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mrpt::reactivenav 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  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  CAbstractReactiveNavigationSystem
 This is the base class for any reactive navigation system. More...
struct  CHolonomicLogFileRecordPtr
class  CHolonomicLogFileRecord
 A base class for log records for different holonomic navigation methods. More...
struct  CLogFileRecord_NDPtr
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...
struct  CLogFileRecord_VFFPtr
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...
struct  CLogFileRecordPtr
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

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

Typedef Documentation

A type for lists of PTGs.

Definition at line 297 of file CParameterizedTrajectoryGenerator.h.


Enumeration Type Documentation

The implemented reactive navigation methods.

Enumerator:
hmVIRTUAL_FORCE_FIELDS 
hmSEARCH_FOR_BEST_GAP 

Definition at line 46 of file CReactiveNavigationSystem.h.


Function Documentation

void REACTIVENAV_IMPEXP 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

Parameters:
PTGsThe list of PTGs to calculate their grids.
robotShapeThe shape of the robot.
cacheFilesPrefixThe prefix of the files where the collision grids will be dumped to speed-up future recalculations.
verbose
See also:
CReactiveNavigationSystem
::mrpt::utils::CStream& mrpt::reactivenav::operator>> ( mrpt::utils::CStream in,
CLogFileRecord_NDPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::reactivenav::operator>> ( mrpt::utils::CStream in,
CLogFileRecordPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::reactivenav::operator>> ( mrpt::utils::CStream in,
CLogFileRecord_VFFPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::reactivenav::operator>> ( mrpt::utils::CStream in,
CHolonomicLogFileRecordPtr &  pObj 
)



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