mrpt::reactivenav::CParameterizedTrajectoryGenerator Class Reference

This is the base class for any user defined PTG. More...

#include <mrpt/reactivenav/CParameterizedTrajectoryGenerator.h>

Inheritance diagram for mrpt::reactivenav::CParameterizedTrajectoryGenerator:

List of all members.

Classes

class CColisionGrid

An internal class for storing the collision grid. More...

class CListColisionGrids

The collision grids for different security distance values:. More...

struct TCellForLambdaFunction

Specifies the min/max values for "k" and "n", respectively. More...

struct TCPoint

The trajectories in the C-Space:. More...

Public Member Functions

CParameterizedTrajectoryGenerator (float refDistance, float xResolution, float yResolution, float V_MAX, float W_MAX, float system_TAU, float system_DELAY, vector_float securityDistances)

Constructor.

virtual std::string getDescription ()=0

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

void initializeCollisionsGrid (float refDistance, float xResolution, float yResolution, vector_float securityDistances)

Initialized the grid information.

virtual ~CParameterizedTrajectoryGenerator ()

Destructor.

void simulateTrajectories (unsigned short alfaValuesCount, 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)

The main method: solves the diferential equation to generate a family of parametrical trajectories.

virtual void lambdaFunction (float x, float y, int &out_k, float &out_d)

The "lambda" function, see paper for info.

void directionToMotionCommand (unsigned short k, float &out_v, float &out_w)

Converts an "alfa" value (into the discrete set) into a feasible motion command.

size_t getAlfaValuesCount ()

size_t getPointsCountInCPath_k (unsigned short k)

void getCPointWhen_d_Is (float d, unsigned short k, float &x, float &y, float &phi, float &t, float *v=NULL, float *w=NULL)

float GetCPathPoint_x (unsigned short k, int n)

float GetCPathPoint_y (unsigned short k, int n)

float GetCPathPoint_phi (unsigned short k, int n)

float GetCPathPoint_t (unsigned short k, int n)

float GetCPathPoint_d (unsigned short k, int n)

float GetCPathPoint_v (unsigned short k, int n)

float GetCPathPoint_w (unsigned short k, int n)

void allocMemForVerticesData (int nVertices)

void setVertex_xy (unsigned short k, int n, int m, float x, float y)

float getVertex_x (unsigned short k, int n, int m)

float getVertex_y (unsigned short k, int n, int m)

float * getVertixesArray_x (unsigned short k, int n)

float * getVertixesArray_y (unsigned short k, int n)

unsigned int getVertixesCount ()

float getMax_V ()

float getMax_W ()

float getMax_V_inTPSpace ()

float index2alfa (unsigned short k)

Alfa value for the discrete corresponding value.

unsigned short alfa2index (float alfa)

Discrete index value for the corresponding alfa value.

void debugDumpInFiles (int nPT)

Dump PTG trajectories in files in directory "./PTGs/".

virtual void PTG_Generator (float alfa, float t, float x, float y, float phi, float &v, float &w)=0

The main method to be implemented in derived classes.

virtual bool PTG_IsIntoDomain (float x, float y)=0

To be implemented in derived classes:.

Public Attributes

CListColisionGrids collisionGrids

float refDistance

Protected Types

typedef std::vector< TCPoint > TCPointVector

Protected Member Functions

void FreeMemory ()

Free all the memory buffers:.

Protected Attributes

float V_MAX

float W_MAX

float TAU

float DELAY

float turningRadiusReference

CDynamicGrid
< TCellForLambdaFunction > m_lambdaFunctionOptimizer

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

float maxV_inTPSpace

bool flag1

bool flag2

unsigned int alfaValuesCount

The number of discrete values for ALFA between -PI and +PI.

std::vector< TCPointVector > CPoints

std::vector< vector_float > vertexPoints_x

The shape of the robot along the trajectories:.

std::vector< vector_float > vertexPoints_y

int nVertices

Detailed Description

This is the base class for any user defined PTG.

Changes history:

30/JUN/2004: Creation (JLBC)
16/SEP/2004: Totally redesigned.
15/SEP/2005: Totally rewritten again, for integration into MRPT Applications Repository.

Definition at line 48 of file CParameterizedTrajectoryGenerator.h.

Member Typedef Documentation

typedef std::vector<TCPoint> mrpt::reactivenav::CParameterizedTrajectoryGenerator::TCPointVector [protected]

Definition at line 325 of file CParameterizedTrajectoryGenerator.h.

