This is the base class for any user-defined PTG.
There is a class factory interface in CParameterizedTrajectoryGenerator::CreatePTG.
Papers:
Changes history:
Definition at line 61 of file CParameterizedTrajectoryGenerator.h.
#include <mrpt/nav/tpspace/CParameterizedTrajectoryGenerator.h>
Classes | |
struct | TNavDynamicState |
Dynamic state that may affect the PTG path parameterization. More... | |
Public Member Functions | |
CParameterizedTrajectoryGenerator () | |
Default ctor. Must call loadFromConfigFile() before initialization. More... | |
virtual | ~CParameterizedTrajectoryGenerator () |
void | updateNavDynamicState (const TNavDynamicState &newState, const bool force_update=false) |
To be invoked by the navigator before each navigation step, to let the PTG to react to changing dynamic conditions. More... | |
const TNavDynamicState & | getCurrentNavDynamicState () const |
void | initialize (const std::string &cacheFilename=std::string(), const bool verbose=true) |
Must be called after setting all PTG parameters and before requesting converting obstacles to TP-Space, inverseMap_WS2TP(), etc. More... | |
void | deinitialize () |
This must be called to de-initialize the PTG if some parameter is to be changed. More... | |
bool | isInitialized () const |
Returns true if initialize() has been called and there was no errors, so the PTG is ready to be queried for paths, obstacles, etc. More... | |
uint16_t | getAlphaValuesCount () const |
Get the number of different, discrete paths in this family. More... | |
uint16_t | getPathCount () const |
Get the number of different, discrete paths in this family. More... | |
double | index2alpha (uint16_t k) const |
Alpha value for the discrete corresponding value. More... | |
uint16_t | alpha2index (double alpha) const |
Discrete index value for the corresponding alpha value. More... | |
double | getRefDistance () const |
void | initTPObstacles (std::vector< double > &TP_Obstacles) const |
Resizes and populates the initial appropriate contents in a vector of tp-obstacles (collision-free ranges, in "pseudometers", un-normalized). More... | |
void | initTPObstacleSingle (uint16_t k, double &TP_Obstacle_k) const |
double | getScorePriority () const |
When used in path planning, a multiplying factor (default=1.0) for the scores for this PTG. More... | |
void | setScorePriorty (double prior) |
unsigned | getClearanceStepCount () const |
void | setClearanceStepCount (const unsigned res) |
unsigned | getClearanceDecimatedPaths () const |
void | setClearanceDecimatedPaths (const unsigned num) |
virtual void | renderPathAsSimpleLine (const uint16_t k, mrpt::opengl::CSetOfLines &gl_obj, const double decimate_distance=0.1, const double max_path_distance=-1.0) const |
Returns the representation of one trajectory of this PTG as a 3D OpenGL object (a simple curved line). More... | |
bool | debugDumpInFiles (const std::string &ptg_name) const |
Dump PTG trajectories in four text files: `. More... | |
virtual void | loadFromConfigFile (const mrpt::utils::CConfigFileBase &cfg, const std::string &sSection) MRPT_OVERRIDE |
Parameters accepted by this base class: More... | |
virtual void | saveToConfigFile (mrpt::utils::CConfigFileBase &cfg, const std::string &sSection) const MRPT_OVERRIDE |
This method saves the options to a ".ini"-like file or memory-stored string list. More... | |
virtual void | add_robotShape_to_setOfLines (mrpt::opengl::CSetOfLines &gl_shape, const mrpt::poses::CPose2D &origin=mrpt::poses::CPose2D()) const =0 |
Auxiliary function for rendering. More... | |
void | initClearanceDiagram (ClearanceDiagram &cd) const |
Must be called to resize a CD to its correct size, before calling updateClearance() More... | |
void | updateClearance (const double ox, const double oy, ClearanceDiagram &cd) const |
Updates the clearance diagram given one (ox,oy) obstacle point, in coordinates relative to the PTG path origin. More... | |
void | updateClearancePost (ClearanceDiagram &cd, const std::vector< double > &TP_obstacles) const |
virtual void | evalClearanceSingleObstacle (const double ox, const double oy, const uint16_t k, ClearanceDiagram::dist2clearance_t &inout_realdist2clearance, bool treat_as_obstacle=true) const |
Evals the robot clearance for each robot pose along path k , for the real distances in the key of the map<>, then keep in the map value the minimum of its current stored clearance, or the computed clearance. More... | |
virtual mxArray * | writeToMatlab () const |
Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More... | |
virtual CObject * | duplicate () const =0 |
Returns a copy of the object, indepently of its class. More... | |
mrpt::utils::CObjectPtr | duplicateGetSmartPtr () const |
Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More... | |
CObject * | clone () const |
Cloning interface for smart pointers. More... | |
void | loadFromConfigFileName (const std::string &config_file, const std::string §ion) |
Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file. More... | |
void | saveToConfigFileName (const std::string &config_file, const std::string §ion) const |
Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file. More... | |
void | dumpToConsole () const |
Just like dumpToTextStream() but sending the text to the console (std::cout) More... | |
virtual void | dumpToTextStream (mrpt::utils::CStream &out) const |
This method should clearly display all the contents of the structure in textual form, sending it to a CStream. More... | |
Static Public Member Functions | |
static CParameterizedTrajectoryGenerator * | CreatePTG (const std::string &ptgClassName, const mrpt::utils::CConfigFileBase &cfg, const std::string &sSection, const std::string &sKeyPrefix) |
The class factory for creating a PTG from a list of parameters in a section of a given config file (physical file or in memory). More... | |
static double | index2alpha (uint16_t k, const unsigned int num_paths) |
static uint16_t | alpha2index (double alpha, const unsigned int num_paths) |
Static Public Attributes | |
static std::string | OUTPUT_DEBUG_PATH_PREFIX |
The path used as defaul output in, for example, debugDumpInFiles. (Default="./reactivenav.logs/") More... | |
static PTG_collision_behavior_t | COLLISION_BEHAVIOR |
Defines the behavior when there is an obstacle inside the robot shape right at the beginning of a PTG trajectory. More... | |
static const mrpt::utils::TRuntimeClassId | classCObject |
RTTI stuff | |
static const mrpt::utils::TRuntimeClassId | classCSerializable |
Protected Member Functions | |
void | internal_TPObsDistancePostprocess (const double ox, const double oy, const double new_tp_obs_dist, double &inout_tp_obs) const |
To be called by implementors of updateTPObstacle() and updateTPObstacleSingle() to honor the user settings regarding COLLISION_BEHAVIOR. More... | |
virtual void | internal_readFromStream (mrpt::utils::CStream &in) |
