMap::TLikelihoodOptions, mrpt::maps::CLandmarksMap::TInsertionOptions, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::TParams, mrpt::vision::TStereoSystemParams, mrpt::maps::CPointsMap::TInsertionOptions, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams, mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::TParams, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TLikelihoodOptions, mrpt::slam::CRangeBearingKFSLAM::TOptions, mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams, mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::TParams, mrpt::maps::CBeaconMap::TInsertionOptions, mrpt::maps::CRandomFieldGridMap3D::TInsertionOptions, mrpt::maps::CMultiMetricMapPDF::TPredictionParams, mrpt::maps::CBeaconMap::TLikelihoodOptions, mrpt::slam::CRangeBearingKFSLAM2D::TOptions, mrpt::maps::CHeightGridMap2D::TInsertionOptions, mrpt::graphslam::TSlidingWindow, mrpt::slam::CGridMapAligner::TConfigParams, mrpt::bayes::CParticleFilter::TParticleFilterOptions, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions, mrpt::bayes::TKF_options, mrpt::maps::CReflectivityGridMap2D::TInsertionOptions, mrpt::vision::CFeatureExtraction::TOptions, mrpt::graphslam::TUncertaintyPath< GRAPH_T >, mrpt::maps::TMapGenericParams, mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions, mrpt::hmtslam::CTopLCDetector_GridMatching::TOptions, mrpt::hmtslam::CTopLCDetector_FabMap::TOptions, mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions, mrpt::slam::CICP::TConfigParams, mrpt::slam::CIncrementalMapPartitioner::TOptions, mrpt::maps::CHeightGridMap2D_MRF::TInsertionOptions, mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions, mrpt::slam::CMetricMapBuilderICP::TConfigParams, mrpt::maps::TMetricMapInitializer, mrpt::vision::CCamModel, and mrpt::slam::TKLDParams.

Definition at line 80 of file CLoadableOptions.cpp.

References mrpt::utils::CConfigFileMemory::getContent(), mrpt::utils::CStream::printf(), and mrpt::utils::CLoadableOptions::saveToConfigFile().

Referenced by mrpt::utils::CLoadableOptions::dumpToConsole().

void CLoadableOptions::dumpVar_bool ( CStream out,
const char *  varName,
bool  v 
)
staticprotectedinherited
void CLoadableOptions::dumpVar_double ( CStream out,
const char *  varName,
double  v 
)
staticprotectedinherited
void CLoadableOptions::dumpVar_float ( CStream out,
const char *  varName,
float  v 
)
staticprotectedinherited
void CLoadableOptions::dumpVar_int ( CStream out,
const char *  varName,
int  v 
)
staticprotectedinherited

Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.

Definition at line 52 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

void CLoadableOptions::dumpVar_string ( CStream out,
const char *  varName,
const std::string v 
)
staticprotectedinherited
virtual mrpt::utils::CObject* mrpt::nav::CPTG_DiffDrive_alpha::duplicate ( ) const
virtual

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const
inlineinherited

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 140 of file CObject.h.

Referenced by mrpt::obs::CRawlog::addActions(), mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), and mrpt::obs::CRawlog::addObservations().

void CParameterizedTrajectoryGenerator::evalClearanceSingleObstacle ( const double  ox,
const double  oy,
const uint16_t  k,
ClearanceDiagram::dist2clearance_t inout_realdist2clearance,
bool  treat_as_obstacle = true 
) const
virtualinherited

Evals the robot clearance for each robot pose along path k, for the real distances in the key of the map<>, then keep in the map value the minimum of its current stored clearance, or the computed clearance.

In case of collision, clearance is zero.

Parameters
treat_as_obstacletrue: normal use for obstacles; false: compute shortest distances to a target point (no collision)

Definition at line 411 of file CParameterizedTrajectoryGenerator.cpp.

References ASSERT_, mrpt::nav::CParameterizedTrajectoryGenerator::evalClearanceToRobotShape(), mrpt::nav::CParameterizedTrajectoryGenerator::getPathPose(), mrpt::nav::CParameterizedTrajectoryGenerator::getPathStepCount(), mrpt::math::TPose2D::inverseComposePoint(), mrpt::mrpt::utils::keep_min(), mrpt::math::TPoint2D::norm(), mrpt::nav::CParameterizedTrajectoryGenerator::refDistance, mrpt::utils::round(), mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

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

double CPTG_RobotShape_Polygonal::evalClearanceToRobotShape ( const double  ox,
const double  oy 
) const
virtualinherited

Evals the clearance from an obstacle (ox,oy) in coordinates relative to the robot center.

Zero or negative means collision.