Constructor & Destructor Documentation

mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator	(	float	refDistance,
		float	xResolution,
		float	yResolution,
		float	V_MAX,
		float	W_MAX,
		float	system_TAU,
		float	system_DELAY,
		vector_float	securityDistances
	)

Constructor.

virtual mrpt::reactivenav::CParameterizedTrajectoryGenerator::~CParameterizedTrajectoryGenerator ( ) [virtual]

Destructor.

Member Function Documentation

unsigned short mrpt::reactivenav::CParameterizedTrajectoryGenerator::alfa2index ( float alfa ) [inline]

Discrete index value for the corresponding alfa value.

See also:: index2alfa

Definition at line 161 of file CParameterizedTrajectoryGenerator.h.

References M_2PI, and M_PI.

void mrpt::reactivenav::CParameterizedTrajectoryGenerator::allocMemForVerticesData ( int nVertices )

void mrpt::reactivenav::CParameterizedTrajectoryGenerator::debugDumpInFiles ( int nPT )

Dump PTG trajectories in files in directory "./PTGs/".

void mrpt::reactivenav::CParameterizedTrajectoryGenerator::directionToMotionCommand	(	unsigned short	k,
		float &	out_v,
		float &	out_w
	)

Converts an "alfa" value (into the discrete set) into a feasible motion command.

void mrpt::reactivenav::CParameterizedTrajectoryGenerator::FreeMemory ( ) [protected]

Free all the memory buffers:.

size_t mrpt::reactivenav::CParameterizedTrajectoryGenerator::getAlfaValuesCount ( ) [inline]

Definition at line 97 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::GetCPathPoint_d	(	unsigned short	k,
		int	n
	)			`[inline]`

Definition at line 106 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::GetCPathPoint_phi	(	unsigned short	k,
		int	n
	)			`[inline]`

Definition at line 104 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::GetCPathPoint_t	(	unsigned short	k,
		int	n
	)			`[inline]`

Definition at line 105 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::GetCPathPoint_v	(	unsigned short	k,
		int	n
	)			`[inline]`

Definition at line 107 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::GetCPathPoint_w	(	unsigned short	k,
		int	n
	)			`[inline]`

Definition at line 108 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::GetCPathPoint_x	(	unsigned short	k,
		int	n
	)			`[inline]`

Definition at line 102 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::GetCPathPoint_y	(	unsigned short	k,
		int	n
	)			`[inline]`

Definition at line 103 of file CParameterizedTrajectoryGenerator.h.

void mrpt::reactivenav::CParameterizedTrajectoryGenerator::getCPointWhen_d_Is	(	float	d,
		unsigned short	k,
		float &	x,
		float &	y,
		float &	phi,
		float &	t,
		float *	v = `NULL`,
		float *	w = `NULL`
	)

virtual std::string mrpt::reactivenav::CParameterizedTrajectoryGenerator::getDescription ( ) [pure virtual]

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

Implemented in mrpt::reactivenav::CPTG1, mrpt::reactivenav::CPTG2, mrpt::reactivenav::CPTG3, mrpt::reactivenav::CPTG4, mrpt::reactivenav::CPTG5, mrpt::reactivenav::CPTG6, and mrpt::reactivenav::CPTG7.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::getMax_V ( ) [inline]

Definition at line 146 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::getMax_V_inTPSpace ( ) [inline]

Definition at line 148 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::getMax_W ( ) [inline]

Definition at line 147 of file CParameterizedTrajectoryGenerator.h.

size_t mrpt::reactivenav::CParameterizedTrajectoryGenerator::getPointsCountInCPath_k ( unsigned short k ) [inline]

Definition at line 98 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::getVertex_x	(	unsigned short	k,
		int	n,
		int	m
	)			`[inline]`

Definition at line 118 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::getVertex_y	(	unsigned short	k,
		int	n,
		int	m
	)			`[inline]`

Definition at line 125 of file CParameterizedTrajectoryGenerator.h.

float* mrpt::reactivenav::CParameterizedTrajectoryGenerator::getVertixesArray_x	(	unsigned short	k,
		int	n
	)			`[inline]`

Definition at line 132 of file CParameterizedTrajectoryGenerator.h.

float* mrpt::reactivenav::CParameterizedTrajectoryGenerator::getVertixesArray_y	(	unsigned short	k,
		int	n
	)			`[inline]`

Definition at line 138 of file CParameterizedTrajectoryGenerator.h.

unsigned int mrpt::reactivenav::CParameterizedTrajectoryGenerator::getVertixesCount ( ) [inline]

Definition at line 144 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::index2alfa ( unsigned short k ) [inline]

Alfa value for the discrete corresponding value.