virtual void | internal_writeToStream (mrpt::utils::CStream &out) const |
virtual void | writeToStream (mrpt::utils::CStream &out, int *getVersion) const =0 |
Introduces a pure virtual method responsible for writing to a CStream. More... | |
virtual void | readFromStream (mrpt::utils::CStream &in, int version)=0 |
Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More... | |
Static Protected Member Functions | |
static void | dumpVar_int (CStream &out, const char *varName, int v) |
Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. More... | |
static void | dumpVar_float (CStream &out, const char *varName, float v) |
static void | dumpVar_double (CStream &out, const char *varName, double v) |
static void | dumpVar_bool (CStream &out, const char *varName, bool v) |
static void | dumpVar_string (CStream &out, const char *varName, const std::string &v) |
Protected Attributes | |
double | refDistance |
uint16_t | m_alphaValuesCount |
The number of discrete values for "alpha" between -PI and +PI. More... | |
double | m_score_priority |
uint16_t | m_clearance_num_points |
Number of steps for the piecewise-constant approximation of clearance from TPS distances [0,1] (Default=5) More... | |
uint16_t | m_clearance_decimated_paths |
Number of paths for the decimated paths analysis of clearance. More... | |
TNavDynamicState | m_nav_dyn_state |
Updated before each nav step by. More... | |
uint16_t | m_nav_dyn_state_target_k |
Update in updateNavDynamicState(), contains the path index (k) for the target. More... | |
bool | m_is_initialized |
Static Protected Attributes | |
static const uint16_t | INVALID_PTG_PATH_INDEX = static_cast<uint16_t>(-1) |
RTTI stuff | |
static const mrpt::utils::TRuntimeClassId | classCParameterizedTrajectoryGenerator |
class | mrpt::utils::CStream |
static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const |
Returns information about the class of an object in runtime. More... | |
Virtual interface of each PTG implementation | |
virtual std::string | getDescription () const =0 |
Gets a short textual description of the PTG and its parameters. More... | |
virtual bool | inverseMap_WS2TP (double x, double y, int &out_k, double &out_normalized_d, double tolerance_dist=0.10) const =0 |
Computes the closest (alpha,d) TP coordinates of the trajectory point closest to the Workspace (WS) Cartesian coordinates (x,y), relative to the current robot frame. More... | |
virtual bool | PTG_IsIntoDomain (double x, double y) const |
Returns the same than inverseMap_WS2TP() but without any additional cost. More... | |
virtual bool | isBijectiveAt (uint16_t k, uint32_t step) const |
Returns true if a given TP-Space point maps to a unique point in Workspace, and viceversa. More... | |
virtual mrpt::kinematics::CVehicleVelCmdPtr | directionToMotionCommand (uint16_t k) const =0 |
Converts a discretized "alpha" value into a feasible motion command or action. More... | |
virtual mrpt::kinematics::CVehicleVelCmdPtr | getSupportedKinematicVelocityCommand () const =0 |
Returns an empty kinematic velocity command object of the type supported by this PTG. More... | |
virtual void | setRefDistance (const double refDist) |
virtual size_t | getPathStepCount (uint16_t k) const =0 |
Access path k ([0,N-1]=>[-pi,pi] in alpha): number of discrete "steps" along the trajectory. More... | |
virtual void | getPathPose (uint16_t k, uint32_t step, mrpt::math::TPose2D &p) const =0 |
Access path k ([0,N-1]=>[-pi,pi] in alpha): pose of the vehicle at discrete step step . More... | |
virtual double | getPathDist (uint16_t k, uint32_t step) const =0 |
Access path k ([0,N-1]=>[-pi,pi] in alpha): traversed distance at discrete step step . More... | |
virtual double | getPathStepDuration () const =0 |
Returns the duration (in seconds) of each "step". More... | |
virtual double | getMaxLinVel () const =0 |
Returns the maximum linear velocity expected from this PTG [m/s]. More... | |
virtual double | getMaxAngVel () const =0 |
Returns the maximum angular velocity expected from this PTG [rad/s]. More... | |
virtual bool | getPathStepForDist (uint16_t k, double dist, uint32_t &out_step) const =0 |
Access path k ([0,N-1]=>[-pi,pi] in alpha): largest step count for which the traversed distance is < dist More... | |
virtual void | updateTPObstacle (double ox, double oy, std::vector< double > &tp_obstacles) const =0 |
Updates the radial map of closest TP-Obstacles given a single obstacle point at (ox,oy) More... | |
virtual void | updateTPObstacleSingle (double ox, double oy, uint16_t k, double &tp_obstacle_k) const =0 |
Like updateTPObstacle() but for one direction only (k ) in TP-Space. More... | |
virtual void | loadDefaultParams () |
Loads a set of default parameters into the PTG. More... | |
virtual bool | supportVelCmdNOP () const |
Returns true if it is possible to stop sending velocity commands to the robot and, still, the robot controller will be able to keep following the last sent trajectory ("NOP" velocity commands). More... | |
virtual bool | supportSpeedAtTarget () const |
Returns true if this PTG takes into account the desired velocity at target. More... | |
virtual double | maxTimeInVelCmdNOP (int path_k) const |
Only for PTGs supporting supportVelCmdNOP(): this is the maximum time (in seconds) for which the path can be followed without re-issuing a new velcmd. More... | |
virtual double | getActualUnloopedPathLength (uint16_t k) const |
Returns the actual distance (in meters) of the path, discounting possible circular loops of the path (e.g. More... | |
virtual double | evalPathRelativePriority (uint16_t k, double target_distance) const |
Query the PTG for the relative priority factor (0,1) of this PTG, in comparison to others, if the k-th path is to be selected. More... | |
virtual double | getMaxRobotRadius () const =0 |
Returns an approximation of the robot radius. More... | |
virtual bool | isPointInsideRobotShape (const double x, const double y) const =0 |
Returns true if the point lies within the robot shape. More... | |
virtual double | evalClearanceToRobotShape (const double ox, const double oy) const =0 |
Evals the clearance from an obstacle (ox,oy) in coordinates relative to the robot center. More... | |
virtual void | internal_initialize (const std::string &cacheFilename=std::string(), const bool verbose=true)=0 |
Must be called after setting all PTG parameters and before requesting converting obstacles to TP-Space, inverseMap_WS2TP(), etc. More... | |
virtual void | internal_deinitialize ()=0 |
This must be called to de-initialize the PTG if some parameter is to be changed. More... | |
virtual void | onNewNavDynamicState ()=0 |
Invoked when m_nav_dyn_state has changed; gives the PTG the opportunity to react and parameterize paths depending on the instantaneous conditions. More... | |
mrpt::nav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator | ( | ) |
Default ctor. Must call loadFromConfigFile()
before initialization.
