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<div class="title">CParameterizedTrajectoryGenerator.h</div> </div>
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<a href="_c_parameterized_trajectory_generator_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 CParameterizedTrajectoryGenerator_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CParameterizedTrajectoryGenerator_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_dynamic_grid_8h.html">mrpt/utils/CDynamicGrid.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_stream_8h.html">mrpt/utils/CStream.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_t_parameters_8h.html">mrpt/utils/TParameters.h</a>></span>
<a name="l00034"></a>00034 <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="l00035"></a>00035
<a name="l00036"></a>00036 <span class="keyword">namespace </span>mrpt
<a name="l00037"></a>00037 {
<a name="l00038"></a>00038 <span class="keyword">namespace </span>reactivenav
<a name="l00039"></a>00039 {
<a name="l00040"></a>00040 <span class="keyword">using namespace </span>mrpt::utils;
<a name="l00041"></a>00041 <span class="comment"></span>
<a name="l00042"></a>00042 <span class="comment"> /** This is the base class for any user defined PTG.</span>
<a name="l00043"></a>00043 <span class="comment"> * The class factory interface in CParameterizedTrajectoryGenerator::CreatePTG.</span>
<a name="l00044"></a>00044 <span class="comment"> *</span>
<a name="l00045"></a>00045 <span class="comment"> * Changes history:</span>
<a name="l00046"></a>00046 <span class="comment"> * - 30/JUN/2004: Creation (JLBC)</span>
<a name="l00047"></a>00047 <span class="comment"> * - 16/SEP/2004: Totally redesigned.</span>
<a name="l00048"></a>00048 <span class="comment"> * - 15/SEP/2005: Totally rewritten again, for integration into MRPT Applications Repository.</span>
<a name="l00049"></a>00049 <span class="comment"> * - 19/JUL/2009: Simplified to use only STL data types, and created the class factory interface.</span>
<a name="l00050"></a>00050 <span class="comment"> * \ingroup mrpt_reactivenav_grp</span>
<a name="l00051"></a>00051 <span class="comment"> */</span>
<a name="l00052"></a>00052 <span class="keyword">class </span><a class="code" href="reactivenav_2include_2mrpt_2reactivenav_2link__pragmas_8h.html#aa2168e902b4c1dd548d6129461f0c519">REACTIVENAV_IMPEXP</a> CParameterizedTrajectoryGenerator
<a name="l00053"></a>00053 {
<a name="l00054"></a>00054 <span class="keyword">public</span>:
<a name="l00055"></a>00055 <a class="code" href="_core.html">EIGEN_MAKE_ALIGNED_OPERATOR_NEW</a>
<a name="l00056"></a>00056 <span class="keyword">protected</span>:<span class="comment"></span>
<a name="l00057"></a>00057 <span class="comment"> /** Constructor: possible values in "params":</span>
<a name="l00058"></a>00058 <span class="comment"> * - ref_distance: The maximum distance in PTGs</span>
<a name="l00059"></a>00059 <span class="comment"> * - resolution: The cell size</span>
<a name="l00060"></a>00060 <span class="comment"> * - v_max, w_max: Maximum robot speeds.</span>
<a name="l00061"></a>00061 <span class="comment"> * - system_TAU, system_DELAY (Optional): Robot dynamics</span>
<a name="l00062"></a>00062 <span class="comment"> */</span>
<a name="l00063"></a>00063 CParameterizedTrajectoryGenerator(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1utils_1_1_t_parameters.html">TParameters<double></a> &params);
<a name="l00064"></a>00064 <span class="comment"></span>
<a name="l00065"></a>00065 <span class="comment"> /** Initialized the collision grid with the given size and resolution. */</span>
<a name="l00066"></a>00066 <span class="keywordtype">void</span> initializeCollisionsGrid(<span class="keywordtype">float</span> refDistance,<span class="keywordtype">float</span> resolution);
<a name="l00067"></a>00067
<a name="l00068"></a>00068 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00069"></a>00069 <span class="comment"> /** The class factory for creating a PTG from a list of parameters "params".</span>
<a name="l00070"></a>00070 <span class="comment"> * Possible values in "params" are:</span>
<a name="l00071"></a>00071 <span class="comment"> * - "PTG_type": It's an integer number such as "1" -> CPTG1, "2"-> CPTG2, etc...</span>
<a name="l00072"></a>00072 <span class="comment"> * - Those explained in CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator</span>
<a name="l00073"></a>00073 <span class="comment"> * - Those explained in the specific PTG being created (e.g. CPTG1, CPTG2, etc...)</span>
