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mrpt-navThis library implements:
Reactive navigation: Holonomic navigation algorithms: Virtual Force Fields (VFF), Nearness Diagram (ND), ... See mrpt::nav::CAbstractHolonomicReactiveMethod A complex reactive navigator: Using space transformations (PTGs) to drive a robot using an internal simpler holonomic algorithm. See mrpt::nav::CReactiveNavigationSystem A number of different PTGs: See mrpt::nav::CParameterizedTrajectoryGenerator See the full list of classes in mrpt::reactivenav, or the online page http://www.mrpt.org/list-of-mrpt-apps/application-reactivenavigationdemo/ for a working application (see MRPT/apps/ReactiveNavigationDemo).
Planned / hybrid navigation: See mrpt::nav
Classes | |
| class | mrpt::nav::CAbstractHolonomicReactiveMethod |
| A base class for holonomic reactive navigation methods. More... | |
| class | mrpt::nav::CHolonomicLogFileRecord |
| A base class for log records for different holonomic navigation methods. More... | |
| struct | mrpt::nav::CHolonomicND::TGap |
| The structure used to store a detected gap in obstacles. More... | |
| struct | mrpt::nav::CHolonomicND::TOptions |
| Algorithm options. More... | |
| class | mrpt::nav::CHolonomicND |
| An implementation of the holonomic reactive navigation method "Nearness-Diagram". More... | |
| class | mrpt::nav::CLogFileRecord_VFF |
| A class for storing extra information about the execution of CHolonomicVFF navigation. More... | |
| class | mrpt::nav::CPathPlanningCircularRobot |
| An implementation of CPathPlanningMethod. More... | |
| class | mrpt::nav::CPathPlanningMethod |
| A virtual base class for computing the optimal path for a robot from a origin location to a target point. More... | |
| class | mrpt::nav::RRT< POSE, MOTIONS > |
| This class implement an header-only RRT algorithm for hybrid navigation. More... | |
| class | mrpt::nav::TMoveTree< MOVE_TYPE > |
| This class contains motions and motions tree structures for the hybrid navigation algorithm. More... | |
| struct | mrpt::nav::TPath::TPathData |
| struct | mrpt::nav::TPath::TPlannedPath |
| < An ordered vector of path poses. More... | |
| class | mrpt::nav::TPath |
| This class contains methods for path data structures and handling. More... | |
| struct | mrpt::nav::CAbstractPTGBasedReactive::TNavigationParamsPTG |
| The struct for configuring navigation requests to CAbstractPTGBasedReactive and derived classes. More... | |
| struct | mrpt::nav::CAbstractPTGBasedReactive::THolonomicMovement |
| The structure used for storing a movement generated by a holonomic-method. More... | |
| struct | mrpt::nav::CAbstractPTGBasedReactive::TInfoPerPTG |
| class | mrpt::nav::CAbstractPTGBasedReactive |
| Base class for reactive navigator systems based on TP-Space, with an arbitrary holonomic reactive method running on it and any number of PTGs for transforming the navigation space. More... | |
| class | mrpt::nav::CReactiveInterfaceImplementation |
| The pure virtual class that a user of CAbstractReactiveNavigationSystem-derived classes must implement in order to allow the navigator sense the world and send motion commands to the robot. More... | |
| struct | mrpt::nav::CLogFileRecord::TInfoPerPTG |
| The structure used to store all relevant information about each transformation into TP-Space. More... | |
| class | mrpt::nav::CLogFileRecord |
| A class for storing, saving and loading a reactive navigation log record for the CReactiveNavigationSystem class. More... | |
| class | mrpt::nav::CReactiveNavigationSystem |
| See base class CAbstractPTGBasedReactive for a description and instructions of use. More... | |
| struct | mrpt::nav::CReactiveNavigationSystem3D::TPTGmultilevel |