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inlinevirtual |
Definition at line 68 of file CParameterizedTrajectoryGenerator.h.
References exprtk::details::x().
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pure virtual |
Auxiliary function for rendering.
Implemented in mrpt::nav::CPTG_RobotShape_Circular, and mrpt::nav::CPTG_RobotShape_Polygonal.
uint16_t mrpt::nav::CParameterizedTrajectoryGenerator::alpha2index | ( | double | alpha | ) | const |
Discrete index value for the corresponding alpha value.
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The class factory for creating a PTG from a list of parameters in a section of a given config file (physical file or in memory).
Possible parameters are:
ptgClassName
can be any PTG class name which has been registered as any other mrpt::utils::CSerializable class.
std::logic_error | On invalid or missing parameters. |
bool mrpt::nav::CParameterizedTrajectoryGenerator::debugDumpInFiles | ( | const std::string & | ptg_name | ) | const |
Dump PTG trajectories in four text files: `.
/reactivenav.logs/PTGs/PTGi_{x,y,phi,d}.txt Text files are loadable from MATLAB/Octave, and can be visualized with the script
[MRPT_DIR]/scripts/viewPTG.m`
void mrpt::nav::CParameterizedTrajectoryGenerator::deinitialize | ( | ) |
This must be called to de-initialize the PTG if some parameter is to be changed.
After changing it, call initialize again
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Converts a discretized "alpha" value into a feasible motion command or action.
See derived classes for the meaning of these actions
Implemented in mrpt::nav::CPTG_DiffDrive_CollisionGridBased, and mrpt::nav::CPTG_Holo_Blend.
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Just like dumpToTextStream() but sending the text to the console (std::cout)
Referenced by mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< GRAPH_T >::printParams(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::printParams(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::printParams(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::printParams(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::printParams().
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This method should clearly display all the contents of the structure in textual form, sending it to a CStream.
The default implementation in this base class relies on saveToConfigFile() to generate a plain text representation of all the parameters.
Reimplemented in mrpt::vision::TMultiResDescOptions, mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams, mrpt::vision::TMultiResDescMatchOptions, mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams, mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions, mrpt::hmtslam::CHMTSLAM::TOptions, mrpt::maps::COccupancyGridMap2D::TInsertionOptions, mrpt::vision::TMatchingOptions, mrpt::maps::TSetOfMetricMapInitializers, mrpt::maps::CLandmarksMap::TLikelihoodOptions, mrpt::maps::CColouredPointsMap::TColourOptions, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::GraphVisualizationParams, mrpt::maps::CPointsMap::TLikelihoodOptions, mrpt::maps::CLandmarksMap::TInsertionOptions, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::TParams, mrpt::vision::TStereoSystemParams, mrpt::maps::CPointsMap::TInsertionOptions, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams, mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::TParams, mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TLikelihoodOptions, mrpt::slam::CRangeBearingKFSLAM::TOptions, mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams, mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::TParams, mrpt::maps::CBeaconMap::TInsertionOptions, mrpt::maps::CRandomFieldGridMap3D::TInsertionOptions, mrpt::maps::CMultiMetricMapPDF::TPredictionParams, mrpt::maps::CBeaconMap::TLikelihoodOptions, mrpt::slam::CRangeBearingKFSLAM2D::TOptions, mrpt::maps::CHeightGridMap2D::TInsertionOptions, mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions, mrpt::graphslam::TSlidingWindow, mrpt::slam::CGridMapAligner::TConfigParams, mrpt::bayes::CParticleFilter::TParticleFilterOptions, mrpt::bayes::TKF_options, mrpt::maps::CReflectivityGridMap2D::TInsertionOptions, mrpt::vision::CFeatureExtraction::TOptions, mrpt::graphslam::TUncertaintyPath< GRAPH_T >, mrpt::maps::TMapGenericParams, mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions, mrpt::hmtslam::CTopLCDetector_GridMatching::TOptions, mrpt::hmtslam::CTopLCDetector_FabMap::TOptions, mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions, mrpt::slam::CICP::TConfigParams, mrpt::slam::CIncrementalMapPartitioner::TOptions, mrpt::maps::CHeightGridMap2D_MRF::TInsertionOptions, mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions, mrpt::slam::CMetricMapBuilderICP::TConfigParams, mrpt::maps::TMetricMapInitializer, mrpt::vision::CCamModel, and mrpt::slam::TKLDParams.
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staticprotectedinherited |
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staticprotectedinherited |
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staticprotectedinherited |
Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.
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staticprotectedinherited |
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pure virtualinherited |
Returns a copy of the object, indepently of its class.
