Detailed Description

The "a(symptotic)-alpha PTG", as named in PTG papers.

Compatible kinematics: differential-driven / Ackermann steering
Compatible robot shape: Arbitrary 2D polygon
PTG parameters: Use the app ptg-configurator

This PT generator functions are:

$v(\alpha) = V_{MAX} e^{ -\left( \dfrac{\alpha-\phi}{cte_{a0v}} \right)^2}$

$\omega(\alpha) = W_{MAX} \left( -\dfrac{1}{2} +\dfrac{1}{1+ e^{ - \dfrac{\alpha-\phi}{cte_{a0w}} } } \right)$

So, the radius of curvature of each trajectory is NOT constant for each "alpha" value in this PTG:

C-PTG path examples

Note: [Before MRPT 1.5.0 this was named CPTG2]

Definition at line 35 of file CPTG_DiffDrive_alpha.h.

#include <mrpt/nav/tpspace/CPTG_DiffDrive_alpha.h>

Inheritance diagram for mrpt::nav::CPTG_DiffDrive_alpha:

Public Member Functions
	CPTG_DiffDrive_alpha ()=default

	CPTG_DiffDrive_alpha (const mrpt::config::CConfigFileBase &cfg, const std::string &sSection)

void	loadFromConfigFile (const mrpt::config::CConfigFileBase &cfg, const std::string &sSection) override
	Parameters accepted by this base class: More...

void	saveToConfigFile (mrpt::config::CConfigFileBase &cfg, const std::string &sSection) const override
	This method saves the options to a ".ini"-like file or memory-stored string list. More...

std::string	getDescription () const override
	Gets a short textual description of the PTG and its parameters. More...

void	ptgDiffDriveSteeringFunction (float alpha, float t, float x, float y, float phi, float &v, float &w) const override
	The main method to be implemented in derived classes: it defines the differential-driven differential equation. More...

void	loadDefaultParams () override
	Loads a set of default parameters; provided exclusively for the PTG-configurator tool. More...

double	getMax_V () const

double	getMax_W () const

bool	isPointInsideRobotShape (const double x, const double y) const override
	Returns true if the point lies within the robot shape. More...

void	add_robotShape_to_setOfLines (mrpt::opengl::CSetOfLines &gl_shape, const mrpt::poses::CPose2D &origin=mrpt::poses::CPose2D()) const override
	Auxiliary function for rendering. More...

void	updateNavDynamicState (const TNavDynamicState &newState, const bool force_update=false)
	To be invoked by the navigator before each navigation step, to let the PTG to react to changing dynamic conditions. More...

const TNavDynamicState &	getCurrentNavDynamicState () const

void	initialize (const std::string &cacheFilename=std::string(), const bool verbose=true)
	Must be called after setting all PTG parameters and before requesting converting obstacles to TP-Space, inverseMap_WS2TP(), etc. More...

void	deinitialize ()
	This must be called to de-initialize the PTG if some parameter is to be changed. More...

bool	isInitialized () const
	Returns true if `initialize()` has been called and there was no errors, so the PTG is ready to be queried for paths, obstacles, etc. More...

uint16_t	getAlphaValuesCount () const
	Get the number of different, discrete paths in this family. More...

uint16_t	getPathCount () const
	Get the number of different, discrete paths in this family. More...

double	index2alpha (uint16_t k) const
	Alpha value for the discrete corresponding value. More...

uint16_t	alpha2index (double alpha) const
	Discrete index value for the corresponding alpha value. More...

double	getRefDistance () const

void	initTPObstacles (std::vector< double > &TP_Obstacles) const
	Resizes and populates the initial appropriate contents in a vector of tp-obstacles (collision-free ranges, in "pseudometers", un-normalized). More...

void	initTPObstacleSingle (uint16_t k, double &TP_Obstacle_k) const

double	getScorePriority () const
	When used in path planning, a multiplying factor (default=1.0) for the scores for this PTG. More...

void	setScorePriorty (double prior)

unsigned	getClearanceStepCount () const

void	setClearanceStepCount (const unsigned res)

unsigned	getClearanceDecimatedPaths () const

void	setClearanceDecimatedPaths (const unsigned num)

virtual void	renderPathAsSimpleLine (const uint16_t k, mrpt::opengl::CSetOfLines &gl_obj, const double decimate_distance=0.1, const double max_path_distance=-1.0) const
	Returns the representation of one trajectory of this PTG as a 3D OpenGL object (a simple curved line). More...

bool	debugDumpInFiles (const std::string &ptg_name) const
	Dump PTG trajectories in four text files: `. More...

void	initClearanceDiagram (ClearanceDiagram &cd) const
	Must be called to resize a CD to its correct size, before calling updateClearance() More...

void	updateClearance (const double ox, const double oy, ClearanceDiagram &cd) const
	Updates the clearance diagram given one (ox,oy) obstacle point, in coordinates relative to the PTG path origin. More...

void	updateClearancePost (ClearanceDiagram &cd, const std::vector< double > &TP_obstacles) const

virtual void	evalClearanceSingleObstacle (const double ox, const double oy, const uint16_t k, ClearanceDiagram::dist2clearance_t &inout_realdist2clearance, bool treat_as_obstacle=true) const
	Evals the robot clearance for each robot pose along path `k`, for the real distances in the key of the map<>, then keep in the map value the minimum of its current stored clearance, or the computed clearance. More...

virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a `mxArray` Matlab object, typically a MATLAB `struct` whose contents are documented in each derived class. More...

void	loadFromConfigFileName (const std::string &config_file, const std::string &section)
	Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file. More...

void	saveToConfigFileName (const std::string &config_file, const std::string &section) const
	Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file. More...

void	dumpToConsole () const
	Just like dumpToTextStream() but sending the text to the console (std::cout) More...

virtual void	dumpToTextStream (std::ostream &out) const
	This method should clearly display all the contents of the structure in textual form, sending it to a std::ostream. More...

Virtual interface of each PTG implementation
bool	inverseMap_WS2TP (double x, double y, int &out_k, double &out_d, double tolerance_dist=0.10) const override
	The default implementation in this class relies on a look-up-table. More...

mrpt::kinematics::CVehicleVelCmd::Ptr	directionToMotionCommand (uint16_t k) const override
	In this class, `out_action_cmd` contains: [0]: linear velocity (m/s), [1]: angular velocity (rad/s). More...

mrpt::kinematics::CVehicleVelCmd::Ptr	getSupportedKinematicVelocityCommand () const override
	Returns an empty kinematic velocity command object of the type supported by this PTG. More...

void	setRefDistance (const double refDist) override
	Launches an exception in this class: it is not allowed in numerical integration-based PTGs to change the reference distance after initialization. More...

size_t	getPathStepCount (uint16_t k) const override
	Access path `k` ([0,N-1]=>[-pi,pi] in alpha): number of discrete "steps" along the trajectory. More...

void	getPathPose (uint16_t k, uint32_t step, mrpt::math::TPose2D &p) const override
	Access path `k` ([0,N-1]=>[-pi,pi] in alpha): pose of the vehicle at discrete step `step`. More...

double	getPathDist (uint16_t k, uint32_t step) const override
	Access path `k` ([0,N-1]=>[-pi,pi] in alpha): traversed distance at discrete step `step`. More...

bool	getPathStepForDist (uint16_t k, double dist, uint32_t &out_step) const override
	Access path `k` ([0,N-1]=>[-pi,pi] in alpha): largest step count for which the traversed distance is < `dist` More...

double	getPathStepDuration () const override
	Returns the duration (in seconds) of each "step". More...

double	getMaxLinVel () const override
	Returns the maximum linear velocity expected from this PTG [m/s]. More...

double	getMaxAngVel () const override
	Returns the maximum angular velocity expected from this PTG [rad/s]. More...

void	updateTPObstacle (double ox, double oy, std::vector< double > &tp_obstacles) const override
	Updates the radial map of closest TP-Obstacles given a single obstacle point at (ox,oy) More...

void	updateTPObstacleSingle (double ox, double oy, uint16_t k, double &tp_obstacle_k) const override
	Like updateTPObstacle() but for one direction only (`k`) in TP-Space. More...

void	onNewNavDynamicState () override
	This family of PTGs ignores the dynamic states. More...