Implements mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 145 of file CPTG_RobotShape_Polygonal.cpp.

References mrpt::mrpt::math::hypot_fast(), mrpt::nav::CPTG_RobotShape_Polygonal::isPointInsideRobotShape(), mrpt::mrpt::utils::keep_max(), and mrpt::nav::CPTG_RobotShape_Polygonal::m_robotMaxRadius.

virtual double mrpt::nav::CParameterizedTrajectoryGenerator::evalPathRelativePriority ( uint16_t  k,
double  target_distance 
) const
inlinevirtualinherited

Query the PTG for the relative priority factor (0,1) of this PTG, in comparison to others, if the k-th path is to be selected.

Definition at line 211 of file CParameterizedTrajectoryGenerator.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores().

virtual double mrpt::nav::CParameterizedTrajectoryGenerator::getActualUnloopedPathLength ( uint16_t  k) const
inlinevirtualinherited

Returns the actual distance (in meters) of the path, discounting possible circular loops of the path (e.g.

if it comes back to the origin). Default: refDistance

Definition at line 208 of file CParameterizedTrajectoryGenerator.h.

uint16_t mrpt::nav::CParameterizedTrajectoryGenerator::getAlphaValuesCount ( ) const
inlineinherited
unsigned mrpt::nav::CParameterizedTrajectoryGenerator::getClearanceDecimatedPaths ( ) const
inlineinherited

Definition at line 262 of file CParameterizedTrajectoryGenerator.h.

unsigned mrpt::nav::CParameterizedTrajectoryGenerator::getClearanceStepCount ( ) const
inlineinherited

Definition at line 259 of file CParameterizedTrajectoryGenerator.h.

const TNavDynamicState& mrpt::nav::CParameterizedTrajectoryGenerator::getCurrentNavDynamicState ( ) const
inlineinherited

Definition at line 225 of file CParameterizedTrajectoryGenerator.h.

std::string CPTG_DiffDrive_alpha::getDescription ( ) const
virtual

Gets a short textual description of the PTG and its parameters.

Implements mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 40 of file CPTG_DiffDrive_alpha.cpp.

References RAD2DEG, and mrpt::system::os::sprintf().

double mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getMax_V ( ) const
inlineinherited

Definition at line 87 of file CPTG_DiffDrive_CollisionGridBased.h.

double mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getMax_W ( ) const
inlineinherited

Definition at line 88 of file CPTG_DiffDrive_CollisionGridBased.h.

double mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getMaxAngVel ( ) const
inlinevirtualinherited

Returns the maximum angular velocity expected from this PTG [rad/s].

Implements mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 75 of file CPTG_DiffDrive_CollisionGridBased.h.

double mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getMaxLinVel ( ) const
inlinevirtualinherited

Returns the maximum linear velocity expected from this PTG [m/s].

Implements mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 74 of file CPTG_DiffDrive_CollisionGridBased.h.

double CPTG_RobotShape_Polygonal::getMaxRobotRadius ( ) const
virtualinherited

Returns an approximation of the robot radius.

Implements mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 135 of file CPTG_RobotShape_Polygonal.cpp.

References mrpt::nav::CPTG_RobotShape_Polygonal::m_robotMaxRadius.

uint16_t mrpt::nav::CParameterizedTrajectoryGenerator::getPathCount ( ) const
inlineinherited

Get the number of different, discrete paths in this family.

Definition at line 239 of file CParameterizedTrajectoryGenerator.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::impl_waypoint_is_reachable(), and TEST().

double CPTG_DiffDrive_CollisionGridBased::getPathDist ( uint16_t  k,
uint32_t  step 
) const
virtualinherited

Access path k ([0,N-1]=>[-pi,pi] in alpha): traversed distance at discrete step step.

Returns
Distance in pseudometers (real distance, NOT normalized to [0,1] for [0,refDist])
See Also
getPathStepCount(), getAlphaValuesCount()

Implements mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 764 of file CPTG_DiffDrive_CollisionGridBased.cpp.

References ASSERT_, and mrpt::nav::CPTG_DiffDrive_CollisionGridBased::m_trajectory.

Referenced by mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_initialize().

void CPTG_DiffDrive_CollisionGridBased::getPathPose ( uint16_t  k,
uint32_t  step,
mrpt::math::TPose2D p 
) const
virtualinherited
size_t CPTG_DiffDrive_CollisionGridBased::getPathStepCount ( uint16_t  k) const
virtualinherited

Access path k ([0,N-1]=>[-pi,pi] in alpha): number of discrete "steps" along the trajectory.

May be actual steps from a numerical integration or an arbitrary small length for analytical PTGs.

See Also
getAlphaValuesCount()

Implements mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 747 of file CPTG_DiffDrive_CollisionGridBased.cpp.

