TP Space-based RRT path planning for SE(2) (planar) robots.
This planner algorithm is described in the paper:
Typical usage:
Definition at line 69 of file PlannerRRT_SE2_TPS.h.
#include <mrpt/nav/planners/PlannerRRT_SE2_TPS.h>
Classes | |
struct | TAlgorithmParams |
struct | TEndCriteria |
struct | TPlannerInput |
struct | TPlannerResult |
struct | TRenderPlannedPathOptions |
Options for renderMoveTree() More... | |
Public Types | |
typedef mrpt::math::TPose2D | node_pose_t |
The type of poses at nodes. More... | |
Public Member Functions | |
PlannerRRT_SE2_TPS () | |
Constructor. More... | |
void | loadConfig (const mrpt::utils::CConfigFileBase &cfgSource, const std::string &sSectionName=std::string("PTG_CONFIG")) |
Load all params from a config file source. More... | |
void | initialize () |
Must be called after setting all params (see loadConfig() ) and before calling solve() More... | |
void | solve (const TPlannerInput &pi, TPlannerResult &result) |
The main API entry point: tries to find a planned path from 'goal' to 'target'. More... | |
void | renderMoveTree (mrpt::opengl::COpenGLScene &scene, const TPlannerInput &pi, const TPlannerResult &result, const TRenderPlannedPathOptions &options) |
void | setRenderTreeVisualization () |
mrpt::utils::CTimeLogger & | getProfiler () |
const mrpt::nav::TListPTGPtr & | getPTGs () const |
Public Attributes | |
TEndCriteria | end_criteria |
TAlgorithmParams | params |
Parameters specific to this path solver algorithm. More... | |
Protected Member Functions | |
void | spaceTransformer (const mrpt::maps::CSimplePointsMap &in_obstacles, const mrpt::nav::CParameterizedTrajectoryGenerator *in_PTG, const double MAX_DIST, std::vector< float > &out_TPObstacles) |
Static Protected Member Functions | |
static void | transformPointcloudWithSquareClipping (const mrpt::maps::CPointsMap &in_map, mrpt::maps::CPointsMap &out_map, const mrpt::poses::CPose2D &asSeenFrom, const double MAX_DIST_XY) |
Protected Attributes | |
mrpt::utils::CTimeLogger | m_timelogger |
bool | m_initialized |
mrpt::nav::TListPTGPtr | m_PTGs |
mrpt::maps::CSimplePointsMap | m_local_obs |
The type of poses at nodes.
Definition at line 72 of file PlannerRRT_SE2_TPS.h.
mrpt::nav::PlannerRRT_SE2_TPS::PlannerRRT_SE2_TPS | ( | ) |
Constructor.
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inline |
Definition at line 259 of file PlannerRRT_SE2_TPS.h.
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inline |
Definition at line 260 of file PlannerRRT_SE2_TPS.h.
void mrpt::nav::PlannerRRT_SE2_TPS::initialize | ( | ) |
Must be called after setting all params (see loadConfig()
) and before calling solve()
void mrpt::nav::PlannerRRT_SE2_TPS::loadConfig | ( | const mrpt::utils::CConfigFileBase & | cfgSource, |
const std::string & | sSectionName = std::string("PTG_CONFIG") |
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) |
Load all params from a config file source.
void mrpt::nav::PlannerRRT_SE2_TPS::renderMoveTree | ( | mrpt::opengl::COpenGLScene & | scene, |
const TPlannerInput & | pi, | ||
const TPlannerResult & | result, | ||
const TRenderPlannedPathOptions & | options | ||
) |
void mrpt::nav::PlannerRRT_SE2_TPS::setRenderTreeVisualization | ( | ) |
void mrpt::nav::PlannerRRT_SE2_TPS::solve | ( | const TPlannerInput & | pi, |
TPlannerResult & | result | ||
) |
The main API entry point: tries to find a planned path from 'goal' to 'target'.
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protected |
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staticprotected |
TEndCriteria mrpt::nav::PlannerRRT_SE2_TPS::end_criteria |
Definition at line 90 of file PlannerRRT_SE2_TPS.h.
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protected |
Definition at line 264 of file PlannerRRT_SE2_TPS.h.
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protected |
Definition at line 266 of file PlannerRRT_SE2_TPS.h.
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protected |
Definition at line 265 of file PlannerRRT_SE2_TPS.h.
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Definition at line 263 of file PlannerRRT_SE2_TPS.h.
TAlgorithmParams mrpt::nav::PlannerRRT_SE2_TPS::params |
Parameters specific to this path solver algorithm.
Definition at line 124 of file PlannerRRT_SE2_TPS.h.
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