Robot shape
void	setRobotShape (const mrpt::math::CPolygon &robotShape)
	Robot shape must be set before initialization, either from ctor params or via this method. More...

const mrpt::math::CPolygon &	getRobotShape () const

double	getMaxRobotRadius () const override
	Returns an approximation of the robot radius. More...

double	evalClearanceToRobotShape (const double ox, const double oy) const override
	Evals the clearance from an obstacle (ox,oy) in coordinates relative to the robot center. More...

Virtual interface of each PTG implementation
virtual bool	PTG_IsIntoDomain (double x, double y) const
	Returns the same than inverseMap_WS2TP() but without any additional cost. More...

virtual bool	isBijectiveAt (uint16_t k, uint32_t step) const
	Returns true if a given TP-Space point maps to a unique point in Workspace, and viceversa. More...

virtual bool	supportVelCmdNOP () const
	Returns true if it is possible to stop sending velocity commands to the robot and, still, the robot controller will be able to keep following the last sent trajectory ("NOP" velocity commands). More...

virtual bool	supportSpeedAtTarget () const
	Returns true if this PTG takes into account the desired velocity at target. More...

virtual double	maxTimeInVelCmdNOP (int path_k) const
	Only for PTGs supporting supportVelCmdNOP(): this is the maximum time (in seconds) for which the path can be followed without re-issuing a new velcmd. More...

virtual double	getActualUnloopedPathLength (uint16_t k) const
	Returns the actual distance (in meters) of the path, discounting possible circular loops of the path (e.g. More...

virtual double	evalPathRelativePriority (uint16_t k, double target_distance) const
	Query the PTG for the relative priority factor (0,1) of this PTG, in comparison to others, if the k-th path is to be selected. More...

RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr	duplicateGetSmartPtr () const
	Makes a deep copy of the object and returns a smart pointer to it. More...

Static Public Member Functions
static CParameterizedTrajectoryGenerator::Ptr	CreatePTG (const std::string &ptgClassName, const mrpt::config::CConfigFileBase &cfg, const std::string &sSection, const std::string &sKeyPrefix)
	The class factory for creating a PTG from a list of parameters in a section of a given config file (physical file or in memory). More...

static std::string &	OUTPUT_DEBUG_PATH_PREFIX ()
	The path used as defaul output in, for example, debugDumpInFiles. More...

static double	index2alpha (uint16_t k, const unsigned int num_paths)

static uint16_t	alpha2index (double alpha, const unsigned int num_paths)

static PTG_collision_behavior_t &	COLLISION_BEHAVIOR ()
	Defines the behavior when there is an obstacle inside the robot shape right at the beginning of a PTG trajectory. More...

Protected Types
using	TCollisionCell = std::vector< std::pair< uint16_t, float > >
	A list of all the pairs (alpha,distance) such as the robot collides at that cell. More...

Protected Member Functions
void	internal_processNewRobotShape () override
	Will be called whenever the robot shape is set / updated. More...

void	internal_initialize (const std::string &cacheFilename=std::string(), const bool verbose=true) override
	Must be called after setting all PTG parameters and before requesting converting obstacles to TP-Space, inverseMap_WS2TP(), etc. More...

void	internal_deinitialize () override
	This must be called to de-initialize the PTG if some parameter is to be changed. More...

void	internal_readFromStream (mrpt::serialization::CArchive &in) override

void	internal_writeToStream (mrpt::serialization::CArchive &out) const override

void	simulateTrajectories (float max_time, float max_dist, unsigned int max_n, float diferencial_t, float min_dist, float out_max_acc_v=nullptr, float out_max_acc_w=nullptr)
	Numerically solve the diferential equations to generate a family of trajectories. More...

bool	saveColGridsToFile (const std::string &filename, const mrpt::math::CPolygon &computed_robotShape) const

bool	loadColGridsFromFile (const std::string &filename, const mrpt::math::CPolygon &current_robotShape)

void	loadShapeFromConfigFile (const mrpt::config::CConfigFileBase &source, const std::string &section)

void	internal_shape_loadFromStream (mrpt::serialization::CArchive &in)

void	internal_shape_saveToStream (mrpt::serialization::CArchive &out) const

void	internal_TPObsDistancePostprocess (const double ox, const double oy, const double new_tp_obs_dist, double &inout_tp_obs) const
	To be called by implementors of updateTPObstacle() and updateTPObstacleSingle() to honor the user settings regarding COLLISION_BEHAVIOR. More...

CSerializable virtual methods
uint8_t	serializeGetVersion () const override
	Must return the current versioning number of the object. More...

void	serializeTo (mrpt::serialization::CArchive &out) const override
	Pure virtual method for writing (serializing) to an abstract archive. More...

void	serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
	Pure virtual method for reading (deserializing) from an abstract archive. More...

CSerializable virtual methods
virtual void	serializeTo (CSchemeArchiveBase &out) const
	Virtual method for writing (serializing) to an abstract schema based archive. More...

virtual void	serializeFrom (CSchemeArchiveBase &in)
	Virtual method for reading (deserializing) from an abstract schema based archive. More...

Static Protected Member Functions
static void	dumpVar_int (std::ostream &out, const char *varName, int v)
	Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. More...

static void	dumpVar_float (std::ostream &out, const char *varName, float v)

static void	dumpVar_double (std::ostream &out, const char *varName, double v)

static void	dumpVar_bool (std::ostream &out, const char *varName, bool v)

static void	dumpVar_string (std::ostream &out, const char *varName, const std::string &v)

Protected Attributes
double	cte_a0v {0}

double	cte_a0w {0}

double	V_MAX {.0}

double	W_MAX {.0}

double	turningRadiusReference {.10}

std::vector< TCPointVector >	m_trajectory

double	m_resolution {0.05}

double	m_stepTimeDuration {0.01}

CCollisionGrid	m_collisionGrid
	The collision grid. More...

mrpt::containers::CDynamicGrid< TCellForLambdaFunction >	m_lambdaFunctionOptimizer
	This grid will contain indexes data for speeding-up the default, brute-force lambda function. More...

mrpt::math::CPolygon	m_robotShape

double	m_robotMaxRadius {.01}

double	refDistance {.0}

uint16_t	m_alphaValuesCount {0}
	The number of discrete values for "alpha" between -PI and +PI. More...

double	m_score_priority {1.0}

uint16_t	m_clearance_num_points {5}
	Number of steps for the piecewise-constant approximation of clearance from TPS distances [0,1] (Default=5) More...

uint16_t	m_clearance_decimated_paths {15}
	Number of paths for the decimated paths analysis of clearance. More...

TNavDynamicState	m_nav_dyn_state
	Updated before each nav step by. More...

uint16_t	m_nav_dyn_state_target_k
	Update in updateNavDynamicState(), contains the path index (k) for the target. More...

bool	m_is_initialized {false}

Static Protected Attributes
static const uint16_t	INVALID_PTG_PATH_INDEX = static_cast<uint16_t>(-1)

RTTI stuff
using	Ptr = std::shared_ptr< CPTG_DiffDrive_alpha >

using	ConstPtr = std::shared_ptr< const CPTG_DiffDrive_alpha >

using	UniquePtr = std::unique_ptr< CPTG_DiffDrive_alpha >

using	ConstUniquePtr = std::unique_ptr< const CPTG_DiffDrive_alpha >

static mrpt::rtti::CLASSINIT	_init_CPTG_DiffDrive_alpha

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CPTG_DiffDrive_alpha"

static const mrpt::rtti::TRuntimeClassId *	_GetBaseClass ()

static constexpr auto	getClassName ()

static const mrpt::rtti::TRuntimeClassId &	GetRuntimeClassIdStatic ()

static std::shared_ptr< CObject >	CreateObject ()

template<typename... Args>
static Ptr	Create (Args &&... args)

template<typename Alloc , typename... Args>
static Ptr	CreateAlloc (const Alloc &alloc, Args &&... args)

template<typename... Args>
static UniquePtr	CreateUnique (Args &&... args)

virtual const mrpt::rtti::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

virtual mrpt::rtti::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Member Typedef Documentation

◆ ConstPtr

using mrpt::nav::CPTG_DiffDrive_alpha::ConstPtr = std::shared_ptr<const CPTG_DiffDrive_alpha >

Definition at line 37 of file CPTG_DiffDrive_alpha.h.

