mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid Class Reference

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

#include <mrpt/reactivenav/CParameterizedTrajectoryGenerator.h>

Inheritance diagram for mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid:

List of all members.

Public Member Functions
	CColisionGrid (float x_min, float x_max, float y_min, float y_max, float resolution)
virtual	~CColisionGrid ()
bool	saveToFile (mrpt::utils::CStream *fil)
	Save to file, true = OK.
bool	loadFromFile (mrpt::utils::CStream *fil)
	Load from file, true = OK.
const TCollisionCell &	getTPObstacle (const float obsX, const float obsY) const
	For an obstacle (x,y), returns a vector with all the pairs (a,d) such as the robot collides.
void	updateCellInfo (const unsigned int icx, const unsigned int icy, const uint16_t k, const float dist)
	Updates the info into a cell: It updates the cell only if the distance d for the path k is lower than the previous value:.

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Detailed Description

An internal class for storing the collision grid.

Definition at line 184 of file CParameterizedTrajectoryGenerator.h.

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Constructor & Destructor Documentation

mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::CColisionGrid	(	float	x_min,
		float	x_max,
		float	y_min,
		float	y_max,
		float	resolution
	)			[inline]

Definition at line 187 of file CParameterizedTrajectoryGenerator.h.

virtual mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::~CColisionGrid

(

)

[inline, virtual]

Definition at line 191 of file CParameterizedTrajectoryGenerator.h.

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Member Function Documentation

const TCollisionCell& mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::getTPObstacle	(	const float	obsX,
		const float	obsY
	)			const

For an obstacle (x,y), returns a vector with all the pairs (a,d) such as the robot collides.

bool mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::loadFromFile

(

mrpt::utils::CStream *

fil

)

Load from file, true = OK.

bool mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::saveToFile

(

mrpt::utils::CStream *

fil

)

Save to file, true = OK.

void mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::updateCellInfo	(	const unsigned int	icx,
		const unsigned int	icy,
		const uint16_t	k,
		const float	dist
	)

Updates the info into a cell: It updates the cell only if the distance d for the path k is lower than the previous value:.

Parameters:

	cellInfo	The index of the cell
	k	The path index (alfa discreet value)
	d	The distance (in TP-Space, range 0..1) to collision.