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<div class="title">mrpt::reactivenav Namespace Reference<div class="ingroups"><a class="el" href="group__mrpt__reactivenav__grp.html">[mrpt-reactivenav]</a></div></div> </div>
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<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>This namespace contains classes for building a TP-Space Reactive Navigation System. </p>
</div><table class="memberdecls">
<tr><td colspan="2"><h2><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_abstract_holonomic_reactive_method.html">CAbstractHolonomicReactiveMethod</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A base class for holonomic reactive navigation methods. <a href="classmrpt_1_1reactivenav_1_1_c_abstract_holonomic_reactive_method.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_interface_implementation.html">CReactiveInterfaceImplementation</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The pure virtual class that a user of CAbstractReactiveNavigationSystem-derived classes must implement in order to allow the navigator sense the world and send motion commands to the robot. <a href="classmrpt_1_1reactivenav_1_1_c_reactive_interface_implementation.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system.html">CAbstractReactiveNavigationSystem</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This is the base class for any reactive navigation system. <a href="classmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1reactivenav_1_1_c_holonomic_log_file_record_ptr.html">CHolonomicLogFileRecordPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_log_file_record.html">CHolonomicLogFileRecord</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A base class for log records for different holonomic navigation methods. <a href="classmrpt_1_1reactivenav_1_1_c_holonomic_log_file_record.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1reactivenav_1_1_c_log_file_record___n_d_ptr.html">CLogFileRecord_NDPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html">CHolonomicND</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">An implementation of the holonomic reactive navigation method "Nearness-Diagram". <a href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_log_file_record___n_d.html">CLogFileRecord_ND</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A class for storing extra information about the execution of <a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html" title="An implementation of the holonomic reactive navigation method "Nearness-Diagram".">CHolonomicND</a> navigation. <a href="classmrpt_1_1reactivenav_1_1_c_log_file_record___n_d.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1reactivenav_1_1_c_log_file_record___v_f_f_ptr.html">CLogFileRecord_VFFPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_log_file_record___v_f_f.html">CLogFileRecord_VFF</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A class for storing extra information about the execution of <a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_v_f_f.html" title="A holonomic reactive navigation method, based on Virtual Force Fields (VFF).">CHolonomicVFF</a> navigation. <a href="classmrpt_1_1reactivenav_1_1_c_log_file_record___v_f_f.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_v_f_f.html">CHolonomicVFF</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A holonomic reactive navigation method, based on Virtual Force Fields (VFF). <a href="classmrpt_1_1reactivenav_1_1_c_holonomic_v_f_f.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1reactivenav_1_1_c_log_file_record_ptr.html">CLogFileRecordPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_log_file_record.html">CLogFileRecord</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A class for storing, saving and loading a reactive navigation log record for the <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html" title="Implements a reactive navigation system based on TP-Space, with an arbitrary holonomic reactive metho...">CReactiveNavigationSystem</a> class. <a href="classmrpt_1_1reactivenav_1_1_c_log_file_record.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html">CParameterizedTrajectoryGenerator</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This is the base class for any user defined PTG. <a href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_r_r_t_navigator.html">CPRRTNavigator</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This class is a multi-threaded mobile robot navigator, implementing an (anytime) PTG-based Rapidly-exploring Random Tree (PRRT) search algorithm. <a href="classmrpt_1_1reactivenav_1_1_c_p_r_r_t_navigator.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g1.html">CPTG1</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A PTG for circular paths. <a href="classmrpt_1_1reactivenav_1_1_c_p_t_g1.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g2.html">CPTG2</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The alpha-PTG. <a href="classmrpt_1_1reactivenav_1_1_c_p_t_g2.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g3.html">CPTG3</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A PTG for optimal paths of type "C|C,S". <a href="classmrpt_1_1reactivenav_1_1_c_p_t_g3.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g4.html">CPTG4</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A PTG for optimal paths of type "C|C". <a href="classmrpt_1_1reactivenav_1_1_c_p_t_g4.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g5.html">CPTG5</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A PTG for optimal paths of type "C|C,S". <a href="classmrpt_1_1reactivenav_1_1_c_p_t_g5.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g6.html">CPTG6</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A PTG for circular paths. <a href="classmrpt_1_1reactivenav_1_1_c_p_t_g6.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_p_t_g7.html">CPTG7</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A PTG for circular paths. <a href="classmrpt_1_1reactivenav_1_1_c_p_t_g7.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html">CReactiveNavigationSystem</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Implements a reactive navigation system based on TP-Space, with an arbitrary holonomic reactive method running on it, and any desired number of PTG for transforming the navigation space. <a href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#details">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="typedef-members"></a>
