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<div class="title">[mrpt-reactivenav]</div> </div>
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<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<p><small> <a href="index.html#libs">Back to list of all libraries</a> | <a href="modules.html">See all modules</a> </small> <br/>
</p>
<h2>Library <code>mrpt-reactivenav</code></h2>
<hr/>
<p>This library implements:</p>
<ul>
<li>
<p class="startli">Holonomic navigation algorithms: Virtual Force Fields (VFF), Nearness Diagram (ND), ... See <a class="el" href="classmrpt_1_1reactivenav_1_1_c_abstract_holonomic_reactive_method.html" title="A base class for holonomic reactive navigation methods.">mrpt::reactivenav::CAbstractHolonomicReactiveMethod</a> </p>
<p class="endli"></p>
</li>
<li>
<p class="startli">A complex reactive navigator: Using space transformations (PTGs) to drive a robot using an internal simpler holonomic algorithm. See <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...">mrpt::reactivenav::CReactiveNavigationSystem</a> </p>
<p class="endli"></p>
</li>
<li>
<p class="startli">A number of different PTGs: See <a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html" title="This is the base class for any user defined PTG.">mrpt::reactivenav::CParameterizedTrajectoryGenerator</a></p>
<p class="endli"></p>
</li>
</ul>
<p>See the full list of classes in <a class="el" href="namespacemrpt_1_1reactivenav.html" title="This namespace contains classes for building a TP-Space Reactive Navigation System.">mrpt::reactivenav</a>, or the online page <a href="http://www.mrpt.org/Application:ReactiveNavigationDemo">http://www.mrpt.org/Application:ReactiveNavigationDemo</a> for a discussion of a working application (see MRPT/apps/ReactiveNavigationDemo). </p>
<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">mrpt::reactivenav::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">mrpt::reactivenav::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_holonomic_log_file_record.html">mrpt::reactivenav::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">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html">mrpt::reactivenav::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___v_f_f.html">mrpt::reactivenav::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_log_file_record.html">mrpt::reactivenav::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">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1reactivenav_1_1_c_log_file_record_1_1_t_info_per_p_t_g.html">mrpt::reactivenav::CLogFileRecord::TInfoPerPTG</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The structure used to store all relevant information about each transformation into TP-Space. <a href="structmrpt_1_1reactivenav_1_1_c_log_file_record_1_1_t_info_per_p_t_g.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">mrpt::reactivenav::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">mrpt::reactivenav::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">mrpt::reactivenav::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">mrpt::reactivenav::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">mrpt::reactivenav::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">mrpt::reactivenav::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">mrpt::reactivenav::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">mrpt::reactivenav::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">mrpt::reactivenav::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">mrpt::reactivenav::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="namespaces"></a>
Namespaces</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">namespace  </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1reactivenav.html">mrpt::reactivenav</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><p>This namespace contains classes for building a TP-Space Reactive Navigation System. </p>
<br/></td></tr>
<tr><td colspan="2"><h2><a name="enum-members"></a>
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">mrpt::reactivenav::THolonomicMethod</a> { <a class="el" href="group__mrpt__reactivenav__grp.html#gga8e18db1c4f4a7eb6b4a8d85a2731b0b8adcbce8cdd6b643badd6d283938228322">mrpt::reactivenav::hmVIRTUAL_FORCE_FIELDS</a> = 0,
