MRPT  2.0.4
PlannerRRT_SE2_TPS.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 
10 #pragma once
11 
15 #include <numeric>
16 
17 namespace mrpt::nav
18 {
19 /** \addtogroup nav_planners Path planning
20  * \ingroup mrpt_nav_grp
21  * @{ */
22 
23 /** TP Space-based RRT path planning for SE(2) (planar) robots.
24  *
25  * This planner algorithm is described in the paper:
26  * - M. Bellone, J.L. Blanco, A. Gimenez, "TP-Space RRT: Kinematic path
27  * planning of non-holonomic any-shape vehicles", International Journal of
28  * Advanced Robotic Systems, 2015.
29  *
30  * Typical usage:
31  * \code
32  * mrpt::nav::PlannerRRT_SE2_TPS planner;
33  *
34  * // Set or load planner parameters:
35  * //planner.loadConfig( mrpt::config::CConfigFile("config_file.cfg") );
36  * //planner.params.... // See RRTAlgorithmParams
37  *
38  * // Set RRT end criteria (when to stop searching for a solution)
39  * //planner.end_criteria.... // See RRTEndCriteria
40  *
41  * planner.initialize(); // Initialize after setting the algorithm parameters
42  *
43  * // Set up planning problem:
44  * PlannerRRT_SE2_TPS::TPlannerResult planner_result;
45  * PlannerRRT_SE2_TPS::TPlannerInput planner_input;
46  * // Start & goal:
47  * planner_input.start_pose = mrpt::math::TPose2D(XXX,XXX,XXX);
48  * planner_input.goal_pose = mrpt::math::TPose2D(XXX,XXX,XXX);
49  * // Set obtacles: (...)
50  * // planner_input.obstacles_points ...
51  * // Set workspace bounding box for picking random poses in the RRT algorithm:
52  * planner_input.world_bbox_min = mrpt::math::TPoint2D(XX,YY);
53  * planner_input.world_bbox_max = mrpt::math::TPoint2D(XX,YY);
54  * // Do path planning:
55  * planner.solve( planner_input, planner_result);
56  * // Analyze contents of planner_result...
57  * \endcode
58  *
59  * - Changes history:
60  * - 06/MAR/2014: Creation (MB)
61  * - 06/JAN/2015: Refactoring (JLBC)
62  *
63  * \todo Factorize into more generic path planner classes! //template <class
64  * POSE, class MOTIONS>...
65  */
67 {
68  public:
69  /** The type of poses at nodes */
71 
72  struct TPlannerInput : public TPlannerInputTempl<node_pose_t, node_pose_t>
73  {
75  {
77  goal_pose = mrpt::math::TPose2D(0, 0, 0);
78  world_bbox_min = mrpt::math::TPose2D(-10., -10.0, -M_PI);
80  }
81  };
82 
83  struct TPlannerResult : public TPlannerResultTempl<TMoveTreeSE2_TP>
84  {
85  };
86 
87  /** Constructor */
89 
90  /** Load all params from a config file source */
91  void loadConfig(
92  const mrpt::config::CConfigFileBase& cfgSource,
93  const std::string& sSectionName = std::string("PTG_CONFIG"));
94 
95  /** Must be called after setting all params (see `loadConfig()`) and before
96  * calling `solve()` */
97  void initialize();
98 
99  /** The main API entry point: tries to find a planned path from 'goal' to
100  * 'target' */
101  void solve(const TPlannerInput& pi, TPlannerResult& result);
102 
103  protected:
104  bool m_initialized{false};
105 
106 }; // end class PlannerRRT_SE2_TPS
107 
108 /** @} */
109 } // namespace mrpt::nav
mrpt::nav::TPlannerInputTempl< node_pose_t, node_pose_t >::goal_pose
node_pose_t goal_pose
Definition: PlannerRRT_common.h:30
mrpt::nav::PlannerRRT_SE2_TPS::TPlannerInput::TPlannerInput
TPlannerInput()
Definition: PlannerRRT_SE2_TPS.h:74
mrpt::nav::TPlannerInputTempl< node_pose_t, node_pose_t >::world_bbox_min
node_pose_t world_bbox_min
Bounding box of the world, used to draw uniform random pose samples.
Definition: PlannerRRT_common.h:32
mrpt::nav
Definition: CAbstractHolonomicReactiveMethod.h:20
mrpt::nav::PlannerRRT_SE2_TPS::initialize
void initialize()
Must be called after setting all params (see loadConfig()) and before calling solve()
Definition: PlannerRRT_SE2_TPS.cpp:36
mrpt::nav::PlannerRRT_SE2_TPS::TPlannerResult
Definition: PlannerRRT_SE2_TPS.h:83
PlannerRRT_common.h
mrpt::config::CConfigFileBase
This class allows loading and storing values and vectors of different types from a configuration text...
Definition: config/CConfigFileBase.h:44
mrpt::nav::TPlannerInputTempl< node_pose_t, node_pose_t >::start_pose
node_pose_t start_pose
Definition: PlannerRRT_common.h:30
mrpt::nav::TPlannerResultTempl
Definition: PlannerRRT_common.h:38
mrpt::math::TPose2D
Lightweight 2D pose.
Definition: TPose2D.h:22
mrpt::nav::PlannerRRT_SE2_TPS
TP Space-based RRT path planning for SE(2) (planar) robots.
Definition: PlannerRRT_SE2_TPS.h:66
mrpt::nav::TPlannerInputTempl< node_pose_t, node_pose_t >::world_bbox_max
node_pose_t world_bbox_max
Definition: PlannerRRT_common.h:32
TMoveTree.h
M_PI
#define M_PI
Definition: core/include/mrpt/core/bits_math.h:43
mrpt::nav::TPlannerInputTempl
Definition: PlannerRRT_common.h:28
mrpt::nav::PlannerRRT_SE2_TPS::TPlannerInput
Definition: PlannerRRT_SE2_TPS.h:72
mrpt::nav::PlannerRRT_SE2_TPS::solve
void solve(const TPlannerInput &pi, TPlannerResult &result)
The main API entry point: tries to find a planned path from 'goal' to 'target'.
Definition: PlannerRRT_SE2_TPS.cpp:45
mrpt::nav::PlannerRRT_SE2_TPS::loadConfig
void loadConfig(const mrpt::config::CConfigFileBase &cfgSource, const std::string &sSectionName=std::string("PTG_CONFIG"))
Load all params from a config file source.
Definition: PlannerRRT_SE2_TPS.cpp:28
mrpt::nav::PlannerRRT_SE2_TPS::PlannerRRT_SE2_TPS
PlannerRRT_SE2_TPS()
Constructor.
CSimplePointsMap.h
mrpt::nav::PlannerRRT_SE2_TPS::m_initialized
bool m_initialized
Definition: PlannerRRT_SE2_TPS.h:104
mrpt::nav::PlannerTPS_VirtualBase
Virtual base class for TP-Space-based path planners.
Definition: PlannerRRT_common.h:131



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