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<div class="title">motion_planning_utils.h</div> </div>
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<a href="motion__planning__utils_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef _motion_planning_utils_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define _motion_planning_utils_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="_c_parameterized_trajectory_generator_8h.html">mrpt/reactivenav/CParameterizedTrajectoryGenerator.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_polygon_8h.html">mrpt/math/CPolygon.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="reactivenav_2include_2mrpt_2reactivenav_2link__pragmas_8h.html">mrpt/reactivenav/link_pragmas.h</a>></span>
<a name="l00034"></a>00034
<a name="l00035"></a>00035 <span class="keyword">namespace </span>mrpt
<a name="l00036"></a>00036 {
<a name="l00037"></a>00037 <span class="keyword">namespace </span>reactivenav
<a name="l00038"></a>00038 {<span class="comment"></span>
<a name="l00039"></a>00039 <span class="comment"> /** @name Motion planning utilities</span>
<a name="l00040"></a>00040 <span class="comment"> @{*/</span>
<a name="l00041"></a>00041 <span class="comment"></span>
<a name="l00042"></a>00042 <span class="comment"> /** Builds the collision grid for a given list of PTGs. </span>
<a name="l00043"></a>00043 <span class="comment"> * The collision grid must be calculated before calling CParameterizedTrajectoryGenerator::CColisionGrid::getTPObstacle</span>
<a name="l00044"></a>00044 <span class="comment"> * \param PTGs The list of PTGs to calculate their grids.</span>
<a name="l00045"></a>00045 <span class="comment"> * \param robotShape The shape of the robot.</span>
<a name="l00046"></a>00046 <span class="comment"> * \param cacheFilesPrefix The prefix of the files where the collision grids will be dumped to speed-up future recalculations.</span>
<a name="l00047"></a>00047 <span class="comment"> * \param verbose</span>
<a name="l00048"></a>00048 <span class="comment"> * \sa CReactiveNavigationSystem</span>
<a name="l00049"></a>00049 <span class="comment"> * \ingroup mrpt_reactivenav_grp</span>
<a name="l00050"></a>00050 <span class="comment"> */</span>
<a name="l00051"></a>00051
<a name="l00052"></a>00052 <span class="keywordtype">void</span> <a class="code" href="reactivenav_2include_2mrpt_2reactivenav_2link__pragmas_8h.html#aa2168e902b4c1dd548d6129461f0c519">REACTIVENAV_IMPEXP</a> <a class="code" href="group__mrpt__reactivenav__grp.html#ga044a9e38a051041ecb5ab3e603e7a02b" title="Builds the collision grid for a given list of PTGs.">build_PTG_collision_grids</a>(
<a name="l00053"></a>00053 <a class="code" href="classstd_1_1vector.html">std::vector<CParameterizedTrajectoryGenerator*></a> PTGs,
<a name="l00054"></a>00054 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1math_1_1_c_polygon.html" title="A wrapper of a TPolygon2D class, implementing CSerializable.">mrpt::math::CPolygon</a> &robotShape,
<a name="l00055"></a>00055 <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &cacheFilesPrefix = <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a>(<span class="stringliteral">"ReacNavGrid_"</span>),
<a name="l00056"></a>00056 <span class="keywordtype">bool</span> verbose = <span class="keyword">true</span>
<a name="l00057"></a>00057 );
<a name="l00058"></a>00058 <span class="comment"></span>
<a name="l00059"></a>00059 <span class="comment"> /** @} */</span>
<a name="l00060"></a>00060 }
<a name="l00061"></a>00061 }
<a name="l00062"></a>00062
<a name="l00063"></a>00063
<a name="l00064"></a>00064 <span class="preprocessor">#endif</span>
<a name="l00065"></a>00065 <span class="preprocessor"></span>
</pre></div></div>
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