mrpt::nav::PlannerRRT_SE2_TPS Class Reference

Detailed Description

TP Space-based RRT path planning for SE(2) (planar) robots.

This planner algorithm is described in the paper:

• M. Bellone, J.L. Blanco, A. Gimenez, "TP-Space RRT: Kinematic path planning of non-holonomic any-shape vehicles", International Journal of Advanced Robotic Systems, 2015.

Typical usage:

mrpt::nav::PlannerRRT_SE2_TPS  planner;
 
// Set or load planner parameters:
//planner.loadConfig( mrpt::utils::CConfigFile("config_file.cfg") );
//planner.params.... // See TAlgorithmParams
 
// Set RRT end criteria (when to stop searching for a solution)
//planner.end_criteria.... // See TEndCriteria
 
planner.initialize();  // Initialize after setting the algorithm parameters
 
// Set up planning problem:
PlannerRRT_SE2_TPS::TPlannerResult planner_result;
PlannerRRT_SE2_TPS::TPlannerInput planner_input;
// Start & goal:
planner_input.start_pose = mrpt::math::TPose2D(XXX,XXX,XXX);
planner_input.goal_pose  = mrpt::math::TPose2D(XXX,XXX,XXX);
// Set obtacles: (...)
// planner_input.obstacles_points ...
// Set workspace bounding box for picking random poses in the RRT algorithm:
planner_input.world_bbox_min = mrpt::math::TPoint2D(XX,YY);
planner_input.world_bbox_max = mrpt::math::TPoint2D(XX,YY);
// Do path planning:
planner.solve( planner_input, planner_result);
// Analyze contents of planner_result...

• Changes history:
  • 06/MAR/2014: Creation (MB)
  • 06/JAN/2015: Refactoring (JLBC)

Todo:

Factorize into more generic path planner classes! //template <class POSE, class MOTIONS>...

Definition at line 69 of file PlannerRRT_SE2_TPS.h.

#include <mrpt/nav/planners/PlannerRRT_SE2_TPS.h>

Classes
struct	TAlgorithmParams
struct	TEndCriteria
struct	TPlannerInput
struct	TPlannerResult
struct	TRenderPlannedPathOptions
	Options for renderMoveTree() More...

Public Types
typedef mrpt::math::TPose2D	node_pose_t
	The type of poses at nodes. More...

Public Member Functions
	PlannerRRT_SE2_TPS ()
	Constructor. More...
void	loadConfig (const mrpt::utils::CConfigFileBase &cfgSource, const std::string &sSectionName=std::string("PTG_CONFIG"))
	Load all params from a config file source. More...
void	initialize ()
	Must be called after setting all params (see loadConfig()) and before calling solve() More...
void	solve (const TPlannerInput &pi, TPlannerResult &result)
	The main API entry point: tries to find a planned path from 'goal' to 'target'. More...
void	renderMoveTree (mrpt::opengl::COpenGLScene &scene, const TPlannerInput &pi, const TPlannerResult &result, const TRenderPlannedPathOptions &options)
void	setRenderTreeVisualization ()
mrpt::utils::CTimeLogger &	getProfiler ()
const mrpt::nav::TListPTGPtr &	getPTGs () const

Public Attributes
TEndCriteria	end_criteria
TAlgorithmParams	params
	Parameters specific to this path solver algorithm. More...

Protected Member Functions
void	spaceTransformer (const mrpt::maps::CSimplePointsMap &in_obstacles, const mrpt::nav::CParameterizedTrajectoryGenerator *in_PTG, const double MAX_DIST, std::vector< float > &out_TPObstacles)

Static Protected Member Functions
static void	transformPointcloudWithSquareClipping (const mrpt::maps::CPointsMap &in_map, mrpt::maps::CPointsMap &out_map, const mrpt::poses::CPose2D &asSeenFrom, const double MAX_DIST_XY)

Protected Attributes
mrpt::utils::CTimeLogger	m_timelogger
bool	m_initialized
mrpt::nav::TListPTGPtr	m_PTGs
mrpt::maps::CSimplePointsMap	m_local_obs

Member Typedef Documentation

node_pose_t

typedef mrpt::math::TPose2D mrpt::nav::PlannerRRT_SE2_TPS::node_pose_t

The type of poses at nodes.