<a name="l00074"></a>00074 <span class="comment"> *</span>
<a name="l00075"></a>00075 <span class="comment"> * \exception std::logic_error On invalid or missing parameters.</span>
<a name="l00076"></a>00076 <span class="comment"> */</span>
<a name="l00077"></a>00077 <span class="keyword">static</span> CParameterizedTrajectoryGenerator * CreatePTG(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1utils_1_1_t_parameters.html">TParameters<double></a> &params);
<a name="l00078"></a>00078 <span class="comment"></span>
<a name="l00079"></a>00079 <span class="comment"> /** Gets a short textual description of the PTG and its parameters.</span>
<a name="l00080"></a>00080 <span class="comment"> */</span>
<a name="l00081"></a>00081 <span class="keyword">virtual</span> std::string getDescription() <span class="keyword">const</span> = 0 ;
<a name="l00082"></a>00082 <span class="comment"></span>
<a name="l00083"></a>00083 <span class="comment"> /** Destructor */</span>
<a name="l00084"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a2a7afe49dfcb8a3340b843f6bdf5f72d">00084</a> <span class="keyword">virtual</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a2a7afe49dfcb8a3340b843f6bdf5f72d" title="Destructor.">~CParameterizedTrajectoryGenerator</a>() { }
<a name="l00085"></a>00085 <span class="comment"></span>
<a name="l00086"></a>00086 <span class="comment"> /** The main method: solves the diferential equation to generate a family of parametrical trajectories.</span>
<a name="l00087"></a>00087 <span class="comment"> */</span>
<a name="l00088"></a>00088 <span class="keywordtype">void</span> simulateTrajectories(
<a name="l00089"></a>00089 uint16_t alfaValuesCount,
<a name="l00090"></a>00090 <span class="keywordtype">float</span> max_time,
<a name="l00091"></a>00091 <span class="keywordtype">float</span> max_dist,
<a name="l00092"></a>00092 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_n,
<a name="l00093"></a>00093 <span class="keywordtype">float</span> diferencial_t,
<a name="l00094"></a>00094 <span class="keywordtype">float</span> min_dist,
<a name="l00095"></a>00095 <span class="keywordtype">float</span> *out_max_acc_v = NULL,
<a name="l00096"></a>00096 <span class="keywordtype">float</span> *out_max_acc_w = NULL);
<a name="l00097"></a>00097 <span class="comment"></span>
<a name="l00098"></a>00098 <span class="comment"> /** The "lambda" function, see paper for info. It takes the (a,d) pair that is closest to a given location.</span>
<a name="l00099"></a>00099 <span class="comment"> */</span>
<a name="l00100"></a>00100 <span class="keyword">virtual</span> <span class="keywordtype">void</span> lambdaFunction( <span class="keywordtype">float</span> x, <span class="keywordtype">float</span> <a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a>, <span class="keywordtype">int</span> &out_k, <span class="keywordtype">float</span> &out_d );
<a name="l00101"></a>00101 <span class="comment"></span>
<a name="l00102"></a>00102 <span class="comment"> /** Converts an "alfa" value (into the discrete set) into a feasible motion command.</span>
<a name="l00103"></a>00103 <span class="comment"> */</span>
<a name="l00104"></a>00104 <span class="keywordtype">void</span> directionToMotionCommand( uint16_t k, <span class="keywordtype">float</span> &out_v, <span class="keywordtype">float</span> &out_w );
<a name="l00105"></a>00105
<a name="l00106"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a71e95f4d42a9771d379392f4cac12947">00106</a> <span class="keywordtype">size_t</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a71e95f4d42a9771d379392f4cac12947">getAlfaValuesCount</a>() { <span class="keywordflow">return</span> alfaValuesCount; };
<a name="l00107"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a26a4c2666b4345d7203f88b38a854454">00107</a> <span class="keywordtype">size_t</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a26a4c2666b4345d7203f88b38a854454">getPointsCountInCPath_k</a>(uint16_t k) { <span class="keywordflow">return</span> CPoints[k].size(); };
<a name="l00108"></a>00108
<a name="l00109"></a>00109 <span class="keywordtype">void</span> getCPointWhen_d_Is ( <span class="keywordtype">float</span> d, uint16_t k, <span class="keywordtype">float</span> &x, <span class="keywordtype">float</span> &<a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a>, <span class="keywordtype">float</span> &phi, <span class="keywordtype">float</span> &<a class="code" href="eigen__plugins_8h.html#a7b88b312dc3827120dbfc60da344625d" title="Transpose.">t</a>, <span class="keywordtype">float</span> *v = NULL, <span class="keywordtype">float</span> *w = NULL );
