mrpt::slam::CPathPlanningMethod Class Reference

A virtual base class for computing the optimal path for a robot from a origin location to a target point. More...

#include <mrpt/slam/CPathPlanningMethod.h>

Inheritance diagram for mrpt::slam::CPathPlanningMethod:

List of all members.

Public Member Functions
	CPathPlanningMethod ()
	Default constructor.
virtual	~CPathPlanningMethod ()
	Destructor.
virtual void	computePath (COccupancyGridMap2D *map, CPoseOrPoint *origin, CPoseOrPoint *target, std::deque< poses::CPoint2D > &path, bool &notFound, float maxSearchPathLength=-1)=0
	This method compute the optimal path for a circular robot, in the given occupancy grid map, from the origin location to a target point.
Public Attributes
float	occupancyThreshold
	The maximum occupancy probability to consider a cell as an obstacle, default=0.5.
float	minStepInReturnedPath
	The minimum distance between points in the returned found path (default=0.4); Notice that full grid resolution is used in path finding, this is only a way to reduce the amount of redundant information to be returned.

---

Detailed Description

A virtual base class for computing the optimal path for a robot from a origin location to a target point.

See derived classes for implementations.

See also:

CDebugOutputCapable

Definition at line 45 of file CPathPlanningMethod.h.

---

Constructor & Destructor Documentation

mrpt::slam::CPathPlanningMethod::CPathPlanningMethod

(

)

Default constructor.

virtual mrpt::slam::CPathPlanningMethod::~CPathPlanningMethod

(

)

[inline, virtual]

Destructor.

Definition at line 54 of file CPathPlanningMethod.h.

---

Member Function Documentation

virtual void mrpt::slam::CPathPlanningMethod::computePath	(	COccupancyGridMap2D *	map,
		CPoseOrPoint *	origin,
		CPoseOrPoint *	target,
		std::deque< poses::CPoint2D > &	path,
		bool &	notFound,
		float	maxSearchPathLength = -1
	)			[pure virtual]

This method compute the optimal path for a circular robot, in the given occupancy grid map, from the origin location to a target point.

The options and additional parameters to this method can be set with member configuration variables.

Parameters:

	map	[IN] The occupancy gridmap used to the planning.
	origin	[IN] The starting pose of the robot (given as a CPose2D, CPoint2D,...), in coordinates of "map".
	target	[IN] The desired target pose for the robot (given as a CPose2D, CPoint2D,...), in coordinates of "map".
	path	[OUT] The found path, in global coordinates relative to "map".
	notFound	[OUT] Will be true if no path has been found.
	maxSearchPathLength	[IN] The maximum path length to search for, in meters (-1 = no limit)

Exceptions:

std::exception

On any error

Implemented in mrpt::slam::CPathPlanningCircularRobot.

---

Member Data Documentation

float mrpt::slam::CPathPlanningMethod::minStepInReturnedPath

The minimum distance between points in the returned found path (default=0.4); Notice that full grid resolution is used in path finding, this is only a way to reduce the amount of redundant information to be returned.

Definition at line 66 of file CPathPlanningMethod.h.

float mrpt::slam::CPathPlanningMethod::occupancyThreshold

The maximum occupancy probability to consider a cell as an obstacle, default=0.5.

Definition at line 60 of file CPathPlanningMethod.h.