References ASSERT_, and mrpt::nav::CPTG_DiffDrive_CollisionGridBased::m_trajectory.

Referenced by mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_initialize().

double CPTG_DiffDrive_CollisionGridBased::getPathStepDuration ( ) const
virtualinherited

Returns the duration (in seconds) of each "step".

See Also
getPathStepCount()

Implements mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 859 of file CPTG_DiffDrive_CollisionGridBased.cpp.

References mrpt::nav::CPTG_DiffDrive_CollisionGridBased::m_stepTimeDuration.

bool CPTG_DiffDrive_CollisionGridBased::getPathStepForDist ( uint16_t  k,
double  dist,
uint32_t out_step 
) const
virtualinherited

Access path k ([0,N-1]=>[-pi,pi] in alpha): largest step count for which the traversed distance is < dist

Parameters
[in]distDistance in pseudometers (real distance, NOT normalized to [0,1] for [0,refDist])
Returns
false if no step fulfills the condition for the given trajectory k (e.g. out of reference distance). Note that, anyway, the maximum distance (closest point) is returned in out_step.
See Also
getPathStepCount(), getAlphaValuesCount()

Implements mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 772 of file CPTG_DiffDrive_CollisionGridBased.cpp.

References ASSERT_, and mrpt::nav::CPTG_DiffDrive_CollisionGridBased::m_trajectory.

double mrpt::nav::CParameterizedTrajectoryGenerator::getRefDistance ( ) const
inlineinherited
const mrpt::math::CPolygon& mrpt::nav::CPTG_RobotShape_Polygonal::getRobotShape ( ) const
inlineinherited

Definition at line 360 of file CParameterizedTrajectoryGenerator.h.

virtual const mrpt::utils::TRuntimeClassId* mrpt::nav::CPTG_DiffDrive_alpha::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::nav::CParameterizedTrajectoryGenerator.

double mrpt::nav::CParameterizedTrajectoryGenerator::getScorePriority ( ) const
inlineinherited

When used in path planning, a multiplying factor (default=1.0) for the scores for this PTG.

Assign values <1 to PTGs with low priority.

Definition at line 256 of file CParameterizedTrajectoryGenerator.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores().

mrpt::kinematics::CVehicleVelCmdPtr CPTG_DiffDrive_CollisionGridBased::getSupportedKinematicVelocityCommand ( ) const
virtualinherited

Returns an empty kinematic velocity command object of the type supported by this PTG.

Can be queried to determine the expected kinematic interface of the PTG.

Implements mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 854 of file CPTG_DiffDrive_CollisionGridBased.cpp.

double CParameterizedTrajectoryGenerator::index2alpha ( uint16_t  k) const
inherited
double CParameterizedTrajectoryGenerator::index2alpha ( uint16_t  k,
const unsigned int  num_paths 
)
staticinherited

Definition at line 143 of file CParameterizedTrajectoryGenerator.cpp.

References ASSERT_BELOW_, and M_PI.

void mrpt::nav::CParameterizedTrajectoryGenerator::initClearanceDiagram ( ClearanceDiagram cd) const
inherited
void CParameterizedTrajectoryGenerator::initialize ( const std::string cacheFilename = std::string(),
const bool  verbose = true 
)
inherited
void CParameterizedTrajectoryGenerator::initTPObstacles ( std::vector< double > &  TP_Obstacles) const
inherited

Resizes and populates the initial appropriate contents in a vector of tp-obstacles (collision-free ranges, in "pseudometers", un-normalized).

See Also
updateTPObstacle()

Definition at line 204 of file CParameterizedTrajectoryGenerator.cpp.

References mrpt::nav::CParameterizedTrajectoryGenerator::initTPObstacleSingle(), and mrpt::nav::CParameterizedTrajectoryGenerator::m_alphaValuesCount.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::PlannerTPS_VirtualBase::spaceTransformer(), and TEST().

void CParameterizedTrajectoryGenerator::initTPObstacleSingle ( uint16_t  k,
double &  TP_Obstacle_k 
) const
inherited
void CPTG_DiffDrive_CollisionGridBased::internal_deinitialize ( )
protectedvirtualinherited

This must be called to de-initialize the PTG if some parameter is to be changed.

After changing it, call initialize again

Implements mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 610 of file CPTG_DiffDrive_CollisionGridBased.cpp.

References mrpt::nav::CPTG_DiffDrive_CollisionGridBased::m_trajectory.