<a name="l00110"></a>00110
<a name="l00111"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#ab17b04a36085eb472fcbb8ef148528b6">00111</a> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#ab17b04a36085eb472fcbb8ef148528b6">GetCPathPoint_x</a>( uint16_t k, <span class="keywordtype">int</span> n ){ <span class="keywordflow">return</span> CPoints[k][n].x; }
<a name="l00112"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a092901b501efc98112f4737e857cbba9">00112</a> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a092901b501efc98112f4737e857cbba9">GetCPathPoint_y</a>( uint16_t k, <span class="keywordtype">int</span> n ){ <span class="keywordflow">return</span> CPoints[k][n].y; }
<a name="l00113"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#acd8b438bb92e5b21a8fe228c59ea5df6">00113</a> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#acd8b438bb92e5b21a8fe228c59ea5df6">GetCPathPoint_phi</a>(uint16_t k, <span class="keywordtype">int</span> n ){ <span class="keywordflow">return</span> CPoints[k][n].phi; }
<a name="l00114"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#aaf55d4a19f968e0710ff318498bfce39">00114</a> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#aaf55d4a19f968e0710ff318498bfce39">GetCPathPoint_t</a>( uint16_t k, <span class="keywordtype">int</span> n ){ <span class="keywordflow">return</span> CPoints[k][n].t; }
<a name="l00115"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a229ba0afce6a4e005228adc130a2197c">00115</a> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a229ba0afce6a4e005228adc130a2197c">GetCPathPoint_d</a>( uint16_t k, <span class="keywordtype">int</span> n ){ <span class="keywordflow">return</span> CPoints[k][n].dist; }
<a name="l00116"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a5139279f831c0b30ca5eeada235d691f">00116</a> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a5139279f831c0b30ca5eeada235d691f">GetCPathPoint_v</a>( uint16_t k, <span class="keywordtype">int</span> n ){ <span class="keywordflow">return</span> CPoints[k][n].v; }
<a name="l00117"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a50cc7eaa65b057e2efc6344a09c34f97">00117</a> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a50cc7eaa65b057e2efc6344a09c34f97">GetCPathPoint_w</a>( uint16_t k, <span class="keywordtype">int</span> n ){ <span class="keywordflow">return</span> CPoints[k][n].w; }
<a name="l00118"></a>00118
<a name="l00119"></a>00119 <span class="keywordtype">void</span> allocMemForVerticesData( <span class="keywordtype">int</span> nVertices );
<a name="l00120"></a>00120
<a name="l00121"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a21ecb7ae34ebd828aa4ae4954d59ce16">00121</a> <span class="keywordtype">void</span> setVertex_xy( uint16_t k, <span class="keywordtype">int</span> n, <span class="keywordtype">int</span> m, <span class="keywordtype">float</span> x, <span class="keywordtype">float</span> <a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a> )
<a name="l00122"></a>00122 {
<a name="l00123"></a>00123 vertexPoints_x[k][ n*nVertices + m ] = x;
<a name="l00124"></a>00124 vertexPoints_y[k][ n*nVertices + m ] = <a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a>;
<a name="l00125"></a>00125 }
<a name="l00126"></a>00126
<a name="l00127"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a50ff146948106f4c10329392a9b85f4e">00127</a> <span class="keywordtype">float</span> getVertex_x( uint16_t k, <span class="keywordtype">int</span> n, <span class="keywordtype">int</span> m )
<a name="l00128"></a>00128 {
<a name="l00129"></a>00129 <span class="keywordtype">int</span> idx = n*nVertices + m;
<a name="l00130"></a>00130 <span class="comment">// assert( idx>=0);assert(idx<nVertices * nPointsInEachPath[k] );</span>
<a name="l00131"></a>00131 <span class="keywordflow">return</span> vertexPoints_x[k][idx];
<a name="l00132"></a>00132 }
<a name="l00133"></a>00133
<a name="l00134"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a4f917cf8549e5b2c17073833b773d830">00134</a> <span class="keywordtype">float</span> getVertex_y( uint16_t k, <span class="keywordtype">int</span> n, <span class="keywordtype">int</span> m )
<a name="l00135"></a>00135 {
<a name="l00136"></a>00136 <span class="keywordtype">int</span> idx = n*nVertices + m;
<a name="l00137"></a>00137 <span class="comment">// assert( idx>=0);assert(idx<nVertices * nPointsInEachPath[k] );</span>