Typedefs</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classstd_1_1vector.html">std::vector</a><br class="typebreak"/>
< <a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html">mrpt::reactivenav::CParameterizedTrajectoryGenerator</a> * > </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1reactivenav.html#ac7430721e888f0c857d2e681566adf15">TListPTGs</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A type for lists of PTGs. <a href="#ac7430721e888f0c857d2e681566adf15"></a><br/></td></tr>
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Enumerations</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__reactivenav__grp.html#ga8e18db1c4f4a7eb6b4a8d85a2731b0b8">THolonomicMethod</a> { <a class="el" href="group__mrpt__reactivenav__grp.html#gga8e18db1c4f4a7eb6b4a8d85a2731b0b8adcbce8cdd6b643badd6d283938228322">hmVIRTUAL_FORCE_FIELDS</a> = 0,
<a class="el" href="group__mrpt__reactivenav__grp.html#gga8e18db1c4f4a7eb6b4a8d85a2731b0b8a5db2e3aa549fd696c90d74add8bfaabb">hmSEARCH_FOR_BEST_GAP</a> = 1
}</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The implemented reactive navigation methods. <a href="group__mrpt__reactivenav__grp.html#ga8e18db1c4f4a7eb6b4a8d85a2731b0b8">More...</a><br/></td></tr>
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Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1reactivenav.html#a3406a1d598a3c6465443b89dc2b8dda4">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1reactivenav_1_1_c_holonomic_log_file_record_ptr.html">CHolonomicLogFileRecordPtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1reactivenav.html#a20278e323de0ce2f58994fac3a8b060f">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1reactivenav_1_1_c_log_file_record___n_d_ptr.html">CLogFileRecord_NDPtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1reactivenav.html#af58826c0e165bdb4a6388dd0c939e1e4">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1reactivenav_1_1_c_log_file_record___v_f_f_ptr.html">CLogFileRecord_VFFPtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1reactivenav.html#af8cc25af043604930851286244b5fa48">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1reactivenav_1_1_c_log_file_record_ptr.html">CLogFileRecordPtr</a> &pObj)</td></tr>
<tr><td colspan="2"><div class="groupHeader">Motion planning utilities</div></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void REACTIVENAV_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__reactivenav__grp.html#ga044a9e38a051041ecb5ab3e603e7a02b">build_PTG_collision_grids</a> (<a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html">CParameterizedTrajectoryGenerator</a> * > PTGs, const <a class="el" href="classmrpt_1_1math_1_1_c_polygon.html">mrpt::math::CPolygon</a> &robotShape, const <a class="el" href="classstd_1_1string.html">std::string</a> &cacheFilesPrefix=<a class="el" href="classstd_1_1string.html">std::string</a>("ReacNavGrid_"), bool verbose=true)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Builds the collision grid for a given list of PTGs. <a href="group__mrpt__reactivenav__grp.html#ga044a9e38a051041ecb5ab3e603e7a02b"></a><br/></td></tr>
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<hr/><h2>Typedef Documentation</h2>
<a class="anchor" id="ac7430721e888f0c857d2e681566adf15"></a><!-- doxytag: member="mrpt::reactivenav::TListPTGs" ref="ac7430721e888f0c857d2e681566adf15" args="" -->
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<td class="memname">typedef <a class="el" href="classstd_1_1vector.html">std::vector</a><<a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html">mrpt::reactivenav::CParameterizedTrajectoryGenerator</a>*> <a class="el" href="namespacemrpt_1_1reactivenav.html#ac7430721e888f0c857d2e681566adf15">mrpt::reactivenav::TListPTGs</a></td>
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<p>A type for lists of PTGs. </p>
<p>Definition at line <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html#l00305">305</a> of file <a class="el" href="_c_parameterized_trajectory_generator_8h_source.html">CParameterizedTrajectoryGenerator.h</a>.</p>
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<hr/><h2>Function Documentation</h2>
<a class="anchor" id="a20278e323de0ce2f58994fac3a8b060f"></a><!-- doxytag: member="mrpt::reactivenav::operator>>" ref="a20278e323de0ce2f58994fac3a8b060f" args="(mrpt::utils::CStream &in, CLogFileRecord_NDPtr &pObj)" -->
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<td class="memname">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a>& mrpt::reactivenav::operator>> </td>
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<td class="paramtype">CLogFileRecord_VFFPtr & </td>
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<td class="memname">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a>& mrpt::reactivenav::operator>> </td>
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<td class="paramtype">CLogFileRecordPtr & </td>
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<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