See also:: alfa2index

Definition at line 153 of file CParameterizedTrajectoryGenerator.h.

References M_PI.

void mrpt::reactivenav::CParameterizedTrajectoryGenerator::initializeCollisionsGrid	(	float	refDistance,
		float	xResolution,
		float	yResolution,
		vector_float	securityDistances
	)

Initialized the grid information.

The "securityDistances" vector length will set the number of collision grids.

virtual void mrpt::reactivenav::CParameterizedTrajectoryGenerator::lambdaFunction	(	float	x,
		float	y,
		int &	out_k,
		float &	out_d
	)			`[virtual]`

The "lambda" function, see paper for info.

It takes the (a,d) pair that is closest to a given location.

Reimplemented in mrpt::reactivenav::CPTG1, mrpt::reactivenav::CPTG2, mrpt::reactivenav::CPTG3, mrpt::reactivenav::CPTG4, mrpt::reactivenav::CPTG5, mrpt::reactivenav::CPTG6, and mrpt::reactivenav::CPTG7.

virtual void mrpt::reactivenav::CParameterizedTrajectoryGenerator::PTG_Generator	(	float	alfa,
		float	t,
		float	x,
		float	y,
		float	phi,
		float &	v,
		float &	w
	)			`[pure virtual]`

The main method to be implemented in derived classes.

Implemented in mrpt::reactivenav::CPTG1, mrpt::reactivenav::CPTG2, mrpt::reactivenav::CPTG3, mrpt::reactivenav::CPTG4, mrpt::reactivenav::CPTG5, mrpt::reactivenav::CPTG6, and mrpt::reactivenav::CPTG7.

virtual bool mrpt::reactivenav::CParameterizedTrajectoryGenerator::PTG_IsIntoDomain	(	float	x,
		float	y
	)			`[pure virtual]`

To be implemented in derived classes:.

Implemented in mrpt::reactivenav::CPTG1, mrpt::reactivenav::CPTG2, mrpt::reactivenav::CPTG3, mrpt::reactivenav::CPTG4, mrpt::reactivenav::CPTG5, mrpt::reactivenav::CPTG6, and mrpt::reactivenav::CPTG7.

void mrpt::reactivenav::CParameterizedTrajectoryGenerator::setVertex_xy	(	unsigned short	k,
		int	n,
		int	m,
		float	x,
		float	y
	)			`[inline]`

Definition at line 112 of file CParameterizedTrajectoryGenerator.h.

void mrpt::reactivenav::CParameterizedTrajectoryGenerator::simulateTrajectories	(	unsigned short	alfaValuesCount,
		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`
	)

The main method: solves the diferential equation to generate a family of parametrical trajectories.

Member Data Documentation

unsigned int mrpt::reactivenav::CParameterizedTrajectoryGenerator::alfaValuesCount [protected]

The number of discrete values for ALFA between -PI and +PI.

Definition at line 300 of file CParameterizedTrajectoryGenerator.h.

CListColisionGrids mrpt::reactivenav::CParameterizedTrajectoryGenerator::collisionGrids

Definition at line 257 of file CParameterizedTrajectoryGenerator.h.

std::vector<TCPointVector> mrpt::reactivenav::CParameterizedTrajectoryGenerator::CPoints [protected]

Definition at line 326 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::DELAY [protected]

Definition at line 272 of file CParameterizedTrajectoryGenerator.h.

bool mrpt::reactivenav::CParameterizedTrajectoryGenerator::flag1 [protected]

Definition at line 296 of file CParameterizedTrajectoryGenerator.h.

bool mrpt::reactivenav::CParameterizedTrajectoryGenerator::flag2 [protected]

Definition at line 296 of file CParameterizedTrajectoryGenerator.h.

CDynamicGrid<TCellForLambdaFunction> mrpt::reactivenav::CParameterizedTrajectoryGenerator::m_lambdaFunctionOptimizer [protected]

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

Definition at line 291 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::maxV_inTPSpace [protected]

Definition at line 294 of file CParameterizedTrajectoryGenerator.h.

int mrpt::reactivenav::CParameterizedTrajectoryGenerator::nVertices [protected]

Definition at line 331 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::refDistance

Definition at line 259 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::TAU [protected]

Definition at line 272 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::turningRadiusReference [protected]

Definition at line 274 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::V_MAX [protected]

Definition at line 271 of file CParameterizedTrajectoryGenerator.h.

std::vector<vector_float> mrpt::reactivenav::CParameterizedTrajectoryGenerator::vertexPoints_x [protected]

The shape of the robot along the trajectories:.