◆ ConstUniquePtr

using mrpt::nav::CPTG_DiffDrive_alpha::ConstUniquePtr = std::unique_ptr<const CPTG_DiffDrive_alpha >

Definition at line 37 of file CPTG_DiffDrive_alpha.h.

◆ Ptr

using mrpt::nav::CPTG_DiffDrive_alpha::Ptr = std::shared_ptr< CPTG_DiffDrive_alpha >

A type for the associated smart pointer

Definition at line 37 of file CPTG_DiffDrive_alpha.h.

◆ TCollisionCell

using mrpt::nav::CPTG_DiffDrive_CollisionGridBased::TCollisionCell = std::vector<std::pair<uint16_t, float> >

protectedinherited

A list of all the pairs (alpha,distance) such as the robot collides at that cell.

map key (uint16_t) -> alpha value (k)
- map value (float) -> the MINIMUM distance (d), in meters, associated with that "k".

Definition at line 166 of file CPTG_DiffDrive_CollisionGridBased.h.

◆ UniquePtr

using mrpt::nav::CPTG_DiffDrive_alpha::UniquePtr = std::unique_ptr< CPTG_DiffDrive_alpha >

Definition at line 37 of file CPTG_DiffDrive_alpha.h.

Constructor & Destructor Documentation

◆ CPTG_DiffDrive_alpha() [1/2]

mrpt::nav::CPTG_DiffDrive_alpha::CPTG_DiffDrive_alpha ( )

default

◆ CPTG_DiffDrive_alpha() [2/2]

mrpt::nav::CPTG_DiffDrive_alpha::CPTG_DiffDrive_alpha	(	const mrpt::config::CConfigFileBase &	cfg,
		const std::string &	sSection
	)

inline

Definition at line 40 of file CPTG_DiffDrive_alpha.h.

References loadFromConfigFile().

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Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::nav::CPTG_DiffDrive_alpha::_GetBaseClass ( )

staticprotected

◆ add_robotShape_to_setOfLines()

void CPTG_RobotShape_Polygonal::add_robotShape_to_setOfLines	(	mrpt::opengl::CSetOfLines &	gl_shape,
		const mrpt::poses::CPose2D &	origin = `mrpt::poses::CPose2D()`
	)		const

overridevirtualinherited

Auxiliary function for rendering.

Implements mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 93 of file CPTG_RobotShape_Polygonal.cpp.

References mrpt::opengl::CSetOfLines::appendLine(), mrpt::opengl::CSetOfLines::appendLineStrip(), mrpt::poses::CPose2D::composePoint(), and mrpt::nav::CPTG_RobotShape_Polygonal::m_robotShape.

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◆ alpha2index() [1/2]

uint16_t CParameterizedTrajectoryGenerator::alpha2index ( double alpha ) const

inherited

Discrete index value for the corresponding alpha value.

See also: index2alpha

Definition at line 223 of file CParameterizedTrajectoryGenerator.cpp.

References mrpt::nav::CParameterizedTrajectoryGenerator::m_alphaValuesCount.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), mrpt::nav::CHolonomicFullEval::evalSingleTarget(), mrpt::nav::CAbstractPTGBasedReactive::generate_vel_cmd(), mrpt::nav::CPTG_Holo_Blend::inverseMap_WS2TP(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), and mrpt::nav::ClearanceDiagram::renderAs3DObject().

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◆ alpha2index() [2/2]

uint16_t CParameterizedTrajectoryGenerator::alpha2index	(	double	alpha,
		const unsigned int	num_paths
	)

staticinherited

Definition at line 213 of file CParameterizedTrajectoryGenerator.cpp.

References M_PI, mrpt::round(), and mrpt::math::wrapToPi().

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◆ clone()

virtual mrpt::rtti::CObject* mrpt::nav::CPTG_DiffDrive_alpha::clone ( ) const

overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

◆ COLLISION_BEHAVIOR()

PTG_collision_behavior_t & CParameterizedTrajectoryGenerator::COLLISION_BEHAVIOR ( )

staticinherited

Defines the behavior when there is an obstacle inside the robot shape right at the beginning of a PTG trajectory.

Default value: COLL_BEH_BACK_AWAY

Definition at line 31 of file CParameterizedTrajectoryGenerator.cpp.

References COLLISION_BEHAVIOR.

Referenced by mrpt::nav::CParameterizedTrajectoryGenerator::internal_TPObsDistancePostprocess().

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◆ Create()

template<typename... Args>

static Ptr mrpt::nav::CPTG_DiffDrive_alpha::Create ( Args &&... args )

inlinestatic

Definition at line 37 of file CPTG_DiffDrive_alpha.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::nav::CPTG_DiffDrive_alpha::CreateAlloc	(	const Alloc &	alloc,
		Args &&...	args
	)

inlinestatic

Definition at line 37 of file CPTG_DiffDrive_alpha.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::nav::CPTG_DiffDrive_alpha::CreateObject ( )

static

◆ CreatePTG()

CParameterizedTrajectoryGenerator::Ptr CParameterizedTrajectoryGenerator::CreatePTG	(	const std::string &	ptgClassName,
		const mrpt::config::CConfigFileBase &	cfg,
		const std::string &	sSection,
		const std::string &	sKeyPrefix
	)

staticinherited

The class factory for creating a PTG from a list of parameters in a section of a given config file (physical file or in memory).

Possible parameters are:

Those explained in CParameterizedTrajectoryGenerator::loadFromConfigFile()
Those explained in the specific PTG being created (see list of derived classes)

ptgClassName can be any PTG class name which has been registered as any other mrpt::serialization::CSerializable class.

Exceptions

std::logic_error On invalid or missing parameters.

Definition at line 22 of file CParameterizedTrajectoryGenerator_factory.cpp.

References mrpt::config::CConfigFilePrefixer::bind(), mrpt::rtti::TRuntimeClassId::createObject(), mrpt::rtti::findRegisteredClass(), mrpt::ptr_cast< CAST_TO >::from(), MRPT_END, MRPT_START, mrpt::rtti::registerAllPendingClasses(), mrpt::config::CConfigFilePrefixer::setPrefixes(), THROW_EXCEPTION_FMT, and mrpt::system::trim().

Referenced by mrpt::nav::PlannerTPS_VirtualBase::internal_loadConfig_PTG(), mrpt::nav::CReactiveNavigationSystem::loadConfigFile(), and mrpt::nav::CReactiveNavigationSystem3D::loadConfigFile().

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◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::nav::CPTG_DiffDrive_alpha::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 37 of file CPTG_DiffDrive_alpha.h.

◆ debugDumpInFiles()

bool CParameterizedTrajectoryGenerator::debugDumpInFiles ( const std::string & ptg_name ) const

inherited

Dump PTG trajectories in four text files: `.

/reactivenav.logs/PTGs/PTGi_{x,y,phi,d}.txt` Text files are loadable from MATLAB/Octave, and can be visualized with the script [MRPT_DIR]/scripts/viewPTG.m

Note: The directory "./reactivenav.logs/PTGs" will be created if doesn't exist.

Returns: false on any error writing to disk.

See also: OUTPUT_DEBUG_PATH_PREFIX

Definition at line 279 of file CParameterizedTrajectoryGenerator.cpp.

References mrpt::system::createDirectory(), mrpt::format(), mrpt::nav::CParameterizedTrajectoryGenerator::getAlphaValuesCount(), mrpt::nav::CParameterizedTrajectoryGenerator::getPathDist(), mrpt::nav::CParameterizedTrajectoryGenerator::getPathPose(), mrpt::nav::CParameterizedTrajectoryGenerator::getPathStepCount(), min, and mrpt::nav::CParameterizedTrajectoryGenerator::OUTPUT_DEBUG_PATH_PREFIX().

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◆ deinitialize()

void CParameterizedTrajectoryGenerator::deinitialize ( )

inherited

This must be called to de-initialize the PTG if some parameter is to be changed.

After changing it, call initialize again

Definition at line 416 of file CParameterizedTrajectoryGenerator.cpp.

