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mrpt::reactivenav Namespace Reference

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.


Detailed Description

This namespace contains classes for building a TP-Space Reactive Navigation System.


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 52 of file CReactiveNavigationSystem.h.


Function Documentation

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

Parameters:
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 
See also:
CReactiveNavigationSystem




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