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<div class="navpath"><a class="el" href="namespacemrpt.html">mrpt</a>::<a class="el" href="namespacemrpt_1_1reactivenav.html">reactivenav</a>::<a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html">CParameterizedTrajectoryGenerator</a>::<a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_c_colision_grid.html">CColisionGrid</a>
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<h1>mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid Class Reference</h1><!-- doxytag: class="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid" --><!-- doxytag: inherits="CDynamicGrid< TCollisionCell >" -->
<p>An internal class for storing the collision grid.
<a href="#_details">More...</a></p>
<p><code>#include <<a class="el" href="_c_parameterized_trajectory_generator_8h_source.html">mrpt/reactivenav/CParameterizedTrajectoryGenerator.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid:</div>
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<div class="center"><img src="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_c_colision_grid__inherit__graph.png" border="0" usemap="#mrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_c_colision_grid_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_c_colision_grid_inherit__map" id="mrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_c_colision_grid_inherit__map">
<area shape="rect" id="node2" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html" title="mrpt::utils::CDynamicGrid\< TCollisionCell \>" alt="" coords="81,5,359,35"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
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Collaboration diagram for mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid:</div>
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<div class="center"><img src="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_c_colision_grid__coll__graph.png" border="0" usemap="#mrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_c_colision_grid_coll__map" alt="Collaboration graph"/></div>
<map name="mrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_c_colision_grid_coll__map" id="mrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_c_colision_grid_coll__map">
<area shape="rect" id="node2" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html" title="mrpt::utils::CDynamicGrid\< TCollisionCell \>" alt="" coords="81,293,359,323"/><area shape="rect" id="node6" title="STL class." alt="" coords="159,101,281,131"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_c_colision_grid-members.html">List of all members.</a></p>
<table border="0" cellpadding="0" cellspacing="0">
<tr><td colspan="2"><h2>Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_c_colision_grid.html#a96a683b9fee57148b13ba3103f596689">CColisionGrid</a> (float x_min, float x_max, float y_min, float y_max, float resolution)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_c_colision_grid.html#a674c63db1bd40c486ba7b17970f5a916">~CColisionGrid</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_c_colision_grid.html#a3cbee35be8a67c7f2afe8d1d93588b79">saveToFile</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> *fil)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Save to file, true = OK. <a href="#a3cbee35be8a67c7f2afe8d1d93588b79"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_c_colision_grid.html#a990e3d5180190517bb60c39d291a9e46">loadFromFile</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> *fil)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Load from file, true = OK. <a href="#a990e3d5180190517bb60c39d291a9e46"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a48d4d875517a397472db828e6bea38ca">TCollisionCell</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_c_colision_grid.html#afafb095a7f03adc1ac0a93b348d38bcd">getTPObstacle</a> (const float obsX, const float obsY) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">For an obstacle (x,y), returns a vector with all the pairs (a,d) such as the robot collides. <a href="#afafb095a7f03adc1ac0a93b348d38bcd"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_c_colision_grid.html#a9f74cb4c128672c4854df0cc8c599762">updateCellInfo</a> (const unsigned int icx, const unsigned int icy, const uint16_t k, const float dist)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Updates the info into a cell: It updates the cell only if the distance d for the path k is lower than the previous value:. <a href="#a9f74cb4c128672c4854df0cc8c599762"></a><br/></td></tr>
</table>
<hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>An internal class for storing the collision grid. </p>
<p>Definition at line <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html#l00184">184</a> of file <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html">CParameterizedTrajectoryGenerator.h</a>.</p>
<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a96a683b9fee57148b13ba3103f596689"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::CColisionGrid" ref="a96a683b9fee57148b13ba3103f596689" args="(float x_min, float x_max, float y_min, float y_max, float resolution)" -->
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<td class="memname">mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::CColisionGrid </td>
<td>(</td>
<td class="paramtype">float </td>
<td class="paramname"> <em>x_min</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"> <em>x_max</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"> <em>y_min</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"> <em>y_max</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"> <em>resolution</em></td><td> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td><code> [inline]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html#l00187">187</a> of file <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html">CParameterizedTrajectoryGenerator.h</a>.</p>
</div>
</div>
<a class="anchor" id="a674c63db1bd40c486ba7b17970f5a916"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::~CColisionGrid" ref="a674c63db1bd40c486ba7b17970f5a916" args="()" -->
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<td class="memname">virtual mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::~CColisionGrid </td>
<td>(</td>
<td class="paramname"></td>
<td> ) </td>
<td><code> [inline, virtual]</code></td>
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</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html#l00191">191</a> of file <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html">CParameterizedTrajectoryGenerator.h</a>.</p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="afafb095a7f03adc1ac0a93b348d38bcd"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::getTPObstacle" ref="afafb095a7f03adc1ac0a93b348d38bcd" args="(const float obsX, const float obsY) const " -->
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<td class="memname">const <a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a48d4d875517a397472db828e6bea38ca">TCollisionCell</a>& mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::getTPObstacle </td>
<td>(</td>
<td class="paramtype">const float </td>
<td class="paramname"> <em>obsX</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const float </td>
<td class="paramname"> <em>obsY</em></td><td> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td> const</td>
</tr>
</table>
</div>
<div class="memdoc">
<p>For an obstacle (x,y), returns a vector with all the pairs (a,d) such as the robot collides. </p>
</div>
</div>
<a class="anchor" id="a990e3d5180190517bb60c39d291a9e46"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::loadFromFile" ref="a990e3d5180190517bb60c39d291a9e46" args="(mrpt::utils::CStream *fil)" -->
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<td class="memname">bool mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::loadFromFile </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> * </td>
<td class="paramname"> <em>fil</em></td>
<td> ) </td>
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<p>Load from file, true = OK. </p>
</div>
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<a class="anchor" id="a3cbee35be8a67c7f2afe8d1d93588b79"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::saveToFile" ref="a3cbee35be8a67c7f2afe8d1d93588b79" args="(mrpt::utils::CStream *fil)" -->
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<td class="memname">bool mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::saveToFile </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> * </td>
<td class="paramname"> <em>fil</em></td>
<td> ) </td>
<td></td>
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<p>Save to file, true = OK. </p>
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<a class="anchor" id="a9f74cb4c128672c4854df0cc8c599762"></a><!-- doxytag: member="mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::updateCellInfo" ref="a9f74cb4c128672c4854df0cc8c599762" args="(const unsigned int icx, const unsigned int icy, const uint16_t k, const float dist)" -->
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<td class="memname">void mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::updateCellInfo </td>
<td>(</td>
<td class="paramtype">const unsigned int </td>
<td class="paramname"> <em>icx</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const unsigned int </td>
<td class="paramname"> <em>icy</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const uint16_t </td>
<td class="paramname"> <em>k</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const float </td>
<td class="paramname"> <em>dist</em></td><td> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td></td>
</tr>
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</div>
<div class="memdoc">
<p>Updates the info into a cell: It updates the cell only if the distance d for the path k is lower than the previous value:. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>cellInfo</em> </td><td>The index of the cell </td></tr>
<tr><td valign="top"></td><td valign="top"><em>k</em> </td><td>The path index (alfa discreet value) </td></tr>
<tr><td valign="top"></td><td valign="top"><em>d</em> </td><td>The distance (in TP-Space, range 0..1) to collision. </td></tr>
</table>
</dd>
</dl>
</div>
</div>
</div>
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