References mrpt::nav::CParameterizedTrajectoryGenerator::internal_deinitialize(), and mrpt::nav::CParameterizedTrajectoryGenerator::m_is_initialized.

Referenced by mrpt::nav::CParameterizedTrajectoryGenerator::internal_readFromStream().

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◆ directionToMotionCommand()

mrpt::kinematics::CVehicleVelCmd::Ptr CPTG_DiffDrive_CollisionGridBased::directionToMotionCommand ( uint16_t k ) const

overridevirtualinherited

In this class, out_action_cmd contains: [0]: linear velocity (m/s), [1]: angular velocity (rad/s).

In this class, out_action_cmd contains: [0]: linear velocity (m/s), [1]: angular velocity (rad/s)

See more docs in CParameterizedTrajectoryGenerator::directionToMotionCommand()

Implements mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 271 of file CPTG_DiffDrive_CollisionGridBased.cpp.

References mrpt::nav::CParameterizedTrajectoryGenerator::index2alpha(), and mrpt::nav::CPTG_DiffDrive_CollisionGridBased::ptgDiffDriveSteeringFunction().

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◆ dumpToConsole()

void CLoadableOptions::dumpToConsole ( ) const

inherited

Just like dumpToTextStream() but sending the text to the console (std::cout)

Definition at line 44 of file CLoadableOptions.cpp.

References mrpt::config::CLoadableOptions::dumpToTextStream().

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel().

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◆ dumpToTextStream()

void CLoadableOptions::dumpToTextStream ( std::ostream & out ) const

virtualinherited

This method should clearly display all the contents of the structure in textual form, sending it to a std::ostream.

The default implementation in this base class relies on saveToConfigFile() to generate a plain text representation of all the parameters.

Definition at line 77 of file CLoadableOptions.cpp.

References mrpt::config::CConfigFileMemory::getContent(), and mrpt::config::CLoadableOptions::saveToConfigFile().

Referenced by mrpt::config::CLoadableOptions::dumpToConsole(), mrpt::maps::TMetricMapInitializer::dumpToTextStream(), mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams::dumpToTextStream(), and mrpt::maps::COccupancyGridMap3D::TMapDefinition::dumpToTextStream_map_specific().

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◆ dumpVar_bool()

void CLoadableOptions::dumpVar_bool	(	std::ostream &	out,
		const char *	varName,
		bool	v
	)

staticprotectedinherited

Definition at line 63 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

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◆ dumpVar_double()

void CLoadableOptions::dumpVar_double	(	std::ostream &	out,
		const char *	varName,
		double	v
	)

staticprotectedinherited

Definition at line 57 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

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◆ dumpVar_float()

void CLoadableOptions::dumpVar_float	(	std::ostream &	out,
		const char *	varName,
		float	v
	)

staticprotectedinherited

Definition at line 51 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

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◆ dumpVar_int()

void CLoadableOptions::dumpVar_int	(	std::ostream &	out,
		const char *	varName,
		int	v
	)

staticprotectedinherited

Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.

Definition at line 45 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

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◆ dumpVar_string()

void CLoadableOptions::dumpVar_string	(	std::ostream &	out,
		const char *	varName,
		const std::string &	v
	)

staticprotectedinherited

Definition at line 70 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

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◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 200 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::addActions(), and mrpt::obs::CRawlog::addObservations().

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◆ evalClearanceSingleObstacle()

void CParameterizedTrajectoryGenerator::evalClearanceSingleObstacle	(	const double	ox,
		const double	oy,
		const uint16_t	k,
		ClearanceDiagram::dist2clearance_t &	inout_realdist2clearance,
		bool	treat_as_obstacle = `true`
	)		const

virtualinherited

Evals the robot clearance for each robot pose along path k, for the real distances in the key of the map<>, then keep in the map value the minimum of its current stored clearance, or the computed clearance.

In case of collision, clearance is zero.

Parameters

treat_as_obstacle true: normal use for obstacles; false: compute shortest distances to a target point (no collision)

Definition at line 513 of file CParameterizedTrajectoryGenerator.cpp.

References mrpt::math::angDistance(), ASSERT_, mrpt::DEG2RAD(), mrpt::nav::CParameterizedTrajectoryGenerator::evalClearanceToRobotShape(), mrpt::nav::CParameterizedTrajectoryGenerator::getPathPose(), mrpt::nav::CParameterizedTrajectoryGenerator::getPathStepCount(), mrpt::nav::CParameterizedTrajectoryGenerator::index2alpha(), mrpt::math::TPose2D::inverseComposePoint(), mrpt::keep_min(), mrpt::math::TPoint2D::norm(), mrpt::nav::CParameterizedTrajectoryGenerator::refDistance, mrpt::round(), mrpt::math::TPoint2D_data::x, and mrpt::math::TPoint2D_data::y.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), and mrpt::nav::CParameterizedTrajectoryGenerator::updateClearance().

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◆ evalClearanceToRobotShape()

double CPTG_RobotShape_Polygonal::evalClearanceToRobotShape	(	const double	ox,
		const double	oy
	)		const

overridevirtualinherited

Evals the clearance from an obstacle (ox,oy) in coordinates relative to the robot center.

Zero or negative means collision.

Implements mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 155 of file CPTG_RobotShape_Polygonal.cpp.

References mrpt::hypot_fast(), mrpt::nav::CPTG_RobotShape_Polygonal::isPointInsideRobotShape(), mrpt::keep_max(), and mrpt::nav::CPTG_RobotShape_Polygonal::m_robotMaxRadius.

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◆ evalPathRelativePriority()

virtual double mrpt::nav::CParameterizedTrajectoryGenerator::evalPathRelativePriority	(	uint16_t	k,
		double	target_distance
	)		const

inlinevirtualinherited

Query the PTG for the relative priority factor (0,1) of this PTG, in comparison to others, if the k-th path is to be selected.

Definition at line 297 of file CParameterizedTrajectoryGenerator.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores().

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◆ getActualUnloopedPathLength()

virtual double mrpt::nav::CParameterizedTrajectoryGenerator::getActualUnloopedPathLength ( uint16_t k ) const

inlinevirtualinherited

Returns the actual distance (in meters) of the path, discounting possible circular loops of the path (e.g.

if it comes back to the origin). Default: refDistance

Definition at line 290 of file CParameterizedTrajectoryGenerator.h.

References mrpt::nav::CParameterizedTrajectoryGenerator::refDistance.

◆ getAlphaValuesCount()

uint16_t mrpt::nav::CParameterizedTrajectoryGenerator::getAlphaValuesCount ( ) const

inlineinherited

Get the number of different, discrete paths in this family.

Definition at line 343 of file CParameterizedTrajectoryGenerator.h.

References mrpt::nav::CParameterizedTrajectoryGenerator::m_alphaValuesCount.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CParameterizedTrajectoryGenerator::debugDumpInFiles(), and mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_initialize().

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◆ getClassName()

static constexpr auto mrpt::nav::CPTG_DiffDrive_alpha::getClassName ( )

inlinestatic

Definition at line 37 of file CPTG_DiffDrive_alpha.h.

◆ getClearanceDecimatedPaths()

unsigned mrpt::nav::CParameterizedTrajectoryGenerator::getClearanceDecimatedPaths ( ) const

inlineinherited

Definition at line 372 of file CParameterizedTrajectoryGenerator.h.

References mrpt::nav::CParameterizedTrajectoryGenerator::m_clearance_decimated_paths.

◆ getClearanceStepCount()

unsigned mrpt::nav::CParameterizedTrajectoryGenerator::getClearanceStepCount ( ) const

inlineinherited

Definition at line 366 of file CParameterizedTrajectoryGenerator.h.

References mrpt::nav::CParameterizedTrajectoryGenerator::m_clearance_num_points.

◆ getCurrentNavDynamicState()

const TNavDynamicState& mrpt::nav::CParameterizedTrajectoryGenerator::getCurrentNavDynamicState ( ) const

inlineinherited

Definition at line 321 of file CParameterizedTrajectoryGenerator.h.

References mrpt::nav::CParameterizedTrajectoryGenerator::m_nav_dyn_state.

