mrpt::slam::CPathPlanningMethod Class Reference

Detailed Description

A virtual base class for computing the optimal path for a robot from a origin location to a target point.

See derived classes for implementations.

See also

CDebugOutputCapable

Definition at line 28 of file CPathPlanningMethod.h.

#include <mrpt/slam/CPathPlanningMethod.h>

Inheritance diagram for mrpt::slam::CPathPlanningMethod:

Public Member Functions
	CPathPlanningMethod ()
	Default constructor. More...
virtual	~CPathPlanningMethod ()
	Destructor. More...
virtual void	computePath (const COccupancyGridMap2D &theMap, const CPose2D &origin, const CPose2D &target, std::deque< math::TPoint2D > &path, bool &notFound, float maxSearchPathLength=-1) const =0
	This method compute the optimal path for a circular robot, in the given occupancy grid map, from the origin location to a target point. More...

Static Public Member Functions
static void	printf_debug (const char *frmt,...)
	Sends a formated text to "debugOut" if not NULL, or to cout otherwise. More...

Public Attributes
float	occupancyThreshold
	The maximum occupancy probability to consider a cell as an obstacle, default=0.5. More...
float	minStepInReturnedPath
	The minimum distance between points in the returned found path (default=0.4); Notice that full grid resolution is used in path finding, this is only a way to reduce the amount of redundant information to be returned. More...

Constructor & Destructor Documentation

mrpt::slam::CPathPlanningMethod::CPathPlanningMethod

(

)

Default constructor.

virtual mrpt::slam::CPathPlanningMethod::~CPathPlanningMethod ( )

inlinevirtual

Destructor.

Definition at line 37 of file CPathPlanningMethod.h.

Member Function Documentation

virtual void mrpt::slam::CPathPlanningMethod::computePath ( const COccupancyGridMap2D &  theMap, const CPose2D &  origin, const CPose2D &  target, std::deque< math::TPoint2D > &  path, bool &  notFound, float  maxSearchPathLength = -1  ) const

pure virtual

This method compute the optimal path for a circular robot, in the given occupancy grid map, from the origin location to a target point.

The options and additional parameters to this method can be set with member configuration variables.

Parameters

map	[IN] The occupancy gridmap used to the planning.
origin	[IN] The starting pose of the robot, in coordinates of "map".
target	[IN] The desired target pose for the robot, in coordinates of "map".
path	[OUT] The found path, in global coordinates relative to "map".
notFound	[OUT] Will be true if no path has been found.
maxSearchPathLength	[IN] The maximum path length to search for, in meters (-1 = no limit)

Exceptions

std::exception

On any error

Implemented in mrpt::slam::CPathPlanningCircularRobot.

static void mrpt::utils::CDebugOutputCapable::printf_debug ( const char *  frmt,   ...  )

staticinherited

Sends a formated text to "debugOut" if not NULL, or to cout otherwise.

Referenced by mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute().

Member Data Documentation

float mrpt::slam::CPathPlanningMethod::minStepInReturnedPath

The minimum distance between points in the returned found path (default=0.4); Notice that full grid resolution is used in path finding, this is only a way to reduce the amount of redundant information to be returned.

Definition at line 49 of file CPathPlanningMethod.h.

float mrpt::slam::CPathPlanningMethod::occupancyThreshold

The maximum occupancy probability to consider a cell as an obstacle, default=0.5.

Definition at line 43 of file CPathPlanningMethod.h.