Referenced by mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_readFromStream(), and mrpt::nav::CPTG_DiffDrive_CollisionGridBased::simulateTrajectories().

void CPTG_DiffDrive_CollisionGridBased::internal_initialize ( const std::string cacheFilename = std::string(),
const bool  verbose = true 
)
protectedvirtualinherited

Must be called after setting all PTG parameters and before requesting converting obstacles to TP-Space, inverseMap_WS2TP(), etc.

Implements mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 615 of file CPTG_DiffDrive_CollisionGridBased.cpp.

References ASSERT_, ASSERTMSG_, mrpt::math::TPolygon2D::contains(), mrpt::format(), mrpt::nav::CParameterizedTrajectoryGenerator::getAlphaValuesCount(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getPathDist(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getPathPose(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getPathStepCount(), mrpt::utils::CDynamicGrid< T >::getResolution(), mrpt::utils::CDynamicGrid< T >::getSizeX(), mrpt::utils::CDynamicGrid< T >::getSizeY(), mrpt::math::CPolygon::GetVertex_x(), mrpt::math::CPolygon::GetVertex_y(), mrpt::utils::CDynamicGrid< T >::idx2x(), mrpt::utils::CDynamicGrid< T >::idx2y(), mrpt::mrpt::utils::keep_max(), mrpt::mrpt::utils::keep_min(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::loadColGridsFromFile(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::m_collisionGrid, mrpt::nav::CPTG_DiffDrive_CollisionGridBased::m_resolution, mrpt::nav::CPTG_RobotShape_Polygonal::m_robotShape, min, MRPT_END, MRPT_START, mrpt::math::TPose2D::phi, mrpt::nav::CParameterizedTrajectoryGenerator::refDistance, mrpt::nav::CPTG_DiffDrive_CollisionGridBased::saveColGridsToFile(), mrpt::utils::CDynamicGrid< T >::setSize(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::simulateTrajectories(), mrpt::utils::CTicTac::Tic(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::CCollisionGrid::updateCellInfo(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::V_MAX, mrpt::math::CPolygon::verticesCount(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::W_MAX, mrpt::math::TPoint2D::x, mrpt::math::TPose2D::x, mrpt::utils::CDynamicGrid< T >::x2idx(), mrpt::math::TPoint2D::y, mrpt::math::TPose2D::y, and mrpt::utils::CDynamicGrid< T >::y2idx().

void CPTG_DiffDrive_CollisionGridBased::internal_processNewRobotShape ( )
protectedvirtualinherited

Will be called whenever the robot shape is set / updated.

Implements mrpt::nav::CPTG_RobotShape_Polygonal.

Definition at line 605 of file CPTG_DiffDrive_CollisionGridBased.cpp.

References ASSERTMSG_, and mrpt::nav::CPTG_DiffDrive_CollisionGridBased::m_trajectory.

void CPTG_DiffDrive_CollisionGridBased::internal_readFromStream ( mrpt::utils::CStream in)
protectedvirtualinherited
void CPTG_RobotShape_Polygonal::internal_shape_loadFromStream ( mrpt::utils::CStream in)
protectedinherited
void CPTG_RobotShape_Polygonal::internal_shape_saveToStream ( mrpt::utils::CStream out) const
protectedinherited
void CParameterizedTrajectoryGenerator::internal_TPObsDistancePostprocess ( const double  ox,
const double  oy,
const double  new_tp_obs_dist,
double &  inout_tp_obs 
) const
protectedinherited

To be called by implementors of updateTPObstacle() and updateTPObstacleSingle() to honor the user settings regarding COLLISION_BEHAVIOR.

Parameters
new_tp_obs_distThe newly determiend collision-free ranges, in "pseudometers", un-normalized, for some "k" direction.
inout_tp_obsThe target where to store the new TP-Obs distance, if it fulfills the criteria determined by the collision behavior.

Definition at line 336 of file CParameterizedTrajectoryGenerator.cpp.

References mrpt::nav::COLL_BEH_BACK_AWAY, mrpt::nav::COLL_BEH_STOP, mrpt::nav::CParameterizedTrajectoryGenerator::COLLISION_BEHAVIOR, mrpt::nav::CParameterizedTrajectoryGenerator::getMaxRobotRadius(), mrpt::nav::CParameterizedTrajectoryGenerator::isPointInsideRobotShape(), mrpt::mrpt::utils::keep_min(), and THROW_EXCEPTION.

Referenced by mrpt::nav::CPTG_DiffDrive_CollisionGridBased::updateTPObstacle(), and mrpt::nav::CPTG_DiffDrive_CollisionGridBased::updateTPObstacleSingle().

void CPTG_DiffDrive_CollisionGridBased::internal_writeToStream ( mrpt::utils::CStream out) const
protectedvirtualinherited
bool CPTG_DiffDrive_CollisionGridBased::inverseMap_WS2TP ( double  x,
double  y,
int out_k,
double &  out_d,
double  tolerance_dist = 0.10 
) const
virtualinherited
virtual bool mrpt::nav::CParameterizedTrajectoryGenerator::isBijectiveAt ( uint16_t  k,
uint32_t  step 
) const
inlinevirtualinherited

Returns true if a given TP-Space point maps to a unique point in Workspace, and viceversa.