| A set of PTGs of the same type, one per "height level". More... | |
| class | mrpt::nav::CReactiveNavigationSystem3D |
| See base class CAbstractPTGBasedReactive for a description and instructions of use. More... | |
| class | mrpt::nav::CParameterizedTrajectoryGenerator::CColisionGrid |
| An internal class for storing the collision grid. More... | |
| struct | mrpt::nav::CParameterizedTrajectoryGenerator::TCellForLambdaFunction |
| Specifies the min/max values for "k" and "n", respectively. More... | |
| struct | mrpt::nav::CParameterizedTrajectoryGenerator::TCPoint |
| The trajectories in the C-Space: More... | |
| class | mrpt::nav::CParameterizedTrajectoryGenerator |
| This is the base class for any user-defined PTG. More... | |
| class | mrpt::nav::CPTG1 |
| A PTG for circular paths ("C" type PTG in papers). More... | |
| class | mrpt::nav::CPTG2 |
| The "alpha-PTG", as named in PTG papers. More... | |
| class | mrpt::nav::CPTG3 |
| A PTG for optimal paths of type "C|C,S" (as named in PTG papers). More... | |
| class | mrpt::nav::CPTG4 |
| A PTG for optimal paths of type "C|C" , as named in PTG papers. More... | |
| class | mrpt::nav::CPTG5 |
| A PTG for optimal paths of type "CS", as named in PTG papers. More... | |
| class | mrpt::nav::CPTG6 |
| A variation of the alpha-PTG (with fixed parameters, for now) More... | |
| class | mrpt::nav::CPTG7 |
| Trajectories with a fixed linear speed (V_MAX) and a first turning part followed by a straight segment. More... | |
Namespaces | |
| mrpt::nav | |
| This namespace contains classes for building a TP-Space Reactive Navigation System. | |
Enumerations | |
| enum | mrpt::nav::THolonomicMethod { mrpt::nav::hmVIRTUAL_FORCE_FIELDS = 0, mrpt::nav::hmSEARCH_FOR_BEST_GAP = 1 } |
| The implemented reactive navigation methods. More... | |
| enum | mrpt::nav::CHolonomicND::TSituations { mrpt::nav::CHolonomicND::SITUATION_TARGET_DIRECTLY = 1, mrpt::nav::CHolonomicND::SITUATION_SMALL_GAP, mrpt::nav::CHolonomicND::SITUATION_WIDE_GAP, mrpt::nav::CHolonomicND::SITUATION_NO_WAY_FOUND } |
| The set of posible situations for each trajectory. More... | |
Motion planning utilities | |
| void NAV_IMPEXP | mrpt::nav::build_PTG_collision_grids (CParameterizedTrajectoryGenerator *PTG, const mrpt::math::CPolygon &robotShape, const std::string &cacheFilename, const bool verbose=true) |
| Builds the collision grid for a given PTGs, or load it from a cache file. More... | |
The implemented reactive navigation methods.
This enum works with mrpt::utils::TEnumType
| Enumerator | |
|---|---|
| hmVIRTUAL_FORCE_FIELDS | |
| hmSEARCH_FOR_BEST_GAP | |
Definition at line 25 of file CAbstractHolonomicReactiveMethod.h.
The set of posible situations for each trajectory.
(mrpt::utils::TEnumType works with this enum)
| Enumerator | |
|---|---|
| SITUATION_TARGET_DIRECTLY | |
| SITUATION_SMALL_GAP | |
| SITUATION_WIDE_GAP | |
| SITUATION_NO_WAY_FOUND | |
Definition at line 89 of file CHolonomicND.h.
| void NAV_IMPEXP mrpt::nav::build_PTG_collision_grids | ( | CParameterizedTrajectoryGenerator * | PTG, |
| const mrpt::math::CPolygon & | robotShape, | ||
| const std::string & | cacheFilename, | ||
| const bool | verbose = true |
||
| ) |
Builds the collision grid for a given PTGs, or load it from a cache file.
The collision grid must be calculated before calling CParameterizedTrajectoryGenerator::CColisionGrid::getTPObstacle
| PTGs | The list of PTGs to calculate their grids. |
| robotShape | The shape of the robot. |
| cacheFilename | The filename where the collision grids will be dumped to speed-up future recalculations. If it exists upon call, the collision grid will be loaded from here if all PTG parameters match. Example: "PTG_%03d.dat.gz". |
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