Implemented in mrpt::nav::CLogFileRecord_ND, mrpt::obs::CObservation3DRangeScan, mrpt::maps::CMultiMetricMap, mrpt::utils::CSimpleDatabase, mrpt::nav::CLogFileRecord_FullEval, mrpt::utils::CImage, mrpt::gui::CDisplayWindow3D, mrpt::detectors::CDetectable3D, mrpt::hmtslam::THypothesisIDSet, mrpt::maps::CRandomFieldGridMap3D, mrpt::obs::CObservationIMU, mrpt::poses::CPose3D, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::maps::COccupancyGridMap2D, mrpt::maps::CMultiMetricMapPDF, mrpt::obs::CObservationRGBD360, mrpt::maps::TMapGenericParams, mrpt::hmtslam::CHMTSLAM, mrpt::obs::CObservationGPS, mrpt::maps::CLandmarksMap, mrpt::maps::CHeightGridMap2D, mrpt::opengl::COctoMapVoxels, mrpt::poses::CPointPDFParticles, mrpt::opengl::COpenGLViewport, mrpt::obs::CObservationVelodyneScan, mrpt::vision::CFeature, mrpt::kinematics::CKinematicChain, mrpt::opengl::CPlanarLaserScan, mrpt::nav::CHolonomicVFF, mrpt::obs::CRawlog, mrpt::obs::CSensoryFrame, mrpt::nav::CHolonomicND, mrpt::poses::CPose3DInterpolator, mrpt::opengl::CPointCloud, mrpt::detectors::CDetectable2D, mrpt::nav::CHolonomicFullEval, mrpt::opengl::COpenGLScene, mrpt::pbmap::Plane, mrpt::poses::CPose2DInterpolator, mrpt::opengl::CFrustum, mrpt::opengl::CPointCloudColoured, mrpt::pbmap::PbMap, mrpt::maps::CBeaconMap, mrpt::maps::CReflectivityGridMap2D, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::obs::CObservation2DRangeScan, mrpt::hmtslam::CLSLAMParticleData, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::opengl::CText3D, mrpt::opengl::CVectorField3D, mrpt::poses::CPose3DQuat, mrpt::poses::CPose3DRotVec, mrpt::utils::CMHPropertiesValuesList, mrpt::hmtslam::CHMHMapNode, mrpt::obs::CObservationStereoImages, mrpt::opengl::CAssimpModel, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::maps::CBeacon, mrpt::nav::CPTG_DiffDrive_C, mrpt::opengl::CMeshFast, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::opengl::CMesh, mrpt::poses::CPose3DPDFGaussianInf, mrpt::opengl::CAngularObservationMesh, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CMesh3D, mrpt::opengl::CText, mrpt::poses::CPose2D, mrpt::poses::CPose3DPDFGaussian, mrpt::poses::CPosePDFSOG, mrpt::hmtslam::CRobotPosesGraph, mrpt::maps::CRBPFParticleData, mrpt::poses::CPoint2D, mrpt::poses::CPose3DPDFParticles, mrpt::poses::CPosePDFParticles, mrpt::poses::CPointPDFSOG, mrpt::poses::CPosePDFGaussianInf, mrpt::maps::COctoMap, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::obs::CObservationImage, mrpt::opengl::CBox, mrpt::opengl::CVectorField2D, mrpt::poses::CPose3DPDFSOG, mrpt::hmtslam::CHierarchicalMHMap, mrpt::hmtslam::CHMHMapArc, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CHeightGridMap2D_MRF, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationBatteryState, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::opengl::CSetOfLines, mrpt::maps::CLandmark, mrpt::maps::CSimplePointsMap, mrpt::opengl::CArrow, mrpt::opengl::CAxis, mrpt::opengl::CDisk, mrpt::opengl::CSphere, mrpt::poses::CPoint3D, mrpt::poses::CPosePDFGaussian, mrpt::utils::CStringList, mrpt::maps::CColouredOctoMap, mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, mrpt::nav::CLogFileRecord, mrpt::obs::CActionRobotMovement2D, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationWindSensor, mrpt::opengl::CCamera, mrpt::opengl::CColorBar, mrpt::opengl::CPolyhedron, mrpt::slam::CIncrementalMapPartitioner, mrpt::gui::CDisplayWindowPlots, mrpt::obs::CActionCollection, mrpt::opengl::CSetOfObjects, mrpt::math::CMatrix, mrpt::math::CMatrixD, mrpt::poses::CPosePDFGrid, mrpt::utils::TCamera, mrpt::obs::CObservationRange, mrpt::obs::CObservationRawDAQ, mrpt::obs::CObservationSkeleton, mrpt::math::CSplineInterpolator1D, mrpt::utils::CSimpleDatabaseTable, mrpt::gui::CDisplayWindow, mrpt::nav::CLogFileRecord_VFF, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationWirelessPower, mrpt::obs::CObservationVisualLandmarks, mrpt::poses::CPoses2DSequence, mrpt::poses::CPoses3DSequence, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationRFID, mrpt::opengl::CCylinder, mrpt::opengl::CSetOfTriangles, mrpt::poses::TSimple3DPoint, mrpt::utils::CMemoryChunk, mrpt::nav::CMultiObjMotionOpt_Scalarization, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, mrpt::nav::CPTG_Holo_Blend, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservationReflectivity, mrpt::opengl::C3DSScene, mrpt::opengl::CSetOfTexturedTriangles, mrpt::math::CMatrixB, mrpt::poses::CPointPDFGaussian, mrpt::utils::CPropertiesValuesList, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationRobotPose, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, mrpt::math::CPolygon, mrpt::utils::CTypeSelector, mrpt::poses::CPoint2DPDFGaussian, mrpt::utils::TStereoCamera, mrpt::kinematics::CVehicleVelCmd_DiffDriven, mrpt::kinematics::CVehicleVelCmd_Holo, and mrpt::opengl::COpenGLStandardObject.
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inlineinherited |
|
virtual |
Evals the robot clearance for each robot pose along path k
, for the real distances in the key of the map<>, then keep in the map value the minimum of its current stored clearance, or the computed clearance.
In case of collision, clearance is zero.
treat_as_obstacle | true: normal use for obstacles; false: compute shortest distances to a target point (no collision) |
|
pure virtual |
Evals the clearance from an obstacle (ox,oy) in coordinates relative to the robot center.
Zero or negative means collision.
Implemented in mrpt::nav::CPTG_RobotShape_Circular, and mrpt::nav::CPTG_RobotShape_Polygonal.
|
inlinevirtual |
Query the PTG for the relative priority factor (0,1) of this PTG, in comparison to others, if the k-th path is to be selected.
Definition at line 211 of file CParameterizedTrajectoryGenerator.h.
|
inlinevirtual |
Returns the actual distance (in meters) of the path, discounting possible circular loops of the path (e.g.
if it comes back to the origin). Default: refDistance
Definition at line 208 of file CParameterizedTrajectoryGenerator.h.
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inline |
Get the number of different, discrete paths in this family.
Definition at line 237 of file CParameterizedTrajectoryGenerator.h.
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inline |
Definition at line 262 of file CParameterizedTrajectoryGenerator.h.
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inline |
Definition at line 259 of file CParameterizedTrajectoryGenerator.h.
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inline |
Definition at line 225 of file CParameterizedTrajectoryGenerator.h.
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pure virtual |
Gets a short textual description of the PTG and its parameters.
Implemented in mrpt::nav::CPTG_DiffDrive_C, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::nav::CPTG_Holo_Blend, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, and mrpt::nav::CPTG_DiffDrive_CS.
|
pure virtual |
Returns the maximum angular velocity expected from this PTG [rad/s].
Implemented in mrpt::nav::CPTG_DiffDrive_CollisionGridBased, and mrpt::nav::CPTG_Holo_Blend.
|
pure virtual |
Returns the maximum linear velocity expected from this PTG [m/s].
Implemented in mrpt::nav::CPTG_DiffDrive_CollisionGridBased, and mrpt::nav::CPTG_Holo_Blend.
|
pure virtual |
Returns an approximation of the robot radius.
Implemented in mrpt::nav::CPTG_RobotShape_Circular, and mrpt::nav::CPTG_RobotShape_Polygonal.
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inline |
Get the number of different, discrete paths in this family.
Definition at line 239 of file CParameterizedTrajectoryGenerator.h.