Default implementation returns true.

Definition at line 113 of file CParameterizedTrajectoryGenerator.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores().

bool CParameterizedTrajectoryGenerator::isInitialized ( ) const
inherited

Returns true if initialize() has been called and there was no errors, so the PTG is ready to be queried for paths, obstacles, etc.

Definition at line 281 of file CParameterizedTrajectoryGenerator.cpp.

References mrpt::nav::CParameterizedTrajectoryGenerator::m_is_initialized.

bool CPTG_RobotShape_Polygonal::isPointInsideRobotShape ( const double  x,
const double  y 
) const
virtualinherited
bool CPTG_DiffDrive_CollisionGridBased::loadColGridsFromFile ( const std::string filename,
const mrpt::math::CPolygon current_robotShape 
)
protectedinherited
void CPTG_DiffDrive_alpha::loadDefaultParams ( )
virtual

Loads a set of default parameters; provided exclusively for the PTG-configurator tool.

Reimplemented from mrpt::nav::CPTG_DiffDrive_CollisionGridBased.

Definition at line 89 of file CPTG_DiffDrive_alpha.cpp.

References mrpt::mrpt::utils::DEG2RAD(), and mrpt::nav::CPTG_DiffDrive_CollisionGridBased::loadDefaultParams().

void CPTG_DiffDrive_alpha::loadFromConfigFile ( const mrpt::utils::CConfigFileBase cfg,
const std::string sSection 
)
virtual

Possible values in "params" (those in CParameterizedTrajectoryGenerator, which is called internally, plus):

  • ${sKeyPrefix}resolution: The cell size
  • ${sKeyPrefix}v_max, ${sKeyPrefix}w_max`: Maximum robot speeds.
  • `${sKeyPrefix}shape_x{0,1,2..}`,${sKeyPrefix}shape_y{0,1,2..}: Polygonal robot shape [Optional, can be also set viasetRobotPolygonShape()`]

See docs of derived classes for additional parameters in setParams()

Reimplemented from mrpt::nav::CPTG_DiffDrive_CollisionGridBased.

Definition at line 21 of file CPTG_DiffDrive_alpha.cpp.

References mrpt::nav::CPTG_DiffDrive_CollisionGridBased::loadFromConfigFile(), and MRPT_LOAD_HERE_CONFIG_VAR_DEGREES_NO_DEFAULT.

void CLoadableOptions::loadFromConfigFileName ( const std::string config_file,
const std::string section 
)
inherited

Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file.

See Also
loadFromConfigFile

Definition at line 23 of file CLoadableOptions.cpp.

References mrpt::utils::CLoadableOptions::loadFromConfigFile().

Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::loadParams().

void CPTG_RobotShape_Polygonal::loadShapeFromConfigFile ( const mrpt::utils::CConfigFileBase source,
const std::string section 
)
protectedinherited
double CParameterizedTrajectoryGenerator::maxTimeInVelCmdNOP ( int  path_k) const
virtualinherited

Only for PTGs supporting supportVelCmdNOP(): this is the maximum time (in seconds) for which the path can be followed without re-issuing a new velcmd.

Note that this is only an absolute maximum duration, navigation implementations will check for many other conditions. Default method in the base virtual class returns 0.

Parameters
path_kQueried path k index [0,N-1]

Reimplemented in mrpt::nav::CPTG_Holo_Blend.

Definition at line 50 of file CParameterizedTrajectoryGenerator.cpp.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), and mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep().

virtual void mrpt::nav::CPTG_DiffDrive_CollisionGridBased::onNewNavDynamicState ( )
inlinevirtualinherited

This family of PTGs ignores the dynamic states.

