00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2011 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef CPathPlanningMethod_H 00029 #define CPathPlanningMethod_H 00030 00031 #include <mrpt/utils/CDebugOutputCapable.h> 00032 #include <mrpt/slam/COccupancyGridMap2D.h> 00033 #include <mrpt/poses/CPoint2D.h> 00034 00035 #include <mrpt/slam/link_pragmas.h> 00036 00037 namespace mrpt 00038 { 00039 namespace slam 00040 { 00041 /** A virtual base class for computing the optimal path for a robot 00042 * from a origin location to a target point. See derived classes for 00043 * implementations. 00044 * 00045 * \sa CDebugOutputCapable 00046 */ 00047 class SLAM_IMPEXP CPathPlanningMethod : public mrpt::utils::CDebugOutputCapable 00048 { 00049 public: 00050 /** Default constructor 00051 */ 00052 CPathPlanningMethod(); 00053 00054 /** Destructor 00055 */ 00056 virtual ~CPathPlanningMethod() 00057 { 00058 } 00059 00060 /** The maximum occupancy probability to consider a cell as an obstacle, default=0.5 00061 */ 00062 float occupancyThreshold; 00063 00064 /** The minimum distance between points in the returned found path (default=0.4); Notice 00065 * that full grid resolution is used in path finding, this is only a way to reduce the 00066 * amount of redundant information to be returned. 00067 */ 00068 float minStepInReturnedPath; 00069 00070 /** This method compute the optimal path for a circular robot, in the given 00071 * occupancy grid map, from the origin location to a target point. 00072 * The options and additional parameters to this method can be set with 00073 * member configuration variables. 00074 * 00075 * \param map [IN] The occupancy gridmap used to the planning. 00076 * \param origin [IN] The starting pose of the robot, in coordinates of "map". 00077 * \param target [IN] The desired target pose for the robot, in coordinates of "map". 00078 * \param path [OUT] The found path, in global coordinates relative to "map". 00079 * \param notFound [OUT] Will be true if no path has been found. 00080 * \param maxSearchPathLength [IN] The maximum path length to search for, in meters (-1 = no limit) 00081 * 00082 * \exception std::exception On any error 00083 */ 00084 virtual void computePath( 00085 const COccupancyGridMap2D &theMap, 00086 const CPose2D &origin, 00087 const CPose2D &target, 00088 std::deque<math::TPoint2D> &path, 00089 bool ¬Found, 00090 float maxSearchPathLength = -1 00091 ) const = 0; 00092 00093 }; 00094 00095 } // End of namespace 00096 } // End of namespace 00097 00098 #endif
Page generated by Doxygen 1.7.2 for MRPT 0.9.4 SVN: at Mon Jan 10 22:30:30 UTC 2011 |