Detailed Description

Collaboration diagram for TP-Space and PTG classes:

Classes
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...

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...

Function Documentation

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.

Parameters

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".