9 #ifndef CReactiveNavigationSystem3D_H 10 #define CReactiveNavigationSystem3D_H 54 bool enableConsoleOutput =
true,
55 bool enableLogFile =
false);
67 virtual size_t getPTG_count()
const {
return m_ptgmultilevel.size(); }
72 ASSERT_(i<m_ptgmultilevel.size() && !m_ptgmultilevel[i].PTGs.empty())
73 return m_ptgmultilevel[i].PTGs[0];
84 std::vector<CParameterizedTrajectoryGenerator*>
PTGs;
108 virtual void STEP1_CollisionGridsBuilder();
111 virtual bool STEP2_SenseObstacles();
114 virtual void STEP3_WSpaceToTPSpace(
const size_t ptg_idx,std::vector<float> &out_TPObstacles);
117 virtual void loggingGetWSObstaclesAndShape(
CLogFileRecord &out_log);
virtual size_t getPTG_count() const
Returns the number of different PTGs that have been setup.
std::vector< math::CPolygon > polygons
mrpt::maps::CSimplePointsMap m_WS_Obstacles_unsorted
The unsorted set of obstacles from the sensors.
#define MRPT_MAKE_ALIGNED_OPERATOR_NEW
A 3D robot shape stored as a "sliced" stack of 2D polygons, used for CReactiveNavigationSystem3D.
A set of PTGs of the same type, one per "height level".
TRobotShape m_robotShape
The robot 3D shape model.
std::vector< CParameterizedTrajectoryGenerator * > PTGs
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans. ...
A class for storing, saving and loading a reactive navigation log record for the CReactiveNavigationS...
This class allows loading and storing values and vectors of different types from a configuration text...
This is the base class for any user-defined PTG.
The structure used for storing a movement generated by a holonomic-method.
std::vector< TPTGmultilevel > m_ptgmultilevel
The set of PTG-transformations to be used:
Base class for reactive navigator systems based on TP-Space, with an arbitrary holonomic reactive met...
THolonomicMovement holonomicmov
See base class CAbstractPTGBasedReactive for a description and instructions of use.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
std::vector< mrpt::maps::CSimplePointsMap > m_WS_Obstacles_inlevels
One point cloud per 2.5D robot-shape-slice, coordinates relative to the robot local frame...
mrpt::math::TPoint2D TP_Target
The pure virtual class that a user of CAbstractReactiveNavigationSystem-derived classes must implemen...
virtual CParameterizedTrajectoryGenerator * getPTG(size_t i)
Gets the i'th PTG.
std::vector< float > heights