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pure virtual |
Access path k
([0,N-1]=>[-pi,pi] in alpha): traversed distance at discrete step step
.
Implemented in mrpt::nav::CPTG_DiffDrive_CollisionGridBased, and mrpt::nav::CPTG_Holo_Blend.
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pure virtual |
Access path k
([0,N-1]=>[-pi,pi] in alpha): pose of the vehicle at discrete step step
.
Implemented in mrpt::nav::CPTG_DiffDrive_CollisionGridBased, and mrpt::nav::CPTG_Holo_Blend.
|
pure virtual |
Access path k
([0,N-1]=>[-pi,pi] in alpha): number of discrete "steps" along the trajectory.
May be actual steps from a numerical integration or an arbitrary small length for analytical PTGs.
Implemented in mrpt::nav::CPTG_DiffDrive_CollisionGridBased, and mrpt::nav::CPTG_Holo_Blend.
|
pure virtual |
Returns the duration (in seconds) of each "step".
Implemented in mrpt::nav::CPTG_DiffDrive_CollisionGridBased, and mrpt::nav::CPTG_Holo_Blend.
|
pure virtual |
Access path k
([0,N-1]=>[-pi,pi] in alpha): largest step count for which the traversed distance is < dist
[in] | dist | Distance in pseudometers (real distance, NOT normalized to [0,1] for [0,refDist]) |
k
(e.g. out of reference distance). Note that, anyway, the maximum distance (closest point) is returned in out_step
. Implemented in mrpt::nav::CPTG_DiffDrive_CollisionGridBased, and mrpt::nav::CPTG_Holo_Blend.
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inline |
Definition at line 249 of file CParameterizedTrajectoryGenerator.h.
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virtual |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::utils::CSerializable.
Reimplemented in mrpt::nav::CPTG_DiffDrive_C, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, and mrpt::nav::CPTG_Holo_Blend.
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inline |
When used in path planning, a multiplying factor (default=1.0) for the scores for this PTG.
Assign values <1 to PTGs with low priority.
Definition at line 256 of file CParameterizedTrajectoryGenerator.h.
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pure virtual |
Returns an empty kinematic velocity command object of the type supported by this PTG.
Can be queried to determine the expected kinematic interface of the PTG.
Implemented in mrpt::nav::CPTG_DiffDrive_CollisionGridBased, and mrpt::nav::CPTG_Holo_Blend.
double mrpt::nav::CParameterizedTrajectoryGenerator::index2alpha | ( | uint16_t | k | ) | const |
Alpha value for the discrete corresponding value.
|
static |
void mrpt::nav::CParameterizedTrajectoryGenerator::initClearanceDiagram | ( | ClearanceDiagram & | cd | ) | const |
Must be called to resize a CD to its correct size, before calling updateClearance()
void mrpt::nav::CParameterizedTrajectoryGenerator::initialize | ( | const std::string & | cacheFilename = std::string() , |
const bool | verbose = true |
||
) |
Must be called after setting all PTG parameters and before requesting converting obstacles to TP-Space, inverseMap_WS2TP(), etc.
void mrpt::nav::CParameterizedTrajectoryGenerator::initTPObstacles | ( | std::vector< double > & | TP_Obstacles | ) | const |
Resizes and populates the initial appropriate contents in a vector of tp-obstacles (collision-free ranges, in "pseudometers", un-normalized).
void mrpt::nav::CParameterizedTrajectoryGenerator::initTPObstacleSingle | ( | uint16_t | k, |
double & | TP_Obstacle_k | ||
) | const |
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protectedpure virtual |
This must be called to de-initialize the PTG if some parameter is to be changed.
After changing it, call initialize again
Implemented in mrpt::nav::CPTG_DiffDrive_CollisionGridBased, and mrpt::nav::CPTG_Holo_Blend.
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protectedpure virtual |
Must be called after setting all PTG parameters and before requesting converting obstacles to TP-Space, inverseMap_WS2TP(), etc.
Implemented in mrpt::nav::CPTG_DiffDrive_CollisionGridBased, and mrpt::nav::CPTG_Holo_Blend.
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protectedvirtual |
Reimplemented in mrpt::nav::CPTG_DiffDrive_CollisionGridBased.
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protected |
To be called by implementors of updateTPObstacle() and updateTPObstacleSingle() to honor the user settings regarding COLLISION_BEHAVIOR.
new_tp_obs_dist | The newly determiend collision-free ranges, in "pseudometers", un-normalized, for some "k" direction. |
inout_tp_obs | The target where to store the new TP-Obs distance, if it fulfills the criteria determined by the collision behavior. |
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protectedvirtual |
Reimplemented in mrpt::nav::CPTG_DiffDrive_CollisionGridBased.
|
pure virtual |
Computes the closest (alpha,d) TP coordinates of the trajectory point closest to the Workspace (WS) Cartesian coordinates (x,y), relative to the current robot frame.
[in] | x | X coordinate of the query point, relative to the robot frame. |
[in] | y | Y coordinate of the query point, relative to the robot frame. |
[out] | out_k | Trajectory parameter index (discretized alpha value, 0-based index). |
[out] | out_d | Trajectory distance, normalized such that D_max becomes 1. |
Implemented in mrpt::nav::CPTG_DiffDrive_CollisionGridBased, mrpt::nav::CPTG_DiffDrive_C, and mrpt::nav::CPTG_Holo_Blend.
|
inlinevirtual |
Returns true if a given TP-Space point maps to a unique point in Workspace, and viceversa.
Default implementation returns true
.
Definition at line 113 of file CParameterizedTrajectoryGenerator.h.
bool mrpt::nav::CParameterizedTrajectoryGenerator::isInitialized | ( | ) | const |
Returns true if initialize()
has been called and there was no errors, so the PTG is ready to be queried for paths, obstacles, etc.
|
pure virtual |
Returns true if the point lies within the robot shape.
Implemented in mrpt::nav::CPTG_RobotShape_Circular, and mrpt::nav::CPTG_RobotShape_Polygonal.
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virtual |
Loads a set of default parameters into the PTG.
Users normally will call loadFromConfigFile()
instead, this method is provided exclusively for the PTG-configurator tool.
Reimplemented in mrpt::nav::CPTG_RobotShape_Circular, mrpt::nav::CPTG_RobotShape_Polygonal, mrpt::nav::CPTG_DiffDrive_CollisionGridBased, mrpt::nav::CPTG_DiffDrive_C, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, and mrpt::nav::CPTG_Holo_Blend.