<a name="l00138"></a>00138 <span class="keywordflow">return</span> vertexPoints_y[k][idx];
<a name="l00139"></a>00139 }
<a name="l00140"></a>00140
<a name="l00141"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a5c7c9c437d930b2f9fde7468bce5d4bc">00141</a> <span class="keywordtype">float</span>* getVertixesArray_x( uint16_t k, <span class="keywordtype">int</span> n )
<a name="l00142"></a>00142 {
<a name="l00143"></a>00143 <span class="keywordtype">int</span> idx = n*nVertices;
<a name="l00144"></a>00144 <span class="keywordflow">return</span> &vertexPoints_x[k][idx];
<a name="l00145"></a>00145 }
<a name="l00146"></a>00146
<a name="l00147"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#ad29977f220ae555d7b8f9994fb773909">00147</a> <span class="keywordtype">float</span>* getVertixesArray_y( uint16_t k, <span class="keywordtype">int</span> n )
<a name="l00148"></a>00148 {
<a name="l00149"></a>00149 <span class="keywordtype">int</span> idx = n*nVertices;
<a name="l00150"></a>00150 <span class="keywordflow">return</span> &vertexPoints_y[k][idx];
<a name="l00151"></a>00151 }
<a name="l00152"></a>00152
<a name="l00153"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#afc616b84c59c36253e603ede780acccd">00153</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#afc616b84c59c36253e603ede780acccd">getVertixesCount</a>() { <span class="keywordflow">return</span> nVertices; }
<a name="l00154"></a>00154
<a name="l00155"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a189f7f278b8a83d71a7216e5070f39c6">00155</a> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a189f7f278b8a83d71a7216e5070f39c6">getMax_V</a>() { <span class="keywordflow">return</span> V_MAX; }
<a name="l00156"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a21909999a30c4ec9fed8cb9e34ece06b">00156</a> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a21909999a30c4ec9fed8cb9e34ece06b">getMax_W</a>() { <span class="keywordflow">return</span> W_MAX; }
<a name="l00157"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#ad4a25d134e2ac1c73e40f7def3c38508">00157</a> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#ad4a25d134e2ac1c73e40f7def3c38508">getMax_V_inTPSpace</a>() { <span class="keywordflow">return</span> maxV_inTPSpace; }
<a name="l00158"></a>00158 <span class="comment"></span>
<a name="l00159"></a>00159 <span class="comment"> /** Alfa value for the discrete corresponding value.</span>
<a name="l00160"></a>00160 <span class="comment"> * \sa alfa2index</span>
<a name="l00161"></a>00161 <span class="comment"> */</span>
<a name="l00162"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a0d4063ddc64623608ea5a92f645c0f85">00162</a> <span class="keywordtype">float</span> index2alfa( uint16_t k )
<a name="l00163"></a>00163 {
<a name="l00164"></a>00164 <span class="keywordflow">return</span> (<span class="keywordtype">float</span>)(<a class="code" href="mrpt__macros_8h.html#ae71449b1cc6e6250b91f539153a7a0d3">M_PI</a> * (-1 + 2 * (k+0.5f) / ((<span class="keywordtype">float</span>)alfaValuesCount) ));
<a name="l00165"></a>00165 }
<a name="l00166"></a>00166 <span class="comment"></span>
<a name="l00167"></a>00167 <span class="comment"> /** Discrete index value for the corresponding alfa value.</span>
<a name="l00168"></a>00168 <span class="comment"> * \sa index2alfa</span>
<a name="l00169"></a>00169 <span class="comment"> */</span>
<a name="l00170"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a027adb265bd25b62bcbf19e8dbc892e5">00170</a> uint16_t alfa2index( <span class="keywordtype">float</span> alfa )
<a name="l00171"></a>00171 {
<a name="l00172"></a>00172 <span class="keywordflow">if</span> (alfa><a class="code" href="mrpt__macros_8h.html#ae71449b1cc6e6250b91f539153a7a0d3">M_PI</a>) alfa-=(float)<a class="code" href="mrpt__macros_8h.html#a4aa2c43b09c1300c334821f5507d6f71">M_2PI</a>;
<a name="l00173"></a>00173 <span class="keywordflow">if</span> (alfa<-<a class="code" href="mrpt__macros_8h.html#ae71449b1cc6e6250b91f539153a7a0d3">M_PI</a>) alfa+=(float)<a class="code" href="mrpt__macros_8h.html#a4aa2c43b09c1300c334821f5507d6f71">M_2PI</a>;
<a name="l00174"></a>00174 <span class="keywordflow">return</span> (uint16_t)(0.5f*(alfaValuesCount*(1+alfa/<a class="code" href="mrpt__macros_8h.html#ae71449b1cc6e6250b91f539153a7a0d3">M_PI</a>) - 1));
<a name="l00175"></a>00175 }
<a name="l00176"></a>00176 <span class="comment"></span>
<a name="l00177"></a>00177 <span class="comment"> /** Dump PTG trajectories in files in directory "./PTGs/".</span>