Implements mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 81 of file CPTG_DiffDrive_CollisionGridBased.h.

void mrpt::nav::CPTG_DiffDrive_alpha::operator delete ( void memory,
void ptr 
)
throw (
)
inline

Definition at line 38 of file CPTG_DiffDrive_alpha.h.

void mrpt::nav::CPTG_DiffDrive_alpha::operator delete ( void ptr)
throw (
)
inline

Definition at line 38 of file CPTG_DiffDrive_alpha.h.

void mrpt::nav::CPTG_DiffDrive_alpha::operator delete ( void ptr,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 38 of file CPTG_DiffDrive_alpha.h.

void mrpt::nav::CPTG_DiffDrive_alpha::operator delete[] ( void ptr)
throw (
)
inline

Definition at line 38 of file CPTG_DiffDrive_alpha.h.

void* mrpt::nav::CPTG_DiffDrive_alpha::operator new ( size_t  size)
inline

Definition at line 38 of file CPTG_DiffDrive_alpha.h.

void* mrpt::nav::CPTG_DiffDrive_alpha::operator new ( size_t  size,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 38 of file CPTG_DiffDrive_alpha.h.

static void* mrpt::nav::CPTG_DiffDrive_alpha::operator new ( size_t  size,
void ptr 
)
inlinestatic

Definition at line 38 of file CPTG_DiffDrive_alpha.h.

void* mrpt::nav::CPTG_DiffDrive_alpha::operator new[] ( size_t  size)
inline

Definition at line 38 of file CPTG_DiffDrive_alpha.h.

virtual bool mrpt::nav::CParameterizedTrajectoryGenerator::PTG_IsIntoDomain ( double  x,
double  y 
) const
inlinevirtualinherited

Returns the same than inverseMap_WS2TP() but without any additional cost.

The default implementation just calls inverseMap_WS2TP() and discards (k,d).

Reimplemented in mrpt::nav::CPTG_DiffDrive_C, mrpt::nav::CPTG_Holo_Blend, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, and mrpt::nav::CPTG_DiffDrive_CS.

Definition at line 107 of file CParameterizedTrajectoryGenerator.h.

void CPTG_DiffDrive_alpha::ptgDiffDriveSteeringFunction ( float  alpha,
float  t,
float  x,
float  y,
float  phi,
float &  v,
float &  w 
) const
virtual

The main method to be implemented in derived classes: it defines the differential-driven differential equation.

Implements mrpt::nav::CPTG_DiffDrive_CollisionGridBased.

Definition at line 76 of file CPTG_DiffDrive_alpha.cpp.

References M_2PI, M_PI, MRPT_UNUSED_PARAM, and mrpt::math::square().

void CPTG_DiffDrive_alpha::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters
inThe input binary stream where the object data must read from.
versionThe version of the object stored in the stream: use this version number in your code to know how to read the incoming data.
Exceptions
std::exceptionOn any error, see CStream::ReadBuffer
See Also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 48 of file CPTG_DiffDrive_alpha.cpp.

References mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_readFromStream(), and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

void CParameterizedTrajectoryGenerator::renderPathAsSimpleLine ( const uint16_t  k,
mrpt::opengl::CSetOfLines gl_obj,
const double  decimate_distance = 0.1,
const double  max_path_distance = -1.0 
) const
virtualinherited

Returns the representation of one trajectory of this PTG as a 3D OpenGL object (a simple curved line).

Parameters
[in]kThe 0-based index of the selected trajectory (discrete "alpha" parameter).
[out]gl_objOutput object.
[in]decimate_distanceMinimum distance between path points (in meters).
[in]max_path_distanceIf >=0, cut the path at this distance (in meters).

Definition at line 169 of file CParameterizedTrajectoryGenerator.cpp.

References mrpt::opengl::CSetOfLines::appendLine(), mrpt::opengl::CSetOfLines::appendLineStrip(), mrpt::nav::CParameterizedTrajectoryGenerator::getPathDist(), mrpt::nav::CParameterizedTrajectoryGenerator::getPathPose(), mrpt::nav::CParameterizedTrajectoryGenerator::getPathStepCount(), mrpt::math::TPose2D::x, and mrpt::math::TPose2D::y.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree().

bool CPTG_DiffDrive_CollisionGridBased::saveColGridsToFile ( const std::string filename,
const mrpt::math::CPolygon computed_robotShape 
) const
protectedinherited
void CPTG_DiffDrive_alpha::saveToConfigFile ( mrpt::utils::CConfigFileBase target,
const std::string section 
) const
virtual

This method saves the options to a ".ini"-like file or memory-stored string list.

See Also
loadFromConfigFile, saveToConfigFileName

Reimplemented from mrpt::nav::CPTG_DiffDrive_CollisionGridBased.

Definition at line 28 of file CPTG_DiffDrive_alpha.cpp.

References MRPT_END, MRPT_START, mrpt::mrpt::utils::RAD2DEG(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::saveToConfigFile(), and mrpt::utils::CConfigFileBase::write().

void CLoadableOptions::saveToConfigFileName ( const std::string config_file,
const std::string section 
) const
inherited

Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file.

See Also
saveToConfigFile, loadFromConfigFileName

Definition at line 39 of file CLoadableOptions.cpp.

