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<div class="title">CPathPlanningMethod.h</div> </div>
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<a href="_c_path_planning_method_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 CPathPlanningMethod_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CPathPlanningMethod_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_debug_output_capable_8h.html">mrpt/utils/CDebugOutputCapable.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_occupancy_grid_map2_d_8h.html">mrpt/slam/COccupancyGridMap2D.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_point2_d_8h.html">mrpt/poses/CPoint2D.h</a>></span>
<a name="l00034"></a>00034
<a name="l00035"></a>00035 <span class="preprocessor">#include <<a class="code" href="slam_2include_2mrpt_2slam_2link__pragmas_8h.html">mrpt/slam/link_pragmas.h</a>></span>
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="keyword">namespace </span>mrpt
<a name="l00038"></a>00038 {
<a name="l00039"></a>00039 <span class="keyword">namespace </span>slam
<a name="l00040"></a>00040 {<span class="comment"></span>
<a name="l00041"></a>00041 <span class="comment"> /** A virtual base class for computing the optimal path for a robot</span>
<a name="l00042"></a>00042 <span class="comment"> * from a origin location to a target point. See derived classes for</span>
<a name="l00043"></a>00043 <span class="comment"> * implementations.</span>
<a name="l00044"></a>00044 <span class="comment"> *</span>
<a name="l00045"></a>00045 <span class="comment"> * \sa CDebugOutputCapable \ingroup mrpt_slam_grp</span>
<a name="l00046"></a>00046 <span class="comment"> */</span>
<a name="l00047"></a>00047 <span class="keyword">class </span><a class="code" href="slam_2include_2mrpt_2slam_2link__pragmas_8h.html#a26118d9c67fb641718c989b57c9acf64">SLAM_IMPEXP</a> CPathPlanningMethod : <span class="keyword">public</span> mrpt::utils::CDebugOutputCapable
<a name="l00048"></a>00048 {
<a name="l00049"></a>00049 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00050"></a>00050 <span class="comment"> /** Default constructor</span>
<a name="l00051"></a>00051 <span class="comment"> */</span>
<a name="l00052"></a>00052 CPathPlanningMethod();
<a name="l00053"></a>00053 <span class="comment"></span>
<a name="l00054"></a>00054 <span class="comment"> /** Destructor</span>
<a name="l00055"></a>00055 <span class="comment"> */</span>
<a name="l00056"></a><a class="code" href="classmrpt_1_1slam_1_1_c_path_planning_method.html#afb050f63eb0affec24c7cfbdb8494acc">00056</a> <span class="keyword">virtual</span> ~<a class="code" href="classmrpt_1_1slam_1_1_c_path_planning_method.html" title="A virtual base class for computing the optimal path for a robot from a origin location to a target po...">CPathPlanningMethod</a>()
<a name="l00057"></a>00057 {
<a name="l00058"></a>00058 }
<a name="l00059"></a>00059 <span class="comment"></span>
<a name="l00060"></a>00060 <span class="comment"> /** The maximum occupancy probability to consider a cell as an obstacle, default=0.5</span>
<a name="l00061"></a>00061 <span class="comment"> */</span>
<a name="l00062"></a><a class="code" href="classmrpt_1_1slam_1_1_c_path_planning_method.html#a383aee940ac3b18503752a2de5d90499">00062</a> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1slam_1_1_c_path_planning_method.html#a383aee940ac3b18503752a2de5d90499" title="The maximum occupancy probability to consider a cell as an obstacle, default=0.5.">occupancyThreshold</a>;
<a name="l00063"></a>00063 <span class="comment"></span>
<a name="l00064"></a>00064 <span class="comment"> /** The minimum distance between points in the returned found path (default=0.4); Notice</span>
<a name="l00065"></a>00065 <span class="comment"> * that full grid resolution is used in path finding, this is only a way to reduce the</span>
<a name="l00066"></a>00066 <span class="comment"> * amount of redundant information to be returned.</span>
<a name="l00067"></a>00067 <span class="comment"> */</span>
<a name="l00068"></a><a class="code" href="classmrpt_1_1slam_1_1_c_path_planning_method.html#a7d94d2b52a51ca2b99de2b6b971d1a18">00068</a> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1slam_1_1_c_path_planning_method.html#a7d94d2b52a51ca2b99de2b6b971d1a18" title="The minimum distance between points in the returned found path (default=0.4); Notice that full grid r...">minStepInReturnedPath</a>;
<a name="l00069"></a>00069 <span class="comment"></span>
<a name="l00070"></a>00070 <span class="comment"> /** This method compute the optimal path for a circular robot, in the given</span>
<a name="l00071"></a>00071 <span class="comment"> * occupancy grid map, from the origin location to a target point.</span>
<a name="l00072"></a>00072 <span class="comment"> * The options and additional parameters to this method can be set with</span>
<a name="l00073"></a>00073 <span class="comment"> * member configuration variables.</span>
<a name="l00074"></a>00074 <span class="comment"> *</span>
<a name="l00075"></a>00075 <span class="comment"> * \param map [IN] The occupancy gridmap used to the planning.</span>
<a name="l00076"></a>00076 <span class="comment"> * \param origin [IN] The starting pose of the robot, in coordinates of "map".</span>
<a name="l00077"></a>00077 <span class="comment"> * \param target [IN] The desired target pose for the robot, in coordinates of "map".</span>
<a name="l00078"></a>00078 <span class="comment"> * \param path [OUT] The found path, in global coordinates relative to "map".</span>
<a name="l00079"></a>00079 <span class="comment"> * \param notFound [OUT] Will be true if no path has been found.</span>
<a name="l00080"></a>00080 <span class="comment"> * \param maxSearchPathLength [IN] The maximum path length to search for, in meters (-1 = no limit)</span>
<a name="l00081"></a>00081 <span class="comment"> *</span>
<a name="l00082"></a>00082 <span class="comment"> * \exception std::exception On any error</span>
<a name="l00083"></a>00083 <span class="comment"> */</span>
<a name="l00084"></a>00084 <span class="keyword">virtual</span> <span class="keywordtype">void</span> computePath(
<a name="l00085"></a>00085 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d.html" title="A class for storing an occupancy grid map.">COccupancyGridMap2D</a> &theMap,
<a name="l00086"></a>00086 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose.">CPose2D</a> &origin,
<a name="l00087"></a>00087 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose.">CPose2D</a> &target,
<a name="l00088"></a>00088 <a class="code" href="classstd_1_1deque.html" title="STL class.">std::deque<math::TPoint2D></a> &path,
<a name="l00089"></a>00089 <span class="keywordtype">bool</span> &notFound,
<a name="l00090"></a>00090 <span class="keywordtype">float</span> maxSearchPathLength = -1
<a name="l00091"></a>00091 ) <span class="keyword">const</span> = 0;
<a name="l00092"></a>00092
<a name="l00093"></a>00093 };
<a name="l00094"></a>00094
<a name="l00095"></a>00095 } <span class="comment">// End of namespace</span>
<a name="l00096"></a>00096 } <span class="comment">// End of namespace</span>
<a name="l00097"></a>00097
<a name="l00098"></a>00098 <span class="preprocessor">#endif</span>
</pre></div></div>
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