mrpt::reactivenav Namespace Reference

This namespace contains classes for building a TP-Space Reactive Navigation System. More...

Classes
class	CAbstractHolonomicReactiveMethod
	A base class for holonomic reactive navigation methods. More...
class	CAbstractReactiveNavigationSystem
	This is the base class for any reactive navigation system. More...
class	CHolonomicLogFileRecord
	A base class for log records for different holonomic navigation methods. More...
class	CHolonomicND
	An implementation of the holonomic reactive navigation method "Nearness-Diagram". More...
class	CLogFileRecord_ND
	A class for storing extra information about the execution of CHolonomicND navigation. More...
class	CLogFileRecord_VFF
	A class for storing extra information about the execution of CHolonomicVFF navigation. More...
class	CHolonomicVFF
	A holonomic reactive navigation method, based on Virtual Force Fields (VFF). More...
class	CLogFileRecord
	A class for storing, saving and loading a reactive navigation log record for the CReactiveNavigationSystem class. More...
class	CParameterizedTrajectoryGenerator
	This is the base class for any user defined PTG. More...
class	CPRRTNavigator
	This class is a multi-threaded mobile robot navigator, implementing an (anytime) PTG-based Rapidly-exploring Random Tree (PRRT) search algorithm. More...
class	CPTG1
	A PTG for circular paths. More...
class	CPTG2
	The alpha-PTG. More...
class	CPTG3
	A PTG for optimal paths of type "C|C,S". More...
class	CPTG4
	A PTG for optimal paths of type "C|C". More...
class	CPTG5
	A PTG for optimal paths of type "C|C,S". More...
class	CPTG6
	A PTG for circular paths. More...
class	CPTG7
	A PTG for circular paths. More...
class	CReactiveNavigationSystem
	Implements a reactive navigation system based on TP-Space, with an arbitrary holonomic reactive method running on it, and any desired number of PTG for transforming the navigation space. More...
Typedefs
typedef std::vector < mrpt::reactivenav::CParameterizedTrajectoryGenerator * >	TListPTGs
	A type for lists of PTGs.
Enumerations
enum	THolonomicMethod { hmVIRTUAL_FORCE_FIELDS = 0, hmSEARCH_FOR_BEST_GAP = 1 }
	The implemented reactive navigation methods. More...
Functions
Motion planning utilities
void RNAVDLLIMPEXP	build_PTG_collision_grids (std::vector< CParameterizedTrajectoryGenerator * > PTGs, const mrpt::math::CPolygon &robotShape, const std::string &cacheFilesPrefix=std::string("ReacNavGrid_"), bool verbose=true)
	Builds the collision grid for a given list of PTGs.

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Detailed Description

This namespace contains classes for building a TP-Space Reactive Navigation System.

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Typedef Documentation

typedef std::vector<mrpt::reactivenav::CParameterizedTrajectoryGenerator*> mrpt::reactivenav::TListPTGs

A type for lists of PTGs.

Definition at line 297 of file CParameterizedTrajectoryGenerator.h.

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Enumeration Type Documentation

enum mrpt::reactivenav::THolonomicMethod

The implemented reactive navigation methods.

Enumerator:

hmVIRTUAL_FORCE_FIELDS
hmSEARCH_FOR_BEST_GAP

Definition at line 52 of file CReactiveNavigationSystem.h.

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Function Documentation

void RNAVDLLIMPEXP mrpt::reactivenav::build_PTG_collision_grids	(	std::vector< CParameterizedTrajectoryGenerator * >	PTGs,
		const mrpt::math::CPolygon &	robotShape,
		const std::string &	cacheFilesPrefix = std::string("ReacNavGrid_"),
		bool	verbose = true
	)

Builds the collision grid for a given list of PTGs.

The collision grid must be calculated before calling CParameterizedTrajectoryGenerator::CColisionGrid::getTPObstacle

Parameters:

	PTGs	The list of PTGs to calculate their grids.
	robotShape	The shape of the robot.
	cacheFilesPrefix	The prefix of the files where the collision grids will be dumped to speed-up future recalculations.
	verbose

See also:

CReactiveNavigationSystem