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nav/tpspace/motion_planning_utils.h
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2016, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 #ifndef _motion_planning_utils_H
10 #define _motion_planning_utils_H
11 
13 #include <mrpt/math/CPolygon.h>
14 #include <mrpt/nav/link_pragmas.h>
15 
16 namespace mrpt
17 {
18  namespace nav
19  {
20  /** @name Motion planning utilities
21  @{*/
22 
23  /** Builds the collision grid for a given PTGs, or load it from a cache file.
24  * The collision grid must be calculated before calling CParameterizedTrajectoryGenerator::CColisionGrid::getTPObstacle
25  * \param PTGs The list of PTGs to calculate their grids.
26  * \param robotShape The shape of the robot.
27  * \param cacheFilename The filename where the collision grids will be dumped to speed-up future recalculations. If it exists upon call, the collision grid will be loaded from here if all PTG parameters match. Example: "PTG_%03d.dat.gz".
28  * \sa CReactiveNavigationSystem
29  * \ingroup nav_tpspace
30  */
32  CParameterizedTrajectoryGenerator * PTG,
33  const mrpt::math::CPolygon & robotShape,
34  const std::string & cacheFilename,
35  const bool verbose = true
36  );
37 
38  /** @} */
39  }
40 }
41 
42 
43 #endif
44 
void NAV_IMPEXP build_PTG_collision_grids(CParameterizedTrajectoryGenerator *PTG, const mrpt::math::CPolygon &robotShape, const std::string &cacheFilename, const bool verbose=true)
Builds the collision grid for a given PTGs, or load it from a cache file.
A wrapper of a TPolygon2D class, implementing CSerializable.
Definition: CPolygon.h:25
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.



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