mrpt::nav Namespace Reference

Detailed Description

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

Classes
class	CAbstractHolonomicReactiveMethod
	A base class for holonomic reactive navigation methods. More...
class	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	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	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	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	CParameterizedTrajectoryGenerator
	This is the base class for any user-defined PTG. More...
class	CPathPlanningCircularRobot
	An implementation of CPathPlanningMethod. More...
class	CPathPlanningMethod
	A virtual base class for computing the optimal path for a robot from a origin location to a target point. More...
class	CPTG1
	A PTG for circular paths ("C" type PTG in papers). More...
class	CPTG2
	The "alpha-PTG", as named in PTG papers. More...
class	CPTG3
	A PTG for optimal paths of type "C|C,S" (as named in PTG papers). More...
class	CPTG4
	A PTG for optimal paths of type "C|C" , as named in PTG papers. More...
class	CPTG5
	A PTG for optimal paths of type "CS", as named in PTG papers. More...
class	CPTG6
	A variation of the alpha-PTG (with fixed parameters, for now) More...
class	CPTG7
	Trajectories with a fixed linear speed (V_MAX) and a first turning part followed by a straight segment. More...
class	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...
class	CReactiveNavigationSystem
	See base class CAbstractPTGBasedReactive for a description and instructions of use. More...
class	CReactiveNavigationSystem3D
	See base class CAbstractPTGBasedReactive for a description and instructions of use. More...
class	RRT
	This class implement an header-only RRT algorithm for hybrid navigation. More...
class	TMoveSE2
class	TMoveSE2_TP
class	TMoveSE3
class	TMoveTree
	This class contains motions and motions tree structures for the hybrid navigation algorithm. More...
class	TPath
	This class contains methods for path data structures and handling. More...
struct	TRobotShape
	A 3D robot shape stored as a "sliced" stack of 2D polygons, used for CReactiveNavigationSystem3D. More...

Typedefs
typedef std::vector< mrpt::nav::CParameterizedTrajectoryGenerator * >	TListPTGs
	A type for lists of PTGs. More...
TMoveSE2_TP class for planning in SE2 and TP-space
typedef TMoveTree< TMoveSE2 >	TMoveTreeSE2
	tree datastructure for planning RRT in SE2 More...
typedef TMoveTree< TMoveSE3 >	TMoveTreeSE3
	tree datastructure for planning RRT in SE3 More...
typedef TMoveTree< TMoveSE2_TP >	TMoveTreeSE2_TP
	tree datastructure for planning RRT in SE2 with TP-space More...

Enumerations
enum	THolonomicMethod { hmVIRTUAL_FORCE_FIELDS = 0, hmSEARCH_FOR_BEST_GAP = 1 }
	The implemented reactive navigation methods. More...

Functions
::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CHolonomicLogFileRecordPtr &pObj)
::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CLogFileRecord_NDPtr &pObj)
::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CLogFileRecord_VFFPtr &pObj)
::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CLogFileRecordPtr &pObj)
Motion planning utilities
void NAV_IMPEXP	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...

Typedef Documentation

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

A type for lists of PTGs.

Definition at line 276 of file CParameterizedTrajectoryGenerator.h.

typedef TMoveTree<TMoveSE2> mrpt::nav::TMoveTreeSE2

tree datastructure for planning RRT in SE2

Definition at line 155 of file TMotions.h.

typedef TMoveTree<TMoveSE2_TP> mrpt::nav::TMoveTreeSE2_TP

tree datastructure for planning RRT in SE2 with TP-space

Definition at line 157 of file TMotions.h.

typedef TMoveTree<TMoveSE3> mrpt::nav::TMoveTreeSE3

tree datastructure for planning RRT in SE3

Definition at line 156 of file TMotions.h.

Function Documentation

::mrpt::utils::CStream& mrpt::nav::operator>>	(	mrpt::utils::CStream &	in,
		CLogFileRecord_NDPtr &	pObj
	)

::mrpt::utils::CStream& mrpt::nav::operator>>	(	mrpt::utils::CStream &	in,
		CHolonomicLogFileRecordPtr &	pObj
	)

::mrpt::utils::CStream& mrpt::nav::operator>>	(	mrpt::utils::CStream &	in,
		CLogFileRecord_VFFPtr &	pObj
	)

::mrpt::utils::CStream& mrpt::nav::operator>>	(	mrpt::utils::CStream &	in,
		CLogFileRecordPtr &	pObj
	)