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virtual |
Parameters accepted by this base class:
${sKeyPrefix}num_paths
: The number of different paths in this family (number of discrete alpha
values).${sKeyPrefix}ref_distance
: The maximum distance in PTGs [meters]${sKeyPrefix}score_priority
: When used in path planning, a multiplying factor (default=1.0) for the scores for this PTG. Assign values <1 to PTGs with low priority. Implements mrpt::utils::CLoadableOptions.
Reimplemented in mrpt::nav::CPTG_DiffDrive_CollisionGridBased, mrpt::nav::CPTG_DiffDrive_C, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, and mrpt::nav::CPTG_Holo_Blend.
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inherited |
Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file.
Referenced by mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< GRAPH_T >::loadParams(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::loadParams(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::loadParams(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::loadParams().
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virtual |
Only for PTGs supporting supportVelCmdNOP(): this is the maximum time (in seconds) for which the path can be followed without re-issuing a new velcmd.
Note that this is only an absolute maximum duration, navigation implementations will check for many other conditions. Default method in the base virtual class returns 0.
path_k | Queried path k index [0,N-1] |
Reimplemented in mrpt::nav::CPTG_Holo_Blend.
|
protectedpure virtual |
Invoked when m_nav_dyn_state
has changed; gives the PTG the opportunity to react and parameterize paths depending on the instantaneous conditions.
Implemented in mrpt::nav::CPTG_DiffDrive_CollisionGridBased, and mrpt::nav::CPTG_Holo_Blend.
|
inlinevirtual |
Returns the same than inverseMap_WS2TP() but without any additional cost.
The default implementation just calls inverseMap_WS2TP() and discards (k,d).
Reimplemented in mrpt::nav::CPTG_DiffDrive_C, mrpt::nav::CPTG_Holo_Blend, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, and mrpt::nav::CPTG_DiffDrive_CS.
Definition at line 107 of file CParameterizedTrajectoryGenerator.h.
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protectedpure virtualinherited |
Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.
in | The input binary stream where the object data must read from. |
version | The version of the object stored in the stream: use this version number in your code to know how to read the incoming data. |
std::exception | On any error, see CStream::ReadBuffer |
Implemented in mrpt::nav::CLogFileRecord_ND, mrpt::obs::CObservation3DRangeScan, mrpt::maps::CMultiMetricMap, mrpt::utils::CSimpleDatabase, mrpt::nav::CLogFileRecord_FullEval, mrpt::utils::CImage, mrpt::detectors::CDetectable3D, mrpt::hmtslam::THypothesisIDSet, mrpt::maps::CRandomFieldGridMap3D, mrpt::obs::CObservationIMU, mrpt::poses::CPose3D, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::maps::COccupancyGridMap2D, mrpt::maps::CMultiMetricMapPDF, mrpt::obs::CObservationRGBD360, mrpt::maps::TMapGenericParams, mrpt::hmtslam::CHMTSLAM, mrpt::obs::CObservationGPS, mrpt::maps::CLandmarksMap, mrpt::maps::CHeightGridMap2D, mrpt::opengl::COctoMapVoxels, mrpt::poses::CPointPDFParticles, mrpt::opengl::COpenGLViewport, mrpt::obs::CObservationVelodyneScan, mrpt::vision::CFeature, mrpt::kinematics::CKinematicChain, mrpt::opengl::CPlanarLaserScan, mrpt::nav::CHolonomicVFF, mrpt::obs::CRawlog, mrpt::obs::CSensoryFrame, mrpt::nav::CHolonomicND, mrpt::poses::CPose3DInterpolator, mrpt::opengl::CPointCloud, mrpt::detectors::CDetectable2D, mrpt::nav::CHolonomicFullEval, mrpt::opengl::COpenGLScene, mrpt::pbmap::Plane, mrpt::poses::CPose2DInterpolator, mrpt::opengl::CFrustum, mrpt::opengl::CPointCloudColoured, mrpt::pbmap::PbMap, mrpt::maps::CBeaconMap, mrpt::maps::CReflectivityGridMap2D, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::obs::CObservation2DRangeScan, mrpt::hmtslam::CLSLAMParticleData, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::opengl::CText3D, mrpt::opengl::CVectorField3D, mrpt::poses::CPose3DQuat, mrpt::poses::CPose3DRotVec, mrpt::utils::CMHPropertiesValuesList, mrpt::hmtslam::CHMHMapNode, mrpt::obs::CObservationStereoImages, mrpt::opengl::CAssimpModel, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::maps::CBeacon, mrpt::nav::CPTG_DiffDrive_C, mrpt::opengl::CMeshFast, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::opengl::CMesh, mrpt::poses::CPose3DPDFGaussianInf, mrpt::opengl::CAngularObservationMesh, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CMesh3D, mrpt::opengl::CText, mrpt::poses::CPose2D, mrpt::poses::CPose3DPDFGaussian, mrpt::poses::CPosePDFSOG, mrpt::hmtslam::CRobotPosesGraph, mrpt::maps::CRBPFParticleData, mrpt::poses::CPoint2D, mrpt::poses::CPose3DPDFParticles, mrpt::poses::CPosePDFParticles, mrpt::poses::CPointPDFSOG, mrpt::poses::CPosePDFGaussianInf, mrpt::maps::COctoMap, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::obs::CObservationImage, mrpt::opengl::CBox, mrpt::opengl::CVectorField2D, mrpt::poses::CPose3DPDFSOG, mrpt::hmtslam::CHierarchicalMHMap, mrpt::hmtslam::CHMHMapArc, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CHeightGridMap2D_MRF, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationBatteryState, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::opengl::CSetOfLines, mrpt::maps::CLandmark, mrpt::maps::CSimplePointsMap, mrpt::opengl::CArrow, mrpt::opengl::CAxis, mrpt::opengl::CDisk, mrpt::opengl::CSphere, mrpt::poses::CPoint3D, mrpt::poses::CPosePDFGaussian, mrpt::utils::CStringList, mrpt::maps::CColouredOctoMap, mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, mrpt::nav::CLogFileRecord, mrpt::obs::CActionRobotMovement2D, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationWindSensor, mrpt::opengl::CCamera, mrpt::opengl::CColorBar, mrpt::opengl::CPolyhedron, mrpt::slam::CIncrementalMapPartitioner, mrpt::obs::CActionCollection, mrpt::opengl::CSetOfObjects, mrpt::math::CMatrix, mrpt::math::CMatrixD, mrpt::poses::CPosePDFGrid, mrpt::utils::TCamera, mrpt::obs::CObservationRange, mrpt::obs::CObservationRawDAQ, mrpt::obs::CObservationSkeleton, mrpt::math::CSplineInterpolator1D, mrpt::utils::CSimpleDatabaseTable, mrpt::nav::CLogFileRecord_VFF, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationWirelessPower, mrpt::obs::CObservationVisualLandmarks, mrpt::poses::CPoses2DSequence, mrpt::poses::CPoses3DSequence, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationRFID, mrpt::opengl::CCylinder, mrpt::opengl::CSetOfTriangles, mrpt::poses::TSimple3DPoint, mrpt::utils::CMemoryChunk, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, mrpt::nav::CPTG_Holo_Blend, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservationReflectivity, mrpt::opengl::C3DSScene, mrpt::opengl::CSetOfTexturedTriangles, mrpt::math::CMatrixB, mrpt::poses::CPointPDFGaussian, mrpt::utils::CPropertiesValuesList, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationRobotPose, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, mrpt::math::CPolygon, mrpt::utils::CTypeSelector, mrpt::poses::CPoint2DPDFGaussian, mrpt::utils::TStereoCamera, mrpt::kinematics::CVehicleVelCmd_DiffDriven, mrpt::kinematics::CVehicleVelCmd_Holo, and mrpt::opengl::COpenGLStandardObject.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TRenderingOptions::TRenderingOptions(), and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TLikelihoodOptions::~TLikelihoodOptions().