Definition at line 72 of file PlannerRRT_SE2_TPS.h.

Constructor & Destructor Documentation

PlannerRRT_SE2_TPS()

mrpt::nav::PlannerRRT_SE2_TPS::PlannerRRT_SE2_TPS

(

)

Constructor.

Member Function Documentation

getProfiler()

mrpt::utils::CTimeLogger& mrpt::nav::PlannerRRT_SE2_TPS::getProfiler ( )

inline

Definition at line 261 of file PlannerRRT_SE2_TPS.h.

getPTGs()

const mrpt::nav::TListPTGPtr& mrpt::nav::PlannerRRT_SE2_TPS::getPTGs ( ) const

inline

Definition at line 262 of file PlannerRRT_SE2_TPS.h.

initialize()

void mrpt::nav::PlannerRRT_SE2_TPS::initialize

(

)

Must be called after setting all params (see loadConfig()) and before calling solve()

loadConfig()

void mrpt::nav::PlannerRRT_SE2_TPS::loadConfig	(	const mrpt::utils::CConfigFileBase &	cfgSource,
		const std::string &	sSectionName = std::string("PTG_CONFIG")
	)

Load all params from a config file source.

renderMoveTree()

void mrpt::nav::PlannerRRT_SE2_TPS::renderMoveTree	(	mrpt::opengl::COpenGLScene &	scene,
		const TPlannerInput &	pi,
		const TPlannerResult &	result,
		const TRenderPlannedPathOptions &	options
	)

setRenderTreeVisualization()

void mrpt::nav::PlannerRRT_SE2_TPS::setRenderTreeVisualization

(

)

solve()

void mrpt::nav::PlannerRRT_SE2_TPS::solve	(	const TPlannerInput &	pi,
		TPlannerResult &	result
	)

The main API entry point: tries to find a planned path from 'goal' to 'target'.

spaceTransformer()

void mrpt::nav::PlannerRRT_SE2_TPS::spaceTransformer ( const mrpt::maps::CSimplePointsMap &  in_obstacles, const mrpt::nav::CParameterizedTrajectoryGenerator *  in_PTG, const double  MAX_DIST, std::vector< float > &  out_TPObstacles  )

protected

transformPointcloudWithSquareClipping()

static void mrpt::nav::PlannerRRT_SE2_TPS::transformPointcloudWithSquareClipping ( const mrpt::maps::CPointsMap &  in_map, mrpt::maps::CPointsMap &  out_map, const mrpt::poses::CPose2D &  asSeenFrom, const double  MAX_DIST_XY  )

staticprotected

Member Data Documentation

end_criteria

TEndCriteria mrpt::nav::PlannerRRT_SE2_TPS::end_criteria

Definition at line 90 of file PlannerRRT_SE2_TPS.h.

m_initialized

bool mrpt::nav::PlannerRRT_SE2_TPS::m_initialized

protected

Definition at line 266 of file PlannerRRT_SE2_TPS.h.

m_local_obs

mrpt::maps::CSimplePointsMap mrpt::nav::PlannerRRT_SE2_TPS::m_local_obs

protected

Definition at line 268 of file PlannerRRT_SE2_TPS.h.

m_PTGs

mrpt::nav::TListPTGPtr mrpt::nav::PlannerRRT_SE2_TPS::m_PTGs

protected

Definition at line 267 of file PlannerRRT_SE2_TPS.h.

m_timelogger

mrpt::utils::CTimeLogger mrpt::nav::PlannerRRT_SE2_TPS::m_timelogger

protected

Definition at line 265 of file PlannerRRT_SE2_TPS.h.

params

TAlgorithmParams mrpt::nav::PlannerRRT_SE2_TPS::params

Parameters specific to this path solver algorithm.

Definition at line 126 of file PlannerRRT_SE2_TPS.h.