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<li class="navelem"><a class="el" href="classmrpt_1_1slam_1_1_c_path_planning_circular_robot.html">CPathPlanningCircularRobot</a> </li>
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<a href="#pub-methods">Public Member Functions</a> |
<a href="#pub-static-methods">Static Public Member Functions</a> |
<a href="#pub-attribs">Public Attributes</a> </div>
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<div class="title">mrpt::slam::CPathPlanningCircularRobot Class Reference<div class="ingroups"><a class="el" href="group__mrpt__slam__grp.html">[mrpt-slam]</a></div></div> </div>
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<!-- doxytag: class="mrpt::slam::CPathPlanningCircularRobot" --><!-- doxytag: inherits="mrpt::slam::CPathPlanningMethod" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>An implementation of <a class="el" 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>. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" 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> </dd></dl>
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<p><code>#include <<a class="el" href="_c_path_planning_circular_robot_8h_source.html">mrpt/slam/CPathPlanningCircularRobot.h</a>></code></p>
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Inheritance diagram for mrpt::slam::CPathPlanningCircularRobot:</div>
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<div class="center"><img src="classmrpt_1_1slam_1_1_c_path_planning_circular_robot__inherit__graph.png" border="0" usemap="#mrpt_1_1slam_1_1_c_path_planning_circular_robot_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1slam_1_1_c_path_planning_circular_robot_inherit__map" id="mrpt_1_1slam_1_1_c_path_planning_circular_robot_inherit__map">
<area shape="rect" id="node2" 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..." alt="" coords="22,80,244,107"/><area shape="rect" id="node4" href="classmrpt_1_1utils_1_1_c_debug_output_capable.html" title="This base class provides a common printf-like method to send debug information to std::cout..." alt="" coords="22,5,244,32"/></map>
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<p><a href="classmrpt_1_1slam_1_1_c_path_planning_circular_robot-members.html">List of all members.</a></p>
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<tr><td colspan="2"><h2><a name="pub-methods"></a>
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_1slam_1_1_c_path_planning_circular_robot.html#a03aa897e6ff33e257b95bec387a0170a">CPathPlanningCircularRobot</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Default constructor. <a href="#a03aa897e6ff33e257b95bec387a0170a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_path_planning_circular_robot.html#aca1d8cf87d0a86a259dd6dc9baf937ab">~CPathPlanningCircularRobot</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Destructor. <a href="#aca1d8cf87d0a86a259dd6dc9baf937ab"></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_1slam_1_1_c_path_planning_circular_robot.html#acf12c720b153b8210b8b1bd65b834f78">computePath</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d.html">COccupancyGridMap2D</a> &theMap, const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> &origin, const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> &target, <a class="el" href="classstd_1_1deque.html">std::deque</a>< <a class="el" href="structmrpt_1_1math_1_1_t_point2_d.html">math::TPoint2D</a> > &path, bool &notFound, float maxSearchPathLength=-1) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This method compute the optimal path for a circular robot, in the given occupancy grid map, from the origin location to a target point. <a href="#acf12c720b153b8210b8b1bd65b834f78"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_debug_output_capable.html#ab78281b5d70d6e295a8527a10fea66de">printf_debug</a> (const char *frmt,...)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sends a formated text to "debugOut" if not NULL, or to cout otherwise. <a href="#ab78281b5d70d6e295a8527a10fea66de"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_path_planning_circular_robot.html#a6eda099bc1271a647873c724d5a03f7e">robotRadius</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The aproximate robot radius used in the planification. <a href="#a6eda099bc1271a647873c724d5a03f7e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_path_planning_method.html#a383aee940ac3b18503752a2de5d90499">occupancyThreshold</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The maximum occupancy probability to consider a cell as an obstacle, default=0.5. <a href="#a383aee940ac3b18503752a2de5d90499"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_path_planning_method.html#a7d94d2b52a51ca2b99de2b6b971d1a18">minStepInReturnedPath</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The minimum distance between points in the returned found path (default=0.4); Notice that full grid resolution is used in path finding, this is only a way to reduce the amount of redundant information to be returned. <a href="#a7d94d2b52a51ca2b99de2b6b971d1a18"></a><br/></td></tr>
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<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a03aa897e6ff33e257b95bec387a0170a"></a><!-- doxytag: member="mrpt::slam::CPathPlanningCircularRobot::CPathPlanningCircularRobot" ref="a03aa897e6ff33e257b95bec387a0170a" args="()" -->
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<td class="memname">mrpt::slam::CPathPlanningCircularRobot::CPathPlanningCircularRobot </td>
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<p>Default constructor. </p>
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<a class="anchor" id="aca1d8cf87d0a86a259dd6dc9baf937ab"></a><!-- doxytag: member="mrpt::slam::CPathPlanningCircularRobot::~CPathPlanningCircularRobot" ref="aca1d8cf87d0a86a259dd6dc9baf937ab" args="()" -->
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<td class="memname">virtual mrpt::slam::CPathPlanningCircularRobot::~CPathPlanningCircularRobot </td>
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<td><code> [inline, virtual]</code></td>
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<p>Destructor. </p>