<a name="l00178"></a>00178 <span class="comment"> */</span>
<a name="l00179"></a>00179 <span class="keywordtype">void</span> debugDumpInFiles(<span class="keywordtype">int</span> nPT);
<a name="l00180"></a>00180 <span class="comment"></span>
<a name="l00181"></a>00181 <span class="comment"> /** A list of all the pairs (alpha,distance) such as the robot collides at that cell.</span>
<a name="l00182"></a>00182 <span class="comment"> * - map key (uint16_t) -> alpha value (k)</span>
<a name="l00183"></a>00183 <span class="comment"> * - map value (float) -> the MINIMUM distance (d), in meters, associated with that "k".</span>
<a name="l00184"></a>00184 <span class="comment"> */</span>
<a name="l00185"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a48d4d875517a397472db828e6bea38ca">00185</a> <span class="keyword">typedef</span> std<a class="code" href="classstd_1_1map.html" title="STL class.">::map<uint16_t,float></a> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a48d4d875517a397472db828e6bea38ca" title="A list of all the pairs (alpha,distance) such as the robot collides at that cell.">TCollisionCell</a>;
<a name="l00186"></a>00186 <span class="comment"></span>
<a name="l00187"></a>00187 <span class="comment"> /** An internal class for storing the collision grid */</span>
<a name="l00188"></a>00188 <span class="keyword">class </span><a class="code" href="reactivenav_2include_2mrpt_2reactivenav_2link__pragmas_8h.html#aa2168e902b4c1dd548d6129461f0c519">REACTIVENAV_IMPEXP</a> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_c_colision_grid.html" title="An internal class for storing the collision grid.">CColisionGrid</a> : <span class="keyword">public</span> mrpt::utils::<a class="code" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html" title="A 2D grid of dynamic size which stores any kind of data at each cell.">CDynamicGrid</a><TCollisionCell>
<a name="l00189"></a>00189 {
<a name="l00190"></a>00190 <span class="keyword">private</span>:
<a name="l00191"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_c_colision_grid.html#a62127b82377cbcaf3e1e507c595880a9">00191</a> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html" title="This is the base class for any user defined PTG.">CParameterizedTrajectoryGenerator</a> <span class="keyword">const</span> * <a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_c_colision_grid.html#a62127b82377cbcaf3e1e507c595880a9">m_parent</a>;
<a name="l00192"></a>00192
<a name="l00193"></a>00193 <span class="keyword">public</span>:
<a name="l00194"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_c_colision_grid.html#a72aaf6e65a36a85e418f787cc2a1f1ff">00194</a> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_c_colision_grid.html" title="An internal class for storing the collision grid.">CColisionGrid</a>(<span class="keywordtype">float</span> x_min, <span class="keywordtype">float</span> x_max,<span class="keywordtype">float</span> y_min, <span class="keywordtype">float</span> y_max, <span class="keywordtype">float</span> resolution, <a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html" title="This is the base class for any user defined PTG.">CParameterizedTrajectoryGenerator</a>* parent )
<a name="l00195"></a>00195 : mrpt::utils::<a class="code" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html" title="A 2D grid of dynamic size which stores any kind of data at each cell.">CDynamicGrid</a><<a class="code" href="classstd_1_1map.html" title="STL class.">TCollisionCell</a>>(x_min,x_max,y_min,y_max,resolution),
<a name="l00196"></a>00196 m_parent(parent)
<a name="l00197"></a>00197 {
<a name="l00198"></a>00198 }
<a name="l00199"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_c_colision_grid.html#a674c63db1bd40c486ba7b17970f5a916">00199</a> <span class="keyword">virtual</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_c_colision_grid.html#a674c63db1bd40c486ba7b17970f5a916">~CColisionGrid</a>() { }
<a name="l00200"></a>00200
<a name="l00201"></a>00201 <span class="keywordtype">bool</span> saveToFile( <a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">mrpt::utils::CStream</a>* fil ); <span class="comment">//!< Save to file, true = OK</span>
<a name="l00202"></a>00202 <span class="comment"></span> <span class="keywordtype">bool</span> loadFromFile( <a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">mrpt::utils::CStream</a>* fil ); <span class="comment">//!< Load from file, true = OK</span>
<a name="l00203"></a>00203 <span class="comment"></span><span class="comment"></span>
