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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;
void loadConfigFile(const mrpt::utils::CConfigFileBase &ini)
Reload the configuration from a file.
void changeRobotShape(TRobotShape robotShape)
Change the robot shape, which is taken into account for collision grid building.
A class for storing, saving and loading a reactive navigation log record for the CReactiveNavigationS...
See base class CAbstractPTGBasedReactive for a description and instructions of use.
virtual void loggingGetWSObstaclesAndShape(CLogFileRecord &out_log)
Generates a pointcloud of obstacles, and the robot shape, to be saved in the logging record for the c...
Base class for reactive navigator systems based on TP-Space, with an arbitrary holonomic reactive met...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
virtual void STEP3_WSpaceToTPSpace(const size_t ptg_idx, std::vector< float > &out_TPObstacles)
Builds TP-Obstacles from Workspace obstacles for the given PTG.
A set of PTGs of the same type, one per "height level".
virtual size_t getPTG_count() const
Returns the number of different PTGs that have been setup.
The structure used for storing a movement generated by a holonomic-method.
#define MRPT_MAKE_ALIGNED_OPERATOR_NEW
mrpt::math::TPoint2D TP_Target
std::vector< float > heights
This class allows loading and storing values and vectors of different types from a configuration text...
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.
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans.
THolonomicMovement holonomicmov
std::vector< TPTGmultilevel > m_ptgmultilevel
The set of PTG-transformations to be used:
virtual ~CReactiveNavigationSystem3D()
Destructor.
TRobotShape m_robotShape
The robot 3D shape model.
The pure virtual class that a user of CAbstractReactiveNavigationSystem-derived classes must implemen...
CReactiveNavigationSystem3D(CReactiveInterfaceImplementation &react_iterf_impl, bool enableConsoleOutput=true, bool enableLogFile=false)
See docs in ctor of base class.
std::vector< math::CPolygon > polygons
mrpt::maps::CSimplePointsMap m_WS_Obstacles_unsorted
The unsorted set of obstacles from the sensors.
virtual void STEP1_CollisionGridsBuilder()
virtual bool STEP2_SenseObstacles()
Return false on any fatal error.
std::vector< CParameterizedTrajectoryGenerator * > PTGs
This is the base class for any user-defined PTG.
virtual CParameterizedTrajectoryGenerator * getPTG(size_t i)
Gets the i'th PTG.
A 3D robot shape stored as a "sliced" stack of 2D polygons, used for CReactiveNavigationSystem3D.
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