◆ getDescription()

std::string CPTG_DiffDrive_alpha::getDescription ( ) const

overridevirtual

Gets a short textual description of the PTG and its parameters.

Implements mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 50 of file CPTG_DiffDrive_alpha.cpp.

References mrpt::RAD2DEG(), and mrpt::system::os::sprintf().

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◆ getMax_V()

double mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getMax_V ( ) const

inlineinherited

Definition at line 112 of file CPTG_DiffDrive_CollisionGridBased.h.

References mrpt::nav::CPTG_DiffDrive_CollisionGridBased::V_MAX.

◆ getMax_W()

double mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getMax_W ( ) const

inlineinherited

Definition at line 113 of file CPTG_DiffDrive_CollisionGridBased.h.

References mrpt::nav::CPTG_DiffDrive_CollisionGridBased::W_MAX.

◆ getMaxAngVel()

double mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getMaxAngVel ( ) const

inlineoverridevirtualinherited

Returns the maximum angular velocity expected from this PTG [rad/s].

Implements mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 98 of file CPTG_DiffDrive_CollisionGridBased.h.

References mrpt::nav::CPTG_DiffDrive_CollisionGridBased::W_MAX.

◆ getMaxLinVel()

double mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getMaxLinVel ( ) const

inlineoverridevirtualinherited

Returns the maximum linear velocity expected from this PTG [m/s].

Implements mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 97 of file CPTG_DiffDrive_CollisionGridBased.h.

References mrpt::nav::CPTG_DiffDrive_CollisionGridBased::V_MAX.

◆ getMaxRobotRadius()

double CPTG_RobotShape_Polygonal::getMaxRobotRadius ( ) const

overridevirtualinherited

Returns an approximation of the robot radius.

Implements mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 144 of file CPTG_RobotShape_Polygonal.cpp.

References mrpt::nav::CPTG_RobotShape_Polygonal::m_robotMaxRadius.

◆ getPathCount()

uint16_t mrpt::nav::CParameterizedTrajectoryGenerator::getPathCount ( ) const

inlineinherited

Get the number of different, discrete paths in this family.

Definition at line 345 of file CParameterizedTrajectoryGenerator.h.

References mrpt::nav::CParameterizedTrajectoryGenerator::m_alphaValuesCount.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::impl_waypoint_is_reachable().

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◆ getPathDist()

double CPTG_DiffDrive_CollisionGridBased::getPathDist	(	uint16_t	k,
		uint32_t	step
	)		const

overridevirtualinherited

Access path k ([0,N-1]=>[-pi,pi] in alpha): traversed distance at discrete step step.

Returns: Distance in pseudometers (real distance, NOT normalized to [0,1] for [0,refDist])

See also: getPathStepCount(), getAlphaValuesCount()

Implements mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 852 of file CPTG_DiffDrive_CollisionGridBased.cpp.

References ASSERT_, and mrpt::nav::CPTG_DiffDrive_CollisionGridBased::m_trajectory.

Referenced by mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_initialize().

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◆ getPathPose()

void CPTG_DiffDrive_CollisionGridBased::getPathPose	(	uint16_t	k,
		uint32_t	step,
		mrpt::math::TPose2D &	p
	)		const

overridevirtualinherited

Access path k ([0,N-1]=>[-pi,pi] in alpha): pose of the vehicle at discrete step step.

See also: getPathStepCount(), getAlphaValuesCount()

Implements mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 841 of file CPTG_DiffDrive_CollisionGridBased.cpp.

References ASSERT_, and mrpt::nav::CPTG_DiffDrive_CollisionGridBased::m_trajectory.

Referenced by mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_initialize().

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◆ getPathStepCount()

size_t CPTG_DiffDrive_CollisionGridBased::getPathStepCount ( uint16_t k ) const

overridevirtualinherited

Access path k ([0,N-1]=>[-pi,pi] in alpha): number of discrete "steps" along the trajectory.

May be actual steps from a numerical integration or an arbitrary small length for analytical PTGs.

See also: getAlphaValuesCount()

Implements mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 834 of file CPTG_DiffDrive_CollisionGridBased.cpp.

References ASSERT_, and mrpt::nav::CPTG_DiffDrive_CollisionGridBased::m_trajectory.

Referenced by mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_initialize().

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◆ getPathStepDuration()

double CPTG_DiffDrive_CollisionGridBased::getPathStepDuration ( ) const

overridevirtualinherited

Returns the duration (in seconds) of each "step".

See also: getPathStepCount()

Implements mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 950 of file CPTG_DiffDrive_CollisionGridBased.cpp.

References mrpt::nav::CPTG_DiffDrive_CollisionGridBased::m_stepTimeDuration.

◆ getPathStepForDist()

bool CPTG_DiffDrive_CollisionGridBased::getPathStepForDist	(	uint16_t	k,
		double	dist,
		uint32_t &	out_step
	)		const

overridevirtualinherited

Access path k ([0,N-1]=>[-pi,pi] in alpha): largest step count for which the traversed distance is < dist

Parameters

[in] dist Distance in pseudometers (real distance, NOT normalized to [0,1] for [0,refDist])

Returns: false if no step fulfills the condition for the given trajectory k (e.g. out of reference distance). Note that, anyway, the maximum distance (closest point) is returned in out_step.

See also: getPathStepCount(), getAlphaValuesCount()

Implements mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 861 of file CPTG_DiffDrive_CollisionGridBased.cpp.

References ASSERT_, and mrpt::nav::CPTG_DiffDrive_CollisionGridBased::m_trajectory.

◆ getRefDistance()

double mrpt::nav::CParameterizedTrajectoryGenerator::getRefDistance ( ) const

inlineinherited

Definition at line 355 of file CParameterizedTrajectoryGenerator.h.

References mrpt::nav::CParameterizedTrajectoryGenerator::refDistance.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), and mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores().

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◆ getRobotShape()

const mrpt::math::CPolygon& mrpt::nav::CPTG_RobotShape_Polygonal::getRobotShape ( ) const

inlineinherited

Definition at line 518 of file CParameterizedTrajectoryGenerator.h.

References mrpt::nav::CPTG_RobotShape_Polygonal::m_robotShape.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::nav::CPTG_DiffDrive_alpha::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::nav::CParameterizedTrajectoryGenerator.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::nav::CPTG_DiffDrive_alpha::GetRuntimeClassIdStatic ( )

static

◆ getScorePriority()

double mrpt::nav::CParameterizedTrajectoryGenerator::getScorePriority ( ) const

inlineinherited

When used in path planning, a multiplying factor (default=1.0) for the scores for this PTG.

Assign values <1 to PTGs with low priority.

Definition at line 364 of file CParameterizedTrajectoryGenerator.h.

References mrpt::nav::CParameterizedTrajectoryGenerator::m_score_priority.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores().

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◆ getSupportedKinematicVelocityCommand()

mrpt::kinematics::CVehicleVelCmd::Ptr CPTG_DiffDrive_CollisionGridBased::getSupportedKinematicVelocityCommand ( ) const

overridevirtualinherited

Returns an empty kinematic velocity command object of the type supported by this PTG.

Can be queried to determine the expected kinematic interface of the PTG.

Implements mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 943 of file CPTG_DiffDrive_CollisionGridBased.cpp.

◆ index2alpha() [1/2]

double CParameterizedTrajectoryGenerator::index2alpha ( uint16_t k ) const

inherited

Alpha value for the discrete corresponding value.

See also: alpha2index

Definition at line 208 of file CParameterizedTrajectoryGenerator.cpp.

References mrpt::nav::CParameterizedTrajectoryGenerator::m_alphaValuesCount.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), mrpt::nav::CPTG_Holo_Blend::directionToMotionCommand(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::directionToMotionCommand(), mrpt::nav::CParameterizedTrajectoryGenerator::evalClearanceSingleObstacle(), mrpt::nav::CPTG_Holo_Blend::getPathDist(), mrpt::nav::CPTG_Holo_Blend::getPathPose(), mrpt::nav::CPTG_Holo_Blend::getPathStepForDist(), mrpt::nav::CHolonomicFullEval::navigate(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::simulateTrajectories(), and mrpt::nav::CPTG_Holo_Blend::updateTPObstacleSingle().

