#include <mrpt/slam/CPathPlanningCircularRobot.h>
Public Member Functions | |
CPathPlanningCircularRobot () | |
Default constructor. | |
virtual | ~CPathPlanningCircularRobot () |
Destructor. | |
void | computePath (COccupancyGridMap2D *theMap, CPoseOrPoint *origin, CPoseOrPoint *target, std::deque< poses::CPoint2D > &path, bool ¬Found, float maxSearchPathLength=-1) |
This method compute the optimal path for a circular robot, in the given occupancy grid map, from the origin location to a target point. | |
Public Attributes | |
float | robotRadius |
The aproximate robot radius used in the planification. |
Definition at line 42 of file CPathPlanningCircularRobot.h.
mrpt::slam::CPathPlanningCircularRobot::CPathPlanningCircularRobot | ( | ) |
Default constructor.
virtual mrpt::slam::CPathPlanningCircularRobot::~CPathPlanningCircularRobot | ( | ) | [inline, virtual] |
void mrpt::slam::CPathPlanningCircularRobot::computePath | ( | COccupancyGridMap2D * | theMap, | |
CPoseOrPoint * | origin, | |||
CPoseOrPoint * | target, | |||
std::deque< poses::CPoint2D > & | path, | |||
bool & | notFound, | |||
float | maxSearchPathLength = -1 | |||
) | [virtual] |
This method compute the optimal path for a circular robot, in the given occupancy grid map, from the origin location to a target point.
The options and additional parameters to this method can be set with member configuration variables.
theMap | [IN] The occupancy gridmap used to the planning. | |
origin | [IN] The starting pose of the robot (given as a CPose2D, CPoint2D,...), in coordinates of "map". | |
target | [IN] The desired target pose for the robot (given as a CPose2D, CPoint2D,...), in coordinates of "map". | |
path | [OUT] The found path, in global coordinates relative to "map". | |
notFount | [OUT] Will be true if no path has been found. | |
maxSearchPathLength | [IN] The maximum path length to search for, in meters (-1 = no limit) |
std::exception | On any error |
Implements mrpt::slam::CPathPlanningMethod.
The aproximate robot radius used in the planification.
Default is 0.35m
Definition at line 57 of file CPathPlanningCircularRobot.h.
Page generated by Doxygen 1.5.8 for MRPT 0.6.5 SVN: at Thu Feb 26 02:07:47 EST 2009 |