<p>Definition at line <a class="el" href="_c_path_planning_circular_robot_8h_source.html#l00052">52</a> of file <a class="el" href="_c_path_planning_circular_robot_8h_source.html">CPathPlanningCircularRobot.h</a>.</p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="acf12c720b153b8210b8b1bd65b834f78"></a><!-- doxytag: member="mrpt::slam::CPathPlanningCircularRobot::computePath" ref="acf12c720b153b8210b8b1bd65b834f78" args="(const COccupancyGridMap2D &theMap, const CPose2D &origin, const CPose2D &target, std::deque< math::TPoint2D > &path, bool &notFound, float maxSearchPathLength=-1) const " -->
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<td class="memname">void mrpt::slam::CPathPlanningCircularRobot::computePath </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d.html">COccupancyGridMap2D</a> & </td>
<td class="paramname"><em>theMap</em>, </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> & </td>
<td class="paramname"><em>origin</em>, </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> & </td>
<td class="paramname"><em>target</em>, </td>
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<td class="paramtype"><a class="el" href="classstd_1_1deque.html">std::deque</a>< <a class="el" href="structmrpt_1_1math_1_1_t_point2_d.html">math::TPoint2D</a> > & </td>
<td class="paramname"><em>path</em>, </td>
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<td class="paramname"><em>maxSearchPathLength</em> = <code>-1</code> </td>
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<p>This method compute the optimal path for a circular robot, in the given occupancy grid map, from the origin location to a target point. </p>
<p>The options and additional parameters to this method can be set with member configuration variables.</p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">theMap</td><td>[IN] The occupancy gridmap used to the planning. </td></tr>
<tr><td class="paramname">origin</td><td>[IN] The starting pose of the robot, in coordinates of "map". </td></tr>
<tr><td class="paramname">target</td><td>[IN] The desired target pose for the robot, in coordinates of "map". </td></tr>
<tr><td class="paramname">path</td><td>[OUT] The found path, in global coordinates relative to "map". </td></tr>
<tr><td class="paramname">notFount</td><td>[OUT] Will be true if no path has been found. </td></tr>
<tr><td class="paramname">maxSearchPathLength</td><td>[IN] The maximum path length to search for, in meters (-1 = no limit)</td></tr>
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</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_path_planning_circular_robot.html#a6eda099bc1271a647873c724d5a03f7e" title="The aproximate robot radius used in the planification.">robotRadius</a></dd></dl>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On any error </td></tr>
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</dd>
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<p>Implements <a class="el" href="classmrpt_1_1slam_1_1_c_path_planning_method.html#a804ee683ee0a7c61ca59742526d19217">mrpt::slam::CPathPlanningMethod</a>.</p>
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<a class="anchor" id="ab78281b5d70d6e295a8527a10fea66de"></a><!-- doxytag: member="mrpt::slam::CPathPlanningCircularRobot::printf_debug" ref="ab78281b5d70d6e295a8527a10fea66de" args="(const char *frmt,...)" -->
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<td class="memname">static void mrpt::utils::CDebugOutputCapable::printf_debug </td>
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<p>Sends a formated text to "debugOut" if not NULL, or to cout otherwise. </p>
<p>Referenced by <a class="el" href="_c_levenberg_marquardt_8h_source.html#l00098">mrpt::math::CLevenbergMarquardtTempl::execute()</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a7d94d2b52a51ca2b99de2b6b971d1a18"></a><!-- doxytag: member="mrpt::slam::CPathPlanningCircularRobot::minStepInReturnedPath" ref="a7d94d2b52a51ca2b99de2b6b971d1a18" args="" -->
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<td class="memname">float <a class="el" href="classmrpt_1_1slam_1_1_c_path_planning_method.html#a7d94d2b52a51ca2b99de2b6b971d1a18">mrpt::slam::CPathPlanningMethod::minStepInReturnedPath</a><code> [inherited]</code></td>
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<p>The minimum distance between points in the returned found path (default=0.4); Notice that full grid resolution is used in path finding, this is only a way to reduce the amount of redundant information to be returned. </p>
<p>Definition at line <a class="el" href="_c_path_planning_method_8h_source.html#l00068">68</a> of file <a class="el" href="_c_path_planning_method_8h_source.html">CPathPlanningMethod.h</a>.</p>
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<a class="anchor" id="a383aee940ac3b18503752a2de5d90499"></a><!-- doxytag: member="mrpt::slam::CPathPlanningCircularRobot::occupancyThreshold" ref="a383aee940ac3b18503752a2de5d90499" args="" -->
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<td class="memname">float <a class="el" href="classmrpt_1_1slam_1_1_c_path_planning_method.html#a383aee940ac3b18503752a2de5d90499">mrpt::slam::CPathPlanningMethod::occupancyThreshold</a><code> [inherited]</code></td>
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<p>The maximum occupancy probability to consider a cell as an obstacle, default=0.5. </p>
<p>Definition at line <a class="el" href="_c_path_planning_method_8h_source.html#l00062">62</a> of file <a class="el" href="_c_path_planning_method_8h_source.html">CPathPlanningMethod.h</a>.</p>
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<a class="anchor" id="a6eda099bc1271a647873c724d5a03f7e"></a><!-- doxytag: member="mrpt::slam::CPathPlanningCircularRobot::robotRadius" ref="a6eda099bc1271a647873c724d5a03f7e" args="" -->
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<td class="memname">float <a class="el" href="classmrpt_1_1slam_1_1_c_path_planning_circular_robot.html#a6eda099bc1271a647873c724d5a03f7e">mrpt::slam::CPathPlanningCircularRobot::robotRadius</a></td>
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<p>The aproximate robot radius used in the planification. </p>
<p>Default is 0.35m </p>
<p>Definition at line <a class="el" href="_c_path_planning_circular_robot_8h_source.html#l00058">58</a> of file <a class="el" href="_c_path_planning_circular_robot_8h_source.html">CPathPlanningCircularRobot.h</a>.</p>
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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>