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◆ index2alpha() [2/2]

double CParameterizedTrajectoryGenerator::index2alpha	(	uint16_t	k,
		const unsigned int	num_paths
	)

staticinherited

Definition at line 201 of file CParameterizedTrajectoryGenerator.cpp.

References ASSERT_BELOW_, and M_PI.

◆ initClearanceDiagram()

void mrpt::nav::CParameterizedTrajectoryGenerator::initClearanceDiagram ( ClearanceDiagram & cd ) const

inherited

Must be called to resize a CD to its correct size, before calling updateClearance()

Definition at line 466 of file CParameterizedTrajectoryGenerator.cpp.

References mrpt::nav::ClearanceDiagram::decimated_k_to_real_k(), mrpt::nav::ClearanceDiagram::get_path_clearance_decimated(), mrpt::nav::CParameterizedTrajectoryGenerator::getPathDist(), mrpt::nav::CParameterizedTrajectoryGenerator::getPathStepCount(), mrpt::nav::CParameterizedTrajectoryGenerator::m_alphaValuesCount, mrpt::nav::CParameterizedTrajectoryGenerator::m_clearance_decimated_paths, mrpt::nav::CParameterizedTrajectoryGenerator::m_clearance_num_points, mrpt::nav::ClearanceDiagram::resize(), and mrpt::round().

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate().

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◆ initialize()

void CParameterizedTrajectoryGenerator::initialize	(	const std::string &	cacheFilename = `std::string()`,
		const bool	verbose = `true`
	)

inherited

Must be called after setting all PTG parameters and before requesting converting obstacles to TP-Space, inverseMap_WS2TP(), etc.

Definition at line 401 of file CParameterizedTrajectoryGenerator.cpp.

References mrpt::system::fileNameStripInvalidChars(), mrpt::nav::CParameterizedTrajectoryGenerator::getDescription(), mrpt::nav::CParameterizedTrajectoryGenerator::internal_initialize(), and mrpt::nav::CParameterizedTrajectoryGenerator::m_is_initialized.

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◆ initTPObstacles()

void CParameterizedTrajectoryGenerator::initTPObstacles ( std::vector< double > & TP_Obstacles ) const

inherited

Resizes and populates the initial appropriate contents in a vector of tp-obstacles (collision-free ranges, in "pseudometers", un-normalized).

See also: updateTPObstacle()

Definition at line 263 of file CParameterizedTrajectoryGenerator.cpp.

References mrpt::nav::CParameterizedTrajectoryGenerator::initTPObstacleSingle(), and mrpt::nav::CParameterizedTrajectoryGenerator::m_alphaValuesCount.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), and mrpt::nav::PlannerTPS_VirtualBase::spaceTransformer().

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◆ initTPObstacleSingle()

void CParameterizedTrajectoryGenerator::initTPObstacleSingle	(	uint16_t	k,
		double &	TP_Obstacle_k
	)		const

inherited

Definition at line 270 of file CParameterizedTrajectoryGenerator.cpp.

References mrpt::nav::CParameterizedTrajectoryGenerator::getPathDist(), mrpt::nav::CParameterizedTrajectoryGenerator::getPathStepCount(), mrpt::nav::CParameterizedTrajectoryGenerator::INVALID_PTG_PATH_INDEX, mrpt::nav::CParameterizedTrajectoryGenerator::m_nav_dyn_state_target_k, min, and mrpt::nav::CParameterizedTrajectoryGenerator::refDistance.

Referenced by mrpt::nav::CParameterizedTrajectoryGenerator::initTPObstacles(), and mrpt::nav::PlannerTPS_VirtualBase::spaceTransformerOneDirectionOnly().

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◆ internal_deinitialize()

void CPTG_DiffDrive_CollisionGridBased::internal_deinitialize ( )

overrideprotectedvirtualinherited

This must be called to de-initialize the PTG if some parameter is to be changed.

After changing it, call initialize again

Implements mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 677 of file CPTG_DiffDrive_CollisionGridBased.cpp.

References mrpt::nav::CPTG_DiffDrive_CollisionGridBased::m_trajectory.

Referenced by mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_readFromStream(), and mrpt::nav::CPTG_DiffDrive_CollisionGridBased::simulateTrajectories().

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◆ internal_initialize()

void CPTG_DiffDrive_CollisionGridBased::internal_initialize	(	const std::string &	cacheFilename = `std::string()`,
		const bool	verbose = `true`
	)

overrideprotectedvirtualinherited

Must be called after setting all PTG parameters and before requesting converting obstacles to TP-Space, inverseMap_WS2TP(), etc.

Implements mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 682 of file CPTG_DiffDrive_CollisionGridBased.cpp.

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◆ internal_processNewRobotShape()

void CPTG_DiffDrive_CollisionGridBased::internal_processNewRobotShape ( )

overrideprotectedvirtualinherited

Will be called whenever the robot shape is set / updated.

Implements mrpt::nav::CPTG_RobotShape_Polygonal.

Definition at line 670 of file CPTG_DiffDrive_CollisionGridBased.cpp.

References ASSERTMSG_, and mrpt::nav::CPTG_DiffDrive_CollisionGridBased::m_trajectory.

◆ internal_readFromStream()

void CPTG_DiffDrive_CollisionGridBased::internal_readFromStream ( mrpt::serialization::CArchive & in )

overrideprotectedvirtualinherited

Reimplemented from mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 909 of file CPTG_DiffDrive_CollisionGridBased.cpp.

References mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_deinitialize(), mrpt::nav::CParameterizedTrajectoryGenerator::internal_readFromStream(), mrpt::nav::CPTG_RobotShape_Polygonal::internal_shape_loadFromStream(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::m_resolution, mrpt::nav::CPTG_RobotShape_Polygonal::m_robotShape, mrpt::nav::CPTG_DiffDrive_CollisionGridBased::m_trajectory, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, mrpt::nav::CPTG_DiffDrive_CollisionGridBased::turningRadiusReference, mrpt::nav::CPTG_DiffDrive_CollisionGridBased::V_MAX, and mrpt::nav::CPTG_DiffDrive_CollisionGridBased::W_MAX.

Referenced by mrpt::nav::CPTG_DiffDrive_CC::serializeFrom(), mrpt::nav::CPTG_DiffDrive_CS::serializeFrom(), mrpt::nav::CPTG_DiffDrive_CCS::serializeFrom(), serializeFrom(), and mrpt::nav::CPTG_DiffDrive_C::serializeFrom().

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◆ internal_shape_loadFromStream()

void CPTG_RobotShape_Polygonal::internal_shape_loadFromStream ( mrpt::serialization::CArchive & in )

protectedinherited

Definition at line 119 of file CPTG_RobotShape_Polygonal.cpp.

References mrpt::nav::CPTG_RobotShape_Polygonal::m_robotShape, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

Referenced by mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_readFromStream().

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◆ internal_shape_saveToStream()

void CPTG_RobotShape_Polygonal::internal_shape_saveToStream ( mrpt::serialization::CArchive & out ) const

protectedinherited

Definition at line 135 of file CPTG_RobotShape_Polygonal.cpp.

References mrpt::nav::CPTG_RobotShape_Polygonal::m_robotShape.

Referenced by mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_writeToStream().

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◆ internal_TPObsDistancePostprocess()

void CParameterizedTrajectoryGenerator::internal_TPObsDistancePostprocess	(	const double	ox,
		const double	oy,
		const double	new_tp_obs_dist,
		double &	inout_tp_obs
	)		const

protectedinherited

To be called by implementors of updateTPObstacle() and updateTPObstacleSingle() to honor the user settings regarding COLLISION_BEHAVIOR.

Parameters

new_tp_obs_dist	The newly determiend collision-free ranges, in "pseudometers", un-normalized, for some "k" direction.
inout_tp_obs	The target where to store the new TP-Obs distance, if it fulfills the criteria determined by the collision behavior.

Definition at line 423 of file CParameterizedTrajectoryGenerator.cpp.

