Clearance information for one particular PTG and one set of obstacles.
Usage:
Definition at line 28 of file ClearanceDiagram.h.
#include <mrpt/nav/holonomic/ClearanceDiagram.h>
|
typedef std::map< double, double > | dist2clearance_t |
| [TPS_distance] => normalized_clearance_for_exactly_that_robot_pose */ More...
|
|
|
| ClearanceDiagram () |
| default ctor More...
|
|
void | clear () |
| Reset to default, empty state. More...
|
|
void | resize (size_t actual_num_paths, size_t decimated_num_paths) |
| Initializes the container to allocate decimated_num_paths entries, as a decimated subset of a total of actual_num_paths paths. More...
|
|
bool | empty () const |
|
size_t | get_actual_num_paths () const |
|
size_t | get_decimated_num_paths () const |
|
double | getClearance (uint16_t k, double TPS_query_distance, bool integrate_over_path) const |
| Gets the clearance for path k and distance TPS_query_distance in one of two modes: More...
|
|
void | renderAs3DObject (mrpt::opengl::CMesh &mesh, double min_x, double max_x, double min_y, double max_y, double cell_res, bool integrate_over_path) const |
|
void | readFromStream (mrpt::utils::CStream &in) |
|
void | writeToStream (mrpt::utils::CStream &out) const |
|
dist2clearance_t & | get_path_clearance (size_t actual_k) |
|
const dist2clearance_t & | get_path_clearance (size_t actual_k) const |
|
dist2clearance_t & | get_path_clearance_decimated (size_t decim_k) |
|
const dist2clearance_t & | get_path_clearance_decimated (size_t decim_k) const |
|
size_t | real_k_to_decimated_k (size_t k) const |
|
size_t | decimated_k_to_real_k (size_t k) const |
|
◆ dist2clearance_t
[TPS_distance] => normalized_clearance_for_exactly_that_robot_pose */
Definition at line 50 of file ClearanceDiagram.h.
◆ ClearanceDiagram()
mrpt::nav::ClearanceDiagram::ClearanceDiagram |
( |
| ) |
|
◆ clear()
void mrpt::nav::ClearanceDiagram::clear |
( |
| ) |
|
Reset to default, empty state.
◆ decimated_k_to_real_k()
size_t mrpt::nav::ClearanceDiagram::decimated_k_to_real_k |
( |
size_t |
k | ) |
const |
◆ empty()
bool mrpt::nav::ClearanceDiagram::empty |
( |
| ) |
const |
|
inline |
◆ get_actual_num_paths()
size_t mrpt::nav::ClearanceDiagram::get_actual_num_paths |
( |
| ) |
const |
|
inline |
◆ get_decimated_num_paths()
size_t mrpt::nav::ClearanceDiagram::get_decimated_num_paths |
( |
| ) |
const |
|
inline |
◆ get_path_clearance() [1/2]
dist2clearance_t& mrpt::nav::ClearanceDiagram::get_path_clearance |
( |
size_t |
actual_k | ) |
|
◆ get_path_clearance() [2/2]
const dist2clearance_t& mrpt::nav::ClearanceDiagram::get_path_clearance |
( |
size_t |
actual_k | ) |
const |
◆ get_path_clearance_decimated() [1/2]
dist2clearance_t& mrpt::nav::ClearanceDiagram::get_path_clearance_decimated |
( |
size_t |
decim_k | ) |
|
|
inline |
◆ get_path_clearance_decimated() [2/2]
const dist2clearance_t& mrpt::nav::ClearanceDiagram::get_path_clearance_decimated |
( |
size_t |
decim_k | ) |
const |
|
inline |
◆ getClearance()
double mrpt::nav::ClearanceDiagram::getClearance |
( |
uint16_t |
k, |
|
|
double |
TPS_query_distance, |
|
|
bool |
integrate_over_path |
|
) |
| const |
Gets the clearance for path k
and distance TPS_query_distance
in one of two modes:
- [integrate_over_path=false] clearance from that specific spot, or
- [integrate_over_path=true] average clearance over the path from the origin to that specific spot.
◆ readFromStream()
◆ real_k_to_decimated_k()
size_t mrpt::nav::ClearanceDiagram::real_k_to_decimated_k |
( |
size_t |
k | ) |
const |
◆ renderAs3DObject()
void mrpt::nav::ClearanceDiagram::renderAs3DObject |
( |
mrpt::opengl::CMesh & |
mesh, |
|
|
double |
min_x, |
|
|
double |
max_x, |
|
|
double |
min_y, |
|
|
double |
max_y, |
|
|
double |
cell_res, |
|
|
bool |
integrate_over_path |
|
) |
| const |
◆ resize()
void mrpt::nav::ClearanceDiagram::resize |
( |
size_t |
actual_num_paths, |
|
|
size_t |
decimated_num_paths |
|
) |
| |
Initializes the container to allocate decimated_num_paths
entries, as a decimated subset of a total of actual_num_paths
paths.
◆ writeToStream()
◆ m_actual_num_paths
size_t mrpt::nav::ClearanceDiagram::m_actual_num_paths |
|
protected |
◆ m_k_a2d
double mrpt::nav::ClearanceDiagram::m_k_a2d |
|
protected |
◆ m_k_d2a
double mrpt::nav::ClearanceDiagram::m_k_d2a |
|
protected |
◆ m_raw_clearances
Container: [decimated_path_k][TPS_distance] => normalized_clearance_for_exactly_that_robot_pose.
Definition at line 62 of file ClearanceDiagram.h.