References mrpt::utils::CLoadableOptions::saveToConfigFile().

void mrpt::nav::CParameterizedTrajectoryGenerator::setClearanceDecimatedPaths ( const unsigned  num)
inlineinherited

Definition at line 263 of file CParameterizedTrajectoryGenerator.h.

void mrpt::nav::CParameterizedTrajectoryGenerator::setClearanceStepCount ( const unsigned  res)
inlineinherited

Definition at line 260 of file CParameterizedTrajectoryGenerator.h.

void CPTG_DiffDrive_CollisionGridBased::setRefDistance ( const double  refDist)
virtualinherited

Launches an exception in this class: it is not allowed in numerical integration-based PTGs to change the reference distance after initialization.

Reimplemented from mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 599 of file CPTG_DiffDrive_CollisionGridBased.cpp.

References ASSERTMSG_, mrpt::nav::CPTG_DiffDrive_CollisionGridBased::m_trajectory, and mrpt::nav::CParameterizedTrajectoryGenerator::refDistance.

void CPTG_RobotShape_Polygonal::setRobotShape ( const mrpt::math::CPolygon robotShape)
inherited
void mrpt::nav::CParameterizedTrajectoryGenerator::setScorePriorty ( double  prior)
inlineinherited

Definition at line 257 of file CParameterizedTrajectoryGenerator.h.

void CPTG_DiffDrive_CollisionGridBased::simulateTrajectories ( float  max_time,
float  max_dist,
unsigned int  max_n,
float  diferencial_t,
float  min_dist,
float *  out_max_acc_v = NULL,
float *  out_max_acc_w = NULL 
)
protectedinherited
virtual bool mrpt::nav::CParameterizedTrajectoryGenerator::supportSpeedAtTarget ( ) const
inlinevirtualinherited
bool CParameterizedTrajectoryGenerator::supportVelCmdNOP ( ) const
virtualinherited

Returns true if it is possible to stop sending velocity commands to the robot and, still, the robot controller will be able to keep following the last sent trajectory ("NOP" velocity commands).

Default implementation returns "false".

Reimplemented in mrpt::nav::CPTG_Holo_Blend.

Definition at line 46 of file CParameterizedTrajectoryGenerator.cpp.

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

void CParameterizedTrajectoryGenerator::updateClearance ( const double  ox,
const double  oy,
ClearanceDiagram cd 
) const
inherited
void CParameterizedTrajectoryGenerator::updateClearancePost ( ClearanceDiagram cd,
const std::vector< double > &  TP_obstacles 
) const
inherited
void CParameterizedTrajectoryGenerator::updateNavDynamicState ( const TNavDynamicState newState,
const bool  force_update = false 
)
inherited
void CPTG_DiffDrive_CollisionGridBased::updateTPObstacle ( double  ox,
double  oy,
std::vector< double > &  tp_obstacles 
) const
virtualinherited

Updates the radial map of closest TP-Obstacles given a single obstacle point at (ox,oy)

Parameters
[in,out]tp_obstaclesA vector of length getAlphaValuesCount(), initialized with initTPObstacles() (collision-free ranges, in "pseudometers", un-normalized).
[in]oxObstacle point (X), relative coordinates wrt origin of the PTG.
[in]oyObstacle point (Y), relative coordinates wrt origin of the PTG.
Note
The length of tp_obstacles is not checked for efficiency since this method is potentially called thousands of times per navigation timestap, so it is left to the user responsibility to provide a valid buffer.
tp_obstacles must be initialized with initTPObstacle() before call.

Implements mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 792 of file CPTG_DiffDrive_CollisionGridBased.cpp.

References ASSERTMSG_, mrpt::nav::CPTG_DiffDrive_CollisionGridBased::CCollisionGrid::getTPObstacle(), mrpt::nav::CParameterizedTrajectoryGenerator::internal_TPObsDistancePostprocess(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::m_collisionGrid, and mrpt::nav::CPTG_DiffDrive_CollisionGridBased::m_trajectory.

void CPTG_DiffDrive_CollisionGridBased::updateTPObstacleSingle ( double  ox,
double  oy,
uint16_t  k,
double &  tp_obstacle_k 
) const
virtualinherited
virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const
inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns
A new mxArray (caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

void CPTG_DiffDrive_alpha::writeToStream ( mrpt::utils::CStream out,
int getVersion 
) const
protectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters
outThe output binary stream where object must be dumped.
getVersionIf NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.
Exceptions
std::exceptionOn any error, see CStream::WriteBuffer
See Also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 62 of file CPTG_DiffDrive_alpha.cpp.

References mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_writeToStream().

