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mrpt::slam::CPathPlanningMethod Class Reference

A virtual base class for computing the optimal path for a robot from a origin location to a target point. More...

#include <mrpt/slam/CPathPlanningMethod.h>

Inheritance diagram for mrpt::slam::CPathPlanningMethod:

mrpt::utils::CDebugOutputCapable mrpt::slam::CPathPlanningCircularRobot

List of all members.

Public Member Functions

 CPathPlanningMethod ()
 Default constructor.
virtual ~CPathPlanningMethod ()
 Destructor.
virtual void computePath (COccupancyGridMap2D *map, CPoseOrPoint *origin, CPoseOrPoint *target, std::deque< poses::CPoint2D > &path, bool &notFound, float maxSearchPathLength=-1)=0
 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 occupancyThreshold
 The maximum occupancy probability to consider a cell as an obstacle, default=0.5.
float minStepInReturnedPath
 The minimum distance between points in the returned found path (default=0.4); Notice that full grid resolution is used in path finding, this is only a way to reduce the amount of redundant information to be returned.


Detailed Description

A virtual base class for computing the optimal path for a robot from a origin location to a target point.

See derived classes for implementations.

See also:
CDebugOutputCapable

Definition at line 45 of file CPathPlanningMethod.h.


Constructor & Destructor Documentation

mrpt::slam::CPathPlanningMethod::CPathPlanningMethod (  ) 

Default constructor.

virtual mrpt::slam::CPathPlanningMethod::~CPathPlanningMethod (  )  [inline, virtual]

Destructor.

Definition at line 54 of file CPathPlanningMethod.h.


Member Function Documentation

virtual void mrpt::slam::CPathPlanningMethod::computePath ( COccupancyGridMap2D map,
CPoseOrPoint origin,
CPoseOrPoint target,
std::deque< poses::CPoint2D > &  path,
bool &  notFound,
float  maxSearchPathLength = -1 
) [pure 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.

Parameters:
map [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".
notFound [OUT] Will be true if no path has been found.
maxSearchPathLength [IN] The maximum path length to search for, in meters (-1 = no limit)
Exceptions:
std::exception On any error

Implemented in mrpt::slam::CPathPlanningCircularRobot.


Member Data Documentation

The minimum distance between points in the returned found path (default=0.4); Notice that full grid resolution is used in path finding, this is only a way to reduce the amount of redundant information to be returned.

Definition at line 66 of file CPathPlanningMethod.h.

The maximum occupancy probability to consider a cell as an obstacle, default=0.5.

Definition at line 60 of file CPathPlanningMethod.h.




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