<a name="l00204"></a>00204 <span class="comment"> /** For an obstacle (x,y), returns a vector with all the pairs (a,d) such as the robot collides.</span>
<a name="l00205"></a>00205 <span class="comment"> */</span>
<a name="l00206"></a>00206 <span class="keyword">const</span> <a class="code" href="classstd_1_1map.html" title="STL class.">TCollisionCell</a> & getTPObstacle( <span class="keyword">const</span> <span class="keywordtype">float</span> obsX, <span class="keyword">const</span> <span class="keywordtype">float</span> obsY) <span class="keyword">const</span>;
<a name="l00207"></a>00207 <span class="comment"></span>
<a name="l00208"></a>00208 <span class="comment"> /** 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:</span>
<a name="l00209"></a>00209 <span class="comment"> * \param cellInfo The index of the cell</span>
<a name="l00210"></a>00210 <span class="comment"> * \param k The path index (alfa discreet value)</span>
<a name="l00211"></a>00211 <span class="comment"> * \param d The distance (in TP-Space, range 0..1) to collision.</span>
<a name="l00212"></a>00212 <span class="comment"> */</span>
<a name="l00213"></a>00213 <span class="keywordtype">void</span> updateCellInfo( <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> icx, <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> icy, <span class="keyword">const</span> uint16_t k, <span class="keyword">const</span> <span class="keywordtype">float</span> dist );
<a name="l00214"></a>00214 };
<a name="l00215"></a>00215 <span class="comment"></span>
<a name="l00216"></a>00216 <span class="comment"> /** The collision grid */</span>
<a name="l00217"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#aa4f22b89d1f03d4707763fe21ba25e85">00217</a> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_c_colision_grid.html" title="An internal class for storing the collision grid.">CColisionGrid</a> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#aa4f22b89d1f03d4707763fe21ba25e85" title="The collision grid.">m_collisionGrid</a>;
<a name="l00218"></a>00218
<a name="l00219"></a>00219 <span class="comment">// Save/Load from files.</span>
<a name="l00220"></a>00220 <span class="keywordtype">bool</span> SaveColGridsToFile( <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &filename ); <span class="comment">// true = OK</span>
<a name="l00221"></a>00221 <span class="keywordtype">bool</span> LoadColGridsFromFile( <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &filename ); <span class="comment">// true = OK</span>
<a name="l00222"></a>00222
<a name="l00223"></a>00223
<a name="l00224"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#ab7b257aaaad5f94ae2f7e19c929912c8">00224</a> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#ab7b257aaaad5f94ae2f7e19c929912c8">refDistance</a>;
<a name="l00225"></a>00225 <span class="comment"></span>
<a name="l00226"></a>00226 <span class="comment"> /** The main method to be implemented in derived classes.</span>
<a name="l00227"></a>00227 <span class="comment"> */</span>
<a name="l00228"></a>00228 <span class="keyword">virtual</span> <span class="keywordtype">void</span> PTG_Generator( <span class="keywordtype">float</span> alfa, <span class="keywordtype">float</span> <a class="code" href="eigen__plugins_8h.html#a7b88b312dc3827120dbfc60da344625d" title="Transpose.">t</a>, <span class="keywordtype">float</span> x, <span class="keywordtype">float</span> <a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a>, <span class="keywordtype">float</span> phi, <span class="keywordtype">float</span> &v, <span class="keywordtype">float</span> &w) = 0;
<a name="l00229"></a>00229 <span class="comment"></span>
<a name="l00230"></a>00230 <span class="comment"> /** To be implemented in derived classes:</span>
<a name="l00231"></a>00231 <span class="comment"> */</span>
<a name="l00232"></a>00232 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> PTG_IsIntoDomain( <span class="keywordtype">float</span> x, <span class="keywordtype">float</span> <a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a> ) = 0;
<a name="l00233"></a>00233
<a name="l00234"></a>00234 <span class="keyword">protected</span>:
<a name="l00235"></a>00235 <span class="comment">// Given a-priori:</span>
<a name="l00236"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a0170c89e79de84adb90db056d902e1ff">00236</a> <span class="keywordtype">float</span> V_MAX, <a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a0170c89e79de84adb90db056d902e1ff">W_MAX</a>;
