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. |
This namespace contains classes for building a TP-Space Reactive Navigation System.
typedef std::vector<mrpt::reactivenav::CParameterizedTrajectoryGenerator*> mrpt::reactivenav::TListPTGs |
A type for lists of PTGs.
Definition at line 297 of file CParameterizedTrajectoryGenerator.h.
The implemented reactive navigation methods.
Definition at line 52 of file CReactiveNavigationSystem.h.
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
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 |
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