|
virtual |
Returns the representation of one trajectory of this PTG as a 3D OpenGL object (a simple curved line).
[in] | k | The 0-based index of the selected trajectory (discrete "alpha" parameter). |
[out] | gl_obj | Output object. |
[in] | decimate_distance | Minimum distance between path points (in meters). |
[in] | max_path_distance | If >=0, cut the path at this distance (in meters). |
Referenced by mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree().
|
virtual |
This method saves the options to a ".ini"-like file or memory-stored string list.
Reimplemented from mrpt::utils::CLoadableOptions.
Reimplemented in mrpt::nav::CPTG_RobotShape_Circular, mrpt::nav::CPTG_RobotShape_Polygonal, mrpt::nav::CPTG_DiffDrive_CollisionGridBased, mrpt::nav::CPTG_DiffDrive_C, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, and mrpt::nav::CPTG_Holo_Blend.
|
inherited |
Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file.
|
inline |
Definition at line 263 of file CParameterizedTrajectoryGenerator.h.
References MRPT_OVERRIDE.
|
inline |
Definition at line 260 of file CParameterizedTrajectoryGenerator.h.
|
inlinevirtual |
Reimplemented in mrpt::nav::CPTG_DiffDrive_CollisionGridBased.
Definition at line 141 of file CParameterizedTrajectoryGenerator.h.
|
inline |
Definition at line 257 of file CParameterizedTrajectoryGenerator.h.
|
inlinevirtual |
Returns true if this PTG takes into account the desired velocity at target.
Definition at line 196 of file CParameterizedTrajectoryGenerator.h.
|
virtual |
Returns true if it is possible to stop sending velocity commands to the robot and, still, the robot controller will be able to keep following the last sent trajectory ("NOP" velocity commands).
Default implementation returns "false".
Reimplemented in mrpt::nav::CPTG_Holo_Blend.
void mrpt::nav::CParameterizedTrajectoryGenerator::updateClearance | ( | const double | ox, |
const double | oy, | ||
ClearanceDiagram & | cd | ||
) | const |
Updates the clearance diagram given one (ox,oy) obstacle point, in coordinates relative to the PTG path origin.
[in,out] | cd | The clearance will be updated here. |
void mrpt::nav::CParameterizedTrajectoryGenerator::updateClearancePost | ( | ClearanceDiagram & | cd, |
const std::vector< double > & | TP_obstacles | ||
) | const |
void mrpt::nav::CParameterizedTrajectoryGenerator::updateNavDynamicState | ( | const TNavDynamicState & | newState, |
const bool | force_update = false |
||
) |
To be invoked by the navigator before each navigation step, to let the PTG to react to changing dynamic conditions.
|
pure virtual |
Updates the radial map of closest TP-Obstacles given a single obstacle point at (ox,oy)
[in,out] | tp_obstacles | A vector of length getAlphaValuesCount() , initialized with initTPObstacles() (collision-free ranges, in "pseudometers", un-normalized). |
[in] | ox | Obstacle point (X), relative coordinates wrt origin of the PTG. |
[in] | oy | Obstacle point (Y), relative coordinates wrt origin of the PTG. |
tp_obstacles
must be initialized with initTPObstacle() before call. Implemented in mrpt::nav::CPTG_DiffDrive_CollisionGridBased, and mrpt::nav::CPTG_Holo_Blend.
|
pure virtual |
Like updateTPObstacle() but for one direction only (k
) in TP-Space.
tp_obstacle_k
must be initialized with initTPObstacleSingle() before call (collision-free ranges, in "pseudometers", un-normalized).
Implemented in mrpt::nav::CPTG_DiffDrive_CollisionGridBased, and mrpt::nav::CPTG_Holo_Blend.
|
inlinevirtualinherited |
Introduces a pure virtual method responsible for writing to a mxArray
Matlab object, typically a MATLAB struct
whose contents are documented in each derived class.
mxArray
(caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB. Definition at line 79 of file CSerializable.h.
References BASE_IMPEXP, DEFINE_MRPT_OBJECT_POST, mrpt::utils::ObjectToOctetVector(), mrpt::utils::ObjectToRawString(), mrpt::utils::ObjectToString(), mrpt::utils::OctetVectorToObject(), mrpt::utils::RawStringToObject(), and mrpt::utils::StringToObject().
|
protectedpure virtualinherited |
Introduces a pure virtual method responsible for writing to a CStream.
This can not be used directly be users, instead use "stream << object;" for writing it to a stream.