References mrpt::nav::COLL_BEH_BACK_AWAY, mrpt::nav::COLL_BEH_STOP, mrpt::nav::CParameterizedTrajectoryGenerator::COLLISION_BEHAVIOR(), mrpt::nav::CParameterizedTrajectoryGenerator::getMaxRobotRadius(), mrpt::nav::CParameterizedTrajectoryGenerator::isPointInsideRobotShape(), mrpt::keep_min(), and THROW_EXCEPTION.

Referenced by mrpt::nav::CPTG_DiffDrive_CollisionGridBased::updateTPObstacle(), and mrpt::nav::CPTG_DiffDrive_CollisionGridBased::updateTPObstacleSingle().

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◆ internal_writeToStream()

void CPTG_DiffDrive_CollisionGridBased::internal_writeToStream ( mrpt::serialization::CArchive & out ) const

overrideprotectedvirtualinherited

Reimplemented from mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 929 of file CPTG_DiffDrive_CollisionGridBased.cpp.

References mrpt::nav::CPTG_RobotShape_Polygonal::internal_shape_saveToStream(), mrpt::nav::CParameterizedTrajectoryGenerator::internal_writeToStream(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::m_resolution, mrpt::nav::CPTG_RobotShape_Polygonal::m_robotShape, mrpt::nav::CPTG_DiffDrive_CollisionGridBased::m_trajectory, mrpt::nav::CPTG_DiffDrive_CollisionGridBased::turningRadiusReference, mrpt::nav::CPTG_DiffDrive_CollisionGridBased::V_MAX, and mrpt::nav::CPTG_DiffDrive_CollisionGridBased::W_MAX.

Referenced by mrpt::nav::CPTG_DiffDrive_CC::serializeTo(), mrpt::nav::CPTG_DiffDrive_CS::serializeTo(), mrpt::nav::CPTG_DiffDrive_CCS::serializeTo(), serializeTo(), and mrpt::nav::CPTG_DiffDrive_C::serializeTo().

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◆ inverseMap_WS2TP()

bool CPTG_DiffDrive_CollisionGridBased::inverseMap_WS2TP	(	double	x,
		double	y,
		int &	out_k,
		double &	out_d,
		double	tolerance_dist = `0.10`
	)		const

overridevirtualinherited

The default implementation in this class relies on a look-up-table.

Derived classes may redefine this to closed-form expressions, when they exist. See full docs in base class CParameterizedTrajectoryGenerator::inverseMap_WS2TP()

Implements mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 537 of file CPTG_DiffDrive_CollisionGridBased.cpp.

References ASSERT_BELOW_, ASSERTMSG_, mrpt::nav::CPTG_DiffDrive_CollisionGridBased::TCellForLambdaFunction::isEmpty(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::TCellForLambdaFunction::k_max, mrpt::nav::CPTG_DiffDrive_CollisionGridBased::TCellForLambdaFunction::k_min, mrpt::keep_max(), mrpt::keep_min(), mrpt::nav::CParameterizedTrajectoryGenerator::m_alphaValuesCount, mrpt::nav::CPTG_DiffDrive_CollisionGridBased::m_lambdaFunctionOptimizer, mrpt::nav::CPTG_DiffDrive_CollisionGridBased::m_trajectory, min, mrpt::nav::CPTG_DiffDrive_CollisionGridBased::TCellForLambdaFunction::n_max, mrpt::nav::CPTG_DiffDrive_CollisionGridBased::TCellForLambdaFunction::n_min, mrpt::nav::CParameterizedTrajectoryGenerator::refDistance, and mrpt::square().

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◆ isBijectiveAt()

virtual bool mrpt::nav::CParameterizedTrajectoryGenerator::isBijectiveAt	(	uint16_t	k,
		uint32_t	step
	)		const

inlinevirtualinherited

Returns true if a given TP-Space point maps to a unique point in Workspace, and viceversa.

Default implementation returns true.

Definition at line 154 of file CParameterizedTrajectoryGenerator.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores().

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◆ isInitialized()

bool CParameterizedTrajectoryGenerator::isInitialized ( ) const

inherited

Returns true if initialize() has been called and there was no errors, so the PTG is ready to be queried for paths, obstacles, etc.

Definition at line 355 of file CParameterizedTrajectoryGenerator.cpp.

References mrpt::nav::CParameterizedTrajectoryGenerator::m_is_initialized.

◆ isPointInsideRobotShape()

bool CPTG_RobotShape_Polygonal::isPointInsideRobotShape	(	const double	x,
		const double	y
	)		const

overridevirtualinherited

Returns true if the point lies within the robot shape.

Implements mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 149 of file CPTG_RobotShape_Polygonal.cpp.

References mrpt::math::TPolygon2D::contains(), and mrpt::nav::CPTG_RobotShape_Polygonal::m_robotShape.

Referenced by mrpt::nav::CPTG_RobotShape_Polygonal::evalClearanceToRobotShape().

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◆ loadColGridsFromFile()

bool CPTG_DiffDrive_CollisionGridBased::loadColGridsFromFile	(	const std::string &	filename,
		const mrpt::math::CPolygon &	current_robotShape
	)

protectedinherited

Definition at line 352 of file CPTG_DiffDrive_CollisionGridBased.cpp.

References mrpt::serialization::archiveFrom(), mrpt::io::CFileGZInputStream::fileOpenCorrectly(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::CCollisionGrid::loadFromFile(), and mrpt::nav::CPTG_DiffDrive_CollisionGridBased::m_collisionGrid.

Referenced by mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_initialize().

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◆ loadDefaultParams()

void CPTG_DiffDrive_alpha::loadDefaultParams ( )

overridevirtual

Loads a set of default parameters; provided exclusively for the PTG-configurator tool.

Reimplemented from mrpt::nav::CPTG_RobotShape_Polygonal.

Definition at line 98 of file CPTG_DiffDrive_alpha.cpp.

References mrpt::DEG2RAD(), and mrpt::nav::CPTG_DiffDrive_CollisionGridBased::loadDefaultParams().

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◆ loadFromConfigFile()

void mrpt::nav::CPTG_DiffDrive_alpha::loadFromConfigFile	(	const mrpt::config::CConfigFileBase &	cfg,
		const std::string &	sSection
	)

overridevirtual

Parameters accepted by this base class:

${sKeyPrefix}num_paths: The number of different paths in this family (number of discrete alpha values).
${sKeyPrefix}ref_distance: The maximum distance in PTGs [meters]
${sKeyPrefix}score_priority: When used in path planning, a multiplying factor (default=1.0) for the scores for this PTG. Assign values <1 to PTGs with low priority.

Reimplemented from mrpt::nav::CParameterizedTrajectoryGenerator.

Referenced by CPTG_DiffDrive_alpha().

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◆ loadFromConfigFileName()

void CLoadableOptions::loadFromConfigFileName	(	const std::string &	config_file,
		const std::string &	section
	)

inherited

Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file.

See also: loadFromConfigFile

Definition at line 22 of file CLoadableOptions.cpp.

References mrpt::config::CLoadableOptions::loadFromConfigFile().

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◆ loadShapeFromConfigFile()

void CPTG_RobotShape_Polygonal::loadShapeFromConfigFile	(	const mrpt::config::CConfigFileBase &	source,
		const std::string &	section
	)

protectedinherited

Definition at line 43 of file CPTG_RobotShape_Polygonal.cpp.

References mrpt::math::CPolygon::AddVertex(), ASSERTMSG_, mrpt::format(), mrpt::nav::CPTG_RobotShape_Polygonal::internal_processNewRobotShape(), mrpt::nav::CPTG_RobotShape_Polygonal::m_robotShape, and mrpt::config::CConfigFileBase::read_double().

Referenced by mrpt::nav::CPTG_DiffDrive_CollisionGridBased::loadFromConfigFile().

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◆ maxTimeInVelCmdNOP()

double CParameterizedTrajectoryGenerator::maxTimeInVelCmdNOP ( int path_k ) const

virtualinherited

Only for PTGs supporting supportVelCmdNOP(): this is the maximum time (in seconds) for which the path can be followed without re-issuing a new velcmd.

Note that this is only an absolute maximum duration, navigation implementations will check for many other conditions. Default method in the base virtual class returns 0.

Parameters

path_k Queried path k index [0,N-1]

Reimplemented in mrpt::nav::CPTG_Holo_Blend.