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::nav::CPTG_DiffDrive_alpha::_init_CPTG_DiffDrive_alpha
staticprotected

Definition at line 38 of file CPTG_DiffDrive_alpha.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject
staticinherited

Definition at line 128 of file CObject.h.

const mrpt::utils::TRuntimeClassId mrpt::nav::CParameterizedTrajectoryGenerator::classCParameterizedTrajectoryGenerator
staticinherited

Definition at line 65 of file CParameterizedTrajectoryGenerator.h.

mrpt::utils::TRuntimeClassId mrpt::nav::CPTG_DiffDrive_alpha::classCPTG_DiffDrive_alpha
static

Definition at line 38 of file CPTG_DiffDrive_alpha.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable
staticinherited

Definition at line 42 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId* mrpt::nav::CPTG_DiffDrive_alpha::classinfo
static

Definition at line 38 of file CPTG_DiffDrive_alpha.h.

PTG_collision_behavior_t CParameterizedTrajectoryGenerator::COLLISION_BEHAVIOR = mrpt::nav::COLL_BEH_BACK_AWAY
staticinherited

Defines the behavior when there is an obstacle inside the robot shape right at the beginning of a PTG trajectory.

Default value: COLL_BEH_BACK_AWAY

Definition at line 296 of file CParameterizedTrajectoryGenerator.h.

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

double mrpt::nav::CPTG_DiffDrive_alpha::cte_a0v
protected

Definition at line 52 of file CPTG_DiffDrive_alpha.h.

double mrpt::nav::CPTG_DiffDrive_alpha::cte_a0w
protected

Definition at line 52 of file CPTG_DiffDrive_alpha.h.

const uint16_t mrpt::nav::CParameterizedTrajectoryGenerator::INVALID_PTG_PATH_INDEX = static_cast<uint16_t>(-1)
staticprotectedinherited
uint16_t mrpt::nav::CParameterizedTrajectoryGenerator::m_alphaValuesCount
protectedinherited
uint16_t mrpt::nav::CParameterizedTrajectoryGenerator::m_clearance_decimated_paths
protectedinherited
uint16_t mrpt::nav::CParameterizedTrajectoryGenerator::m_clearance_num_points
protectedinherited
CCollisionGrid mrpt::nav::CPTG_DiffDrive_CollisionGridBased::m_collisionGrid
protectedinherited
bool mrpt::nav::CParameterizedTrajectoryGenerator::m_is_initialized
protectedinherited
mrpt::utils::CDynamicGrid<TCellForLambdaFunction> mrpt::nav::CPTG_DiffDrive_CollisionGridBased::m_lambdaFunctionOptimizer
protectedinherited

This grid will contain indexes data for speeding-up the default, brute-force lambda function.

Definition at line 188 of file CPTG_DiffDrive_CollisionGridBased.h.

Referenced by mrpt::nav::CPTG_DiffDrive_CollisionGridBased::inverseMap_WS2TP(), and mrpt::nav::CPTG_DiffDrive_CollisionGridBased::simulateTrajectories().

TNavDynamicState mrpt::nav::CParameterizedTrajectoryGenerator::m_nav_dyn_state
protectedinherited
uint16_t mrpt::nav::CParameterizedTrajectoryGenerator::m_nav_dyn_state_target_k
protectedinherited
double mrpt::nav::CPTG_DiffDrive_CollisionGridBased::m_resolution
protectedinherited
double mrpt::nav::CPTG_RobotShape_Polygonal::m_robotMaxRadius
protectedinherited
mrpt::math::CPolygon mrpt::nav::CPTG_RobotShape_Polygonal::m_robotShape
protectedinherited
double mrpt::nav::CParameterizedTrajectoryGenerator::m_score_priority
protectedinherited
double mrpt::nav::CPTG_DiffDrive_CollisionGridBased::m_stepTimeDuration
protectedinherited
std::vector<TCPointVector> mrpt::nav::CPTG_DiffDrive_CollisionGridBased::m_trajectory
protectedinherited
std::string CParameterizedTrajectoryGenerator::OUTPUT_DEBUG_PATH_PREFIX = "./reactivenav.logs"
staticinherited

The path used as defaul output in, for example, debugDumpInFiles. (Default="./reactivenav.logs/")

Definition at line 227 of file CParameterizedTrajectoryGenerator.h.

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

double mrpt::nav::CParameterizedTrajectoryGenerator::refDistance
protectedinherited
double mrpt::nav::CPTG_DiffDrive_CollisionGridBased::turningRadiusReference
protectedinherited
double mrpt::nav::CPTG_DiffDrive_CollisionGridBased::V_MAX
protectedinherited
double mrpt::nav::CPTG_DiffDrive_CollisionGridBased::W_MAX
protectedinherited



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