out | The output binary stream where object must be dumped. |
getVersion | If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data. |
std::exception | On any error, see CStream::WriteBuffer |
Implemented in mrpt::nav::CLogFileRecord_ND, mrpt::obs::CObservation3DRangeScan, mrpt::maps::CMultiMetricMap, mrpt::utils::CSimpleDatabase, mrpt::nav::CLogFileRecord_FullEval, mrpt::utils::CImage, mrpt::detectors::CDetectable3D, mrpt::hmtslam::THypothesisIDSet, mrpt::maps::CRandomFieldGridMap3D, mrpt::obs::CObservationIMU, mrpt::poses::CPose3D, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::maps::COccupancyGridMap2D, mrpt::maps::CMultiMetricMapPDF, mrpt::obs::CObservationRGBD360, mrpt::maps::TMapGenericParams, mrpt::hmtslam::CHMTSLAM, mrpt::obs::CObservationGPS, mrpt::maps::CLandmarksMap, mrpt::maps::CHeightGridMap2D, mrpt::opengl::COctoMapVoxels, mrpt::poses::CPointPDFParticles, mrpt::opengl::COpenGLViewport, mrpt::obs::CObservationVelodyneScan, mrpt::vision::CFeature, mrpt::kinematics::CKinematicChain, mrpt::opengl::CPlanarLaserScan, mrpt::nav::CHolonomicVFF, mrpt::obs::CRawlog, mrpt::obs::CSensoryFrame, mrpt::nav::CHolonomicND, mrpt::poses::CPose3DInterpolator, mrpt::opengl::CPointCloud, mrpt::detectors::CDetectable2D, mrpt::nav::CHolonomicFullEval, mrpt::opengl::COpenGLScene, mrpt::pbmap::Plane, mrpt::poses::CPose2DInterpolator, mrpt::opengl::CFrustum, mrpt::opengl::CPointCloudColoured, mrpt::pbmap::PbMap, mrpt::maps::CBeaconMap, mrpt::maps::CReflectivityGridMap2D, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::obs::CObservation2DRangeScan, mrpt::hmtslam::CLSLAMParticleData, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::opengl::CText3D, mrpt::opengl::CVectorField3D, mrpt::poses::CPose3DQuat, mrpt::poses::CPose3DRotVec, mrpt::utils::CMHPropertiesValuesList, mrpt::hmtslam::CHMHMapNode, mrpt::obs::CObservationStereoImages, mrpt::opengl::CAssimpModel, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::maps::CBeacon, mrpt::nav::CPTG_DiffDrive_C, mrpt::opengl::CMeshFast, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::opengl::CMesh, mrpt::poses::CPose3DPDFGaussianInf, mrpt::opengl::CAngularObservationMesh, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CMesh3D, mrpt::opengl::CText, mrpt::poses::CPose2D, mrpt::poses::CPose3DPDFGaussian, mrpt::poses::CPosePDFSOG, mrpt::hmtslam::CRobotPosesGraph, mrpt::maps::CRBPFParticleData, mrpt::poses::CPoint2D, mrpt::poses::CPose3DPDFParticles, mrpt::poses::CPosePDFParticles, mrpt::poses::CPointPDFSOG, mrpt::poses::CPosePDFGaussianInf, mrpt::maps::COctoMap, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::obs::CObservationImage, mrpt::opengl::CBox, mrpt::opengl::CVectorField2D, mrpt::poses::CPose3DPDFSOG, mrpt::hmtslam::CHierarchicalMHMap, mrpt::hmtslam::CHMHMapArc, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CHeightGridMap2D_MRF, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationBatteryState, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::opengl::CSetOfLines, mrpt::maps::CLandmark, mrpt::maps::CSimplePointsMap, mrpt::opengl::CArrow, mrpt::opengl::CAxis, mrpt::opengl::CDisk, mrpt::opengl::CSphere, mrpt::poses::CPoint3D, mrpt::poses::CPosePDFGaussian, mrpt::utils::CStringList, mrpt::maps::CColouredOctoMap, mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, mrpt::nav::CLogFileRecord, mrpt::obs::CActionRobotMovement2D, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationWindSensor, mrpt::opengl::CCamera, mrpt::opengl::CColorBar, mrpt::opengl::CPolyhedron, mrpt::slam::CIncrementalMapPartitioner, mrpt::obs::CActionCollection, mrpt::opengl::CSetOfObjects, mrpt::math::CMatrix, mrpt::math::CMatrixD, mrpt::poses::CPosePDFGrid, mrpt::utils::TCamera, mrpt::obs::CObservationRange, mrpt::obs::CObservationRawDAQ, mrpt::obs::CObservationSkeleton, mrpt::math::CSplineInterpolator1D, mrpt::utils::CSimpleDatabaseTable, mrpt::nav::CLogFileRecord_VFF, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationWirelessPower, mrpt::obs::CObservationVisualLandmarks, mrpt::poses::CPoses2DSequence, mrpt::poses::CPoses3DSequence, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationRFID, mrpt::opengl::CCylinder, mrpt::opengl::CSetOfTriangles, mrpt::poses::TSimple3DPoint, mrpt::utils::CMemoryChunk, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, mrpt::nav::CPTG_Holo_Blend, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservationReflectivity, mrpt::opengl::C3DSScene, mrpt::opengl::CSetOfTexturedTriangles, mrpt::math::CMatrixB, mrpt::poses::CPointPDFGaussian, mrpt::utils::CPropertiesValuesList, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationRobotPose, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, mrpt::math::CPolygon, mrpt::utils::CTypeSelector, mrpt::poses::CPoint2DPDFGaussian, mrpt::utils::TStereoCamera, mrpt::kinematics::CVehicleVelCmd_DiffDriven, mrpt::kinematics::CVehicleVelCmd_Holo, and mrpt::opengl::COpenGLStandardObject.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TRenderingOptions::TRenderingOptions(), and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TLikelihoodOptions::~TLikelihoodOptions().
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Definition at line 65 of file CParameterizedTrajectoryGenerator.h.
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Definition at line 65 of file CParameterizedTrajectoryGenerator.h.
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Definition at line 42 of file CSerializable.h.
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Defines the behavior when there is an obstacle inside the robot shape right at the beginning of a PTG trajectory.
Default value: COLL_BEH_BACK_AWAY
Definition at line 296 of file CParameterizedTrajectoryGenerator.h.
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Definition at line 317 of file CParameterizedTrajectoryGenerator.h.
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The number of discrete values for "alpha" between -PI and +PI.
Definition at line 310 of file CParameterizedTrajectoryGenerator.h.
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Number of paths for the decimated paths analysis of clearance.
Definition at line 313 of file CParameterizedTrajectoryGenerator.h.
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Number of steps for the piecewise-constant approximation of clearance from TPS distances [0,1] (Default=5)
Definition at line 312 of file CParameterizedTrajectoryGenerator.h.
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Definition at line 319 of file CParameterizedTrajectoryGenerator.h.
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Updated before each nav step by.
Definition at line 314 of file CParameterizedTrajectoryGenerator.h.
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Update in updateNavDynamicState(), contains the path index (k) for the target.
Definition at line 315 of file CParameterizedTrajectoryGenerator.h.
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Definition at line 311 of file CParameterizedTrajectoryGenerator.h.
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The path used as defaul output in, for example, debugDumpInFiles. (Default="./reactivenav.logs/")
Definition at line 227 of file CParameterizedTrajectoryGenerator.h.
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Definition at line 309 of file CParameterizedTrajectoryGenerator.h.
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