Definition at line 330 of file CParameterizedTrajectoryGenerator.h.

std::vector<vector_float> mrpt::reactivenav::CParameterizedTrajectoryGenerator::vertexPoints_y [protected]

Definition at line 330 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::W_MAX [protected]

Definition at line 271 of file CParameterizedTrajectoryGenerator.h.


Classes
class	CColisionGrid
	An internal class for storing the collision grid. More...
class	CListColisionGrids
	The collision grids for different security distance values:. More...
struct	TCellForLambdaFunction
	Specifies the min/max values for "k" and "n", respectively. More...
struct	TCPoint
	The trajectories in the C-Space:. More...
Public Member Functions
	CParameterizedTrajectoryGenerator (float refDistance, float xResolution, float yResolution, float V_MAX, float W_MAX, float system_TAU, float system_DELAY, vector_float securityDistances)
	Constructor.
virtual std::string	getDescription ()=0
	Gets a short textual description of the PTG and its parameters.
void	initializeCollisionsGrid (float refDistance, float xResolution, float yResolution, vector_float securityDistances)
	Initialized the grid information.
virtual	~CParameterizedTrajectoryGenerator ()
	Destructor.
void	simulateTrajectories (unsigned short alfaValuesCount, 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)
	The main method: solves the diferential equation to generate a family of parametrical trajectories.
virtual void	lambdaFunction (float x, float y, int &out_k, float &out_d)
	The "lambda" function, see paper for info.
void	directionToMotionCommand (unsigned short k, float &out_v, float &out_w)
	Converts an "alfa" value (into the discrete set) into a feasible motion command.
size_t	getAlfaValuesCount ()
size_t	getPointsCountInCPath_k (unsigned short k)
void	getCPointWhen_d_Is (float d, unsigned short k, float &x, float &y, float &phi, float &t, float v=NULL, float w=NULL)
float	GetCPathPoint_x (unsigned short k, int n)
float	GetCPathPoint_y (unsigned short k, int n)
float	GetCPathPoint_phi (unsigned short k, int n)
float	GetCPathPoint_t (unsigned short k, int n)
float	GetCPathPoint_d (unsigned short k, int n)
float	GetCPathPoint_v (unsigned short k, int n)
float	GetCPathPoint_w (unsigned short k, int n)
void	allocMemForVerticesData (int nVertices)
void	setVertex_xy (unsigned short k, int n, int m, float x, float y)
float	getVertex_x (unsigned short k, int n, int m)
float	getVertex_y (unsigned short k, int n, int m)
float *	getVertixesArray_x (unsigned short k, int n)
float *	getVertixesArray_y (unsigned short k, int n)
unsigned int	getVertixesCount ()
float	getMax_V ()
float	getMax_W ()
float	getMax_V_inTPSpace ()
float	index2alfa (unsigned short k)
	Alfa value for the discrete corresponding value.
unsigned short	alfa2index (float alfa)
	Discrete index value for the corresponding alfa value.
void	debugDumpInFiles (int nPT)
	Dump PTG trajectories in files in directory "./PTGs/".
virtual void	PTG_Generator (float alfa, float t, float x, float y, float phi, float &v, float &w)=0
	The main method to be implemented in derived classes.
virtual bool	PTG_IsIntoDomain (float x, float y)=0
	To be implemented in derived classes:.
Public Attributes
CListColisionGrids	collisionGrids
float	refDistance
Protected Types
typedef std::vector< TCPoint >	TCPointVector
Protected Member Functions
void	FreeMemory ()
	Free all the memory buffers:.
Protected Attributes
float	V_MAX
float	W_MAX
float	TAU
float	DELAY
float	turningRadiusReference
CDynamicGrid < TCellForLambdaFunction >	m_lambdaFunctionOptimizer
	This grid will contain indexes data for speeding-up the default, brute-force lambda function.
float	maxV_inTPSpace
bool	flag1
bool	flag2
unsigned int	alfaValuesCount
	The number of discrete values for ALFA between -PI and +PI.
std::vector< TCPointVector >	CPoints
std::vector< vector_float >	vertexPoints_x
	The shape of the robot along the trajectories:.
std::vector< vector_float >	vertexPoints_y
int	nVertices