00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2009 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 namespace mrpt 00036 { 00037 namespace slam 00038 { 00039 /** A virtual base class for computing the optimal path for a robot 00040 * from a origin location to a target point. See derived classes for 00041 * implementations. 00042 * 00043 * \sa CDebugOutputCapable 00044 */ 00045 class MRPTDLLIMPEXP CPathPlanningMethod : public mrpt::utils::CDebugOutputCapable 00046 { 00047 public: 00048 /** Default constructor 00049 */ 00050 CPathPlanningMethod(); 00051 00052 /** Destructor 00053 */ 00054 virtual ~CPathPlanningMethod() 00055 { 00056 } 00057 00058 /** The maximum occupancy probability to consider a cell as an obstacle, default=0.5 00059 */ 00060 float occupancyThreshold; 00061 00062 /** The minimum distance between points in the returned found path (default=0.4); Notice 00063 * that full grid resolution is used in path finding, this is only a way to reduce the 00064 * amount of redundant information to be returned. 00065 */ 00066 float minStepInReturnedPath; 00067 00068 /** This method compute the optimal path for a circular robot, in the given 00069 * occupancy grid map, from the origin location to a target point. 00070 * The options and additional parameters to this method can be set with 00071 * member configuration variables. 00072 * 00073 * \param map [IN] The occupancy gridmap used to the planning. 00074 * \param origin [IN] The starting pose of the robot (given as a CPose2D, CPoint2D,...), in coordinates of "map". 00075 * \param target [IN] The desired target pose for the robot (given as a CPose2D, CPoint2D,...), in coordinates of "map". 00076 * \param path [OUT] The found path, in global coordinates relative to "map". 00077 * \param notFound [OUT] Will be true if no path has been found. 00078 * \param maxSearchPathLength [IN] The maximum path length to search for, in meters (-1 = no limit) 00079 * 00080 * \exception std::exception On any error 00081 */ 00082 virtual void computePath( 00083 const COccupancyGridMap2D &theMap, 00084 const CPoseOrPoint &origin, 00085 const CPoseOrPoint &target, 00086 std::deque<math::TPoint2D> &path, 00087 bool ¬Found, 00088 float maxSearchPathLength = -1 00089 ) const = 0; 00090 00091 }; 00092 00093 } // End of namespace 00094 } // End of namespace 00095 00096 #endif
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