<a name="l00237"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a20487a2b9fb862d1ae0ac1a0d86bcac3">00237</a> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a20487a2b9fb862d1ae0ac1a0d86bcac3">TAU</a>, DELAY;
<a name="l00238"></a>00238
<a name="l00239"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#ac82ded4f32b6b9bc4282f4c6bfd2cea6">00239</a> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#ac82ded4f32b6b9bc4282f4c6bfd2cea6">turningRadiusReference</a>;
<a name="l00240"></a>00240 <span class="comment"></span>
<a name="l00241"></a>00241 <span class="comment"> /** Specifies the min/max values for "k" and "n", respectively.</span>
<a name="l00242"></a>00242 <span class="comment"> * \sa m_lambdaFunctionOptimizer</span>
<a name="l00243"></a>00243 <span class="comment"> */</span>
<a name="l00244"></a>00244 <span class="keyword">struct </span><a class="code" href="structmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_t_cell_for_lambda_function.html" title="Specifies the min/max values for "k" and "n", respectively.">TCellForLambdaFunction</a>
<a name="l00245"></a>00245 {
<a name="l00246"></a><a class="code" href="structmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_t_cell_for_lambda_function.html#adfa3b55de72b2dad88586ec40ea4361f">00246</a> <a class="code" href="structmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_t_cell_for_lambda_function.html" title="Specifies the min/max values for "k" and "n", respectively.">TCellForLambdaFunction</a>()
<a name="l00247"></a>00247 {
<a name="l00248"></a>00248 k_min=k_max=n_min=n_max=-1;
<a name="l00249"></a>00249 }
<a name="l00250"></a>00250
<a name="l00251"></a><a class="code" href="structmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_t_cell_for_lambda_function.html#a9b3882fb3874c9af630a8812941b229a">00251</a> <span class="keywordtype">int</span> k_min,k_max,<a class="code" href="structmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_t_cell_for_lambda_function.html#a9b3882fb3874c9af630a8812941b229a">n_min</a>,n_max;
<a name="l00252"></a>00252 };
<a name="l00253"></a>00253 <span class="comment"></span>
<a name="l00254"></a>00254 <span class="comment"> /** This grid will contain indexes data for speeding-up the default, brute-force lambda function.</span>
<a name="l00255"></a>00255 <span class="comment"> */</span>
<a name="l00256"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a378cc1ecec2c3693cd8044d6ccc9fcef">00256</a> <a class="code" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html">CDynamicGrid<TCellForLambdaFunction></a> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a378cc1ecec2c3693cd8044d6ccc9fcef" title="This grid will contain indexes data for speeding-up the default, brute-force lambda function...">m_lambdaFunctionOptimizer</a>;
<a name="l00257"></a>00257
<a name="l00258"></a>00258 <span class="comment">// Computed from simulations while generating trajectories:</span>
<a name="l00259"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a3a898c60c8d00fae9dc8cd74b0e972b9">00259</a> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a3a898c60c8d00fae9dc8cd74b0e972b9">maxV_inTPSpace</a>;
<a name="l00260"></a>00260
<a name="l00261"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#ad4e488ec088620600c441833dae3a9cf">00261</a> <span class="keywordtype">bool</span> flag1, <a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#ad4e488ec088620600c441833dae3a9cf">flag2</a>;
<a name="l00262"></a>00262 <span class="comment"></span>
<a name="l00263"></a>00263 <span class="comment"> /** The number of discrete values for ALFA between -PI and +PI.</span>
<a name="l00264"></a>00264 <span class="comment"> */</span>
<a name="l00265"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a93c882b3e3047e2d8df4f03aed1057f0">00265</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a93c882b3e3047e2d8df4f03aed1057f0" title="The number of discrete values for ALFA between -PI and +PI.">alfaValuesCount</a>;
<a name="l00266"></a>00266 <span class="comment"></span>
<a name="l00267"></a>00267 <span class="comment"> /** The trajectories in the C-Space:</span>
<a name="l00268"></a>00268 <span class="comment"> */</span>
<a name="l00269"></a>00269 <span class="keyword">struct </span><a class="code" href="structmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_t_c_point.html" title="The trajectories in the C-Space:">TCPoint</a>
<a name="l00270"></a>00270 {
