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 CPathPlanningCircularRobot_H 00029 #define CPathPlanningCircularRobot_H 00030 00031 #include <mrpt/slam/CPathPlanningMethod.h> 00032 00033 00034 namespace mrpt 00035 { 00036 namespace slam 00037 { 00038 /** An implementation of CPathPlanningMethod 00039 * 00040 * \sa CPathPlanningMethod 00041 */ 00042 class MRPTDLLIMPEXP CPathPlanningCircularRobot : public CPathPlanningMethod 00043 { 00044 public: 00045 /** Default constructor 00046 */ 00047 CPathPlanningCircularRobot(); 00048 00049 /** Destructor 00050 */ 00051 virtual ~CPathPlanningCircularRobot() 00052 { 00053 } 00054 00055 /** The aproximate robot radius used in the planification. Default is 0.35m 00056 */ 00057 float robotRadius; 00058 00059 /** This method compute the optimal path for a circular robot, in the given 00060 * occupancy grid map, from the origin location to a target point. 00061 * The options and additional parameters to this method can be set with 00062 * member configuration variables. 00063 * 00064 * \param theMap [IN] The occupancy gridmap used to the planning. 00065 * \param origin [IN] The starting pose of the robot (given as a CPose2D, CPoint2D,...), in coordinates of "map". 00066 * \param target [IN] The desired target pose for the robot (given as a CPose2D, CPoint2D,...), in coordinates of "map". 00067 * \param path [OUT] The found path, in global coordinates relative to "map". 00068 * \param notFount [OUT] Will be true if no path has been found. 00069 * \param maxSearchPathLength [IN] The maximum path length to search for, in meters (-1 = no limit) 00070 * 00071 * \sa robotRadius 00072 * 00073 * \exception std::exception On any error 00074 */ 00075 void computePath( 00076 const COccupancyGridMap2D &theMap, 00077 const CPoseOrPoint &origin, 00078 const CPoseOrPoint &target, 00079 std::deque<math::TPoint2D> &path, 00080 bool ¬Found, 00081 float maxSearchPathLength = -1 00082 ) const; 00083 00084 }; 00085 00086 } // End of namespace 00087 } // End of namespace 00088 00089 #endif
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