<a class="el" href="group__mrpt__reactivenav__grp.html#gga8e18db1c4f4a7eb6b4a8d85a2731b0b8a5db2e3aa549fd696c90d74add8bfaabb">mrpt::reactivenav::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>
<tr><td colspan="2"><h2><a name="member-group"></a>
Motion planning utilities</h2></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">mrpt::reactivenav::build_PTG_collision_grids</a> (<a class="el" href="classstd_1_1vector.html">std::vector</a>< CParameterizedTrajectoryGenerator * > 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="#ga044a9e38a051041ecb5ab3e603e7a02b"></a><br/></td></tr>
</table>
<hr/><h2>Enumeration Type Documentation</h2>
<a class="anchor" id="ga8e18db1c4f4a7eb6b4a8d85a2731b0b8"></a><!-- doxytag: member="mrpt::reactivenav::THolonomicMethod" ref="ga8e18db1c4f4a7eb6b4a8d85a2731b0b8" args="" -->
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<div class="memproto">
<table class="memname">
<tr>
<td class="memname">enum <a class="el" href="group__mrpt__reactivenav__grp.html#ga8e18db1c4f4a7eb6b4a8d85a2731b0b8">mrpt::reactivenav::THolonomicMethod</a></td>
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<div class="memdoc">
<p>The implemented reactive navigation methods. </p>
<dl><dt><b>Enumerator: </b></dt><dd><table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><em><a class="anchor" id="gga8e18db1c4f4a7eb6b4a8d85a2731b0b8adcbce8cdd6b643badd6d283938228322"></a><!-- doxytag: member="hmVIRTUAL_FORCE_FIELDS" ref="gga8e18db1c4f4a7eb6b4a8d85a2731b0b8adcbce8cdd6b643badd6d283938228322" args="" -->hmVIRTUAL_FORCE_FIELDS</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="gga8e18db1c4f4a7eb6b4a8d85a2731b0b8a5db2e3aa549fd696c90d74add8bfaabb"></a><!-- doxytag: member="hmSEARCH_FOR_BEST_GAP" ref="gga8e18db1c4f4a7eb6b4a8d85a2731b0b8a5db2e3aa549fd696c90d74add8bfaabb" args="" -->hmSEARCH_FOR_BEST_GAP</em> </td><td>
</td></tr>
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</dd>
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00053">53</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<hr/><h2>Function Documentation</h2>
<a class="anchor" id="ga044a9e38a051041ecb5ab3e603e7a02b"></a><!-- doxytag: member="mrpt::reactivenav::build_PTG_collision_grids" ref="ga044a9e38a051041ecb5ab3e603e7a02b" args="(std::vector< CParameterizedTrajectoryGenerator * > PTGs, const mrpt::math::CPolygon &robotShape, const std::string &cacheFilesPrefix=std::string("ReacNavGrid_"), bool verbose=true)" -->
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<td class="memname">void REACTIVENAV_IMPEXP mrpt::reactivenav::build_PTG_collision_grids </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classstd_1_1vector.html">std::vector</a>< CParameterizedTrajectoryGenerator * > </td>
<td class="paramname"><em>PTGs</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1math_1_1_c_polygon.html">mrpt::math::CPolygon</a> & </td>
<td class="paramname"><em>robotShape</em>, </td>
</tr>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>cacheFilesPrefix</em> = <code><a class="el" href="classstd_1_1string.html">std::string</a>("ReacNavGrid_")</code>, </td>
</tr>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>verbose</em> = <code>true</code> </td>
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<td>)</td>
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<p>Builds the collision grid for a given list of PTGs. </p>
<p>The collision grid must be calculated before calling <a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator_1_1_c_colision_grid.html#afafb095a7f03adc1ac0a93b348d38bcd" title="For an obstacle (x,y), returns a vector with all the pairs (a,d) such as the robot collides...">CParameterizedTrajectoryGenerator::CColisionGrid::getTPObstacle</a> </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">PTGs</td><td>The list of PTGs to calculate their grids. </td></tr>
<tr><td class="paramname">robotShape</td><td>The shape of the robot. </td></tr>
<tr><td class="paramname">cacheFilesPrefix</td><td>The prefix of the files where the collision grids will be dumped to speed-up future recalculations. </td></tr>
<tr><td class="paramname">verbose</td><td></td></tr>
</table>
</dd>
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<dl class="see"><dt><b>See also:</b></dt><dd><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> </dd></dl>
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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>