<a name="l00271"></a><a class="code" href="structmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_t_c_point.html#afd5f6a26971fdf99c0aec1395b8b3403">00271</a> <a class="code" href="structmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_t_c_point.html" title="The trajectories in the C-Space:">TCPoint</a>( <span class="keywordtype">float</span> x,
<a name="l00272"></a>00272 <span class="keywordtype">float</span> <a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a>,
<a name="l00273"></a>00273 <span class="keywordtype">float</span> phi,
<a name="l00274"></a>00274 <span class="keywordtype">float</span> <a class="code" href="eigen__plugins_8h.html#a7b88b312dc3827120dbfc60da344625d" title="Transpose.">t</a>,
<a name="l00275"></a>00275 <span class="keywordtype">float</span> dist,
<a name="l00276"></a>00276 <span class="keywordtype">float</span> v,
<a name="l00277"></a>00277 <span class="keywordtype">float</span> w)
<a name="l00278"></a>00278 {
<a name="l00279"></a>00279 this->x = x;
<a name="l00280"></a>00280 this->y = <a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a>;
<a name="l00281"></a>00281 this->phi = phi;
<a name="l00282"></a>00282 this->t = <a class="code" href="eigen__plugins_8h.html#a7b88b312dc3827120dbfc60da344625d" title="Transpose.">t</a>;
<a name="l00283"></a>00283 this->dist = dist;
<a name="l00284"></a>00284 this->v = v;
<a name="l00285"></a>00285 this->w = w;
<a name="l00286"></a><a class="code" href="structmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_t_c_point.html#a20ccc91bdbaded6a84d44c8026ae3471">00286</a> };
<a name="l00287"></a>00287
<a name="l00288"></a>00288 <span class="keywordtype">float</span> x, <a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a>, phi,<a class="code" href="eigen__plugins_8h.html#a7b88b312dc3827120dbfc60da344625d" title="Transpose.">t</a>, dist,v,w;
<a name="l00289"></a>00289 };
<a name="l00290"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#ab1db66202f3d47bb6581677ec1a87a3f">00290</a> <span class="keyword">typedef</span> std<a class="code" href="classstd_1_1vector.html" title="STL class.">::vector<TCPoint></a> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#ab1db66202f3d47bb6581677ec1a87a3f">TCPointVector</a>;
<a name="l00291"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a8dfca215eee6f5c6fc62ba763f0c982b">00291</a> std<a class="code" href="classstd_1_1vector.html">::vector<TCPointVector></a> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a8dfca215eee6f5c6fc62ba763f0c982b">CPoints</a>;
<a name="l00292"></a>00292 <span class="comment"></span>
<a name="l00293"></a>00293 <span class="comment"> /** The shape of the robot along the trajectories:</span>
<a name="l00294"></a>00294 <span class="comment"> */</span>
<a name="l00295"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a552d8dbc5970d8d128edbb725e0bce2c">00295</a> std<a class="code" href="classstd_1_1vector.html">::vector<vector_float></a> vertexPoints_x,<a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a552d8dbc5970d8d128edbb725e0bce2c">vertexPoints_y</a>;
<a name="l00296"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a4b7dc3a1a7e49b347d6414f6ad85c61f">00296</a> <span class="keywordtype">int</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html#a4b7dc3a1a7e49b347d6414f6ad85c61f">nVertices</a>;
<a name="l00297"></a>00297 <span class="comment"></span>
<a name="l00298"></a>00298 <span class="comment"> /** Free all the memory buffers:</span>
<a name="l00299"></a>00299 <span class="comment"> */</span>
<a name="l00300"></a>00300 <span class="keywordtype">void</span> FreeMemory();
<a name="l00301"></a>00301
<a name="l00302"></a>00302 }; <span class="comment">// end of class</span>
<a name="l00303"></a>00303 <span class="comment"></span>
<a name="l00304"></a>00304 <span class="comment"> /** A type for lists of PTGs */</span>
<a name="l00305"></a><a class="code" href="namespacemrpt_1_1reactivenav.html#ac7430721e888f0c857d2e681566adf15">00305</a> <span class="keyword">typedef</span> std<a class="code" href="classstd_1_1vector.html">::vector<mrpt::reactivenav::CParameterizedTrajectoryGenerator*></a> <a class="code" href="namespacemrpt_1_1reactivenav.html#ac7430721e888f0c857d2e681566adf15" title="A type for lists of PTGs.">TListPTGs</a>;
<a name="l00306"></a>00306
<a name="l00307"></a>00307 }
<a name="l00308"></a>00308 }
<a name="l00309"></a>00309
<a name="l00310"></a>00310
<a name="l00311"></a>00311 <span class="preprocessor">#endif</span>
<a name="l00312"></a>00312 <span class="preprocessor"></span>
</pre></div></div>
</div>
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