Definition at line 58 of file CParameterizedTrajectoryGenerator.cpp.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), and mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep().

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◆ onNewNavDynamicState()

void mrpt::nav::CPTG_DiffDrive_CollisionGridBased::onNewNavDynamicState ( )

inlineoverridevirtualinherited

This family of PTGs ignores the dynamic states.

Implements mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 105 of file CPTG_DiffDrive_CollisionGridBased.h.

◆ OUTPUT_DEBUG_PATH_PREFIX()

std::string & CParameterizedTrajectoryGenerator::OUTPUT_DEBUG_PATH_PREFIX ( )

staticinherited

The path used as defaul output in, for example, debugDumpInFiles.

(Default="./reactivenav.logs/")

Definition at line 25 of file CParameterizedTrajectoryGenerator.cpp.

References OUTPUT_DEBUG_PATH_PREFIX.

Referenced by mrpt::nav::CParameterizedTrajectoryGenerator::debugDumpInFiles().

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◆ PTG_IsIntoDomain()

virtual bool mrpt::nav::CParameterizedTrajectoryGenerator::PTG_IsIntoDomain	(	double	x,
		double	y
	)		const

inlinevirtualinherited

Returns the same than inverseMap_WS2TP() but without any additional cost.

The default implementation just calls inverseMap_WS2TP() and discards (k,d).

Reimplemented in mrpt::nav::CPTG_DiffDrive_C, mrpt::nav::CPTG_Holo_Blend, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, and mrpt::nav::CPTG_DiffDrive_CS.

Definition at line 145 of file CParameterizedTrajectoryGenerator.h.

References mrpt::nav::CParameterizedTrajectoryGenerator::inverseMap_WS2TP().

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◆ ptgDiffDriveSteeringFunction()

void CPTG_DiffDrive_alpha::ptgDiffDriveSteeringFunction	(	float	alpha,
		float	t,
		float	x,
		float	y,
		float	phi,
		float &	v,
		float &	w
	)		const

overridevirtual

The main method to be implemented in derived classes: it defines the differential-driven differential equation.

Implements mrpt::nav::CPTG_DiffDrive_CollisionGridBased.

Definition at line 83 of file CPTG_DiffDrive_alpha.cpp.

References M_2PI, M_PI, MRPT_UNUSED_PARAM, and mrpt::square().

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◆ renderPathAsSimpleLine()

void CParameterizedTrajectoryGenerator::renderPathAsSimpleLine	(	const uint16_t	k,
		mrpt::opengl::CSetOfLines &	gl_obj,
		const double	decimate_distance = `0.1`,
		const double	max_path_distance = `-1.0`
	)		const

virtualinherited

Returns the representation of one trajectory of this PTG as a 3D OpenGL object (a simple curved line).

Parameters

[in]	k	The 0-based index of the selected trajectory (discrete "alpha" parameter).
[out]	gl_obj	Output object.
[in]	decimate_distance	Minimum distance between path points (in meters).
[in]	max_path_distance	If >=0, cut the path at this distance (in meters).

Definition at line 228 of file CParameterizedTrajectoryGenerator.cpp.

References mrpt::opengl::CSetOfLines::appendLine(), mrpt::opengl::CSetOfLines::appendLineStrip(), mrpt::nav::CParameterizedTrajectoryGenerator::getPathDist(), mrpt::nav::CParameterizedTrajectoryGenerator::getPathPose(), and mrpt::nav::CParameterizedTrajectoryGenerator::getPathStepCount().

Referenced by mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree().

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◆ saveColGridsToFile()

bool CPTG_DiffDrive_CollisionGridBased::saveColGridsToFile	(	const std::string &	filename,
		const mrpt::math::CPolygon &	computed_robotShape
	)		const

protectedinherited

Definition at line 329 of file CPTG_DiffDrive_CollisionGridBased.cpp.

References mrpt::serialization::archiveFrom(), mrpt::io::CFileGZOutputStream::fileOpenCorrectly(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::m_collisionGrid, and mrpt::nav::CPTG_DiffDrive_CollisionGridBased::CCollisionGrid::saveToFile().

Referenced by mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_initialize().

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◆ saveToConfigFile()

void CPTG_DiffDrive_alpha::saveToConfigFile	(	mrpt::config::CConfigFileBase &	target,
		const std::string &	section
	)		const

overridevirtual

This method saves the options to a ".ini"-like file or memory-stored string list.

See also: loadFromConfigFile, saveToConfigFileName

Reimplemented from mrpt::nav::CPTG_RobotShape_Polygonal.

Definition at line 33 of file CPTG_DiffDrive_alpha.cpp.

References MRPT_END, MRPT_START, mrpt::RAD2DEG(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::saveToConfigFile(), and mrpt::config::CConfigFileBase::write().

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◆ saveToConfigFileName()

void CLoadableOptions::saveToConfigFileName	(	const std::string &	config_file,
		const std::string &	section
	)		const

inherited

Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file.

See also: saveToConfigFile, loadFromConfigFileName

Definition at line 37 of file CLoadableOptions.cpp.

References mrpt::config::CLoadableOptions::saveToConfigFile().

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◆ serializeFrom() [1/2]

void CPTG_DiffDrive_alpha::serializeFrom	(	mrpt::serialization::CArchive &	in,
		uint8_t	serial_version
	)

overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

Parameters

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 59 of file CPTG_DiffDrive_alpha.cpp.

References mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_readFromStream(), and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

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◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase & in )

inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeGetVersion()

uint8_t CPTG_DiffDrive_alpha::serializeGetVersion ( ) const

overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 74 of file CPTG_DiffDrive_alpha.cpp.

◆ serializeTo() [1/2]

void CPTG_DiffDrive_alpha::serializeTo ( mrpt::serialization::CArchive & out ) const

overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 75 of file CPTG_DiffDrive_alpha.cpp.

References mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_writeToStream().

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◆ serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase & out ) const

inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ setClearanceDecimatedPaths()

void mrpt::nav::CParameterizedTrajectoryGenerator::setClearanceDecimatedPaths ( const unsigned num )

inlineinherited

Definition at line 376 of file CParameterizedTrajectoryGenerator.h.

References mrpt::nav::CParameterizedTrajectoryGenerator::m_clearance_decimated_paths.

◆ setClearanceStepCount()

void mrpt::nav::CParameterizedTrajectoryGenerator::setClearanceStepCount ( const unsigned res )

inlineinherited

Definition at line 367 of file CParameterizedTrajectoryGenerator.h.

References mrpt::nav::CParameterizedTrajectoryGenerator::m_clearance_num_points.

◆ setRefDistance()

void CPTG_DiffDrive_CollisionGridBased::setRefDistance ( const double refDist )

overridevirtualinherited

Launches an exception in this class: it is not allowed in numerical integration-based PTGs to change the reference distance after initialization.

Reimplemented from mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 661 of file CPTG_DiffDrive_CollisionGridBased.cpp.

References ASSERTMSG_, mrpt::nav::CPTG_DiffDrive_CollisionGridBased::m_trajectory, and mrpt::nav::CParameterizedTrajectoryGenerator::refDistance.

◆ setRobotShape()

void CPTG_RobotShape_Polygonal::setRobotShape ( const mrpt::math::CPolygon & robotShape )

inherited

Robot shape must be set before initialization, either from ctor params or via this method.

Definition at line 21 of file CPTG_RobotShape_Polygonal.cpp.

References ASSERT_ABOVEEQ_, mrpt::nav::CPTG_RobotShape_Polygonal::internal_processNewRobotShape(), mrpt::keep_max(), mrpt::nav::CPTG_RobotShape_Polygonal::m_robotMaxRadius, and mrpt::nav::CPTG_RobotShape_Polygonal::m_robotShape.

Referenced by mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), and mrpt::nav::CReactiveNavigationSystem3D::STEP1_InitPTGs().

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◆ setScorePriorty()

void mrpt::nav::CParameterizedTrajectoryGenerator::setScorePriorty ( double prior )

inlineinherited

Definition at line 365 of file CParameterizedTrajectoryGenerator.h.

References mrpt::nav::CParameterizedTrajectoryGenerator::m_score_priority.

◆ simulateTrajectories()

void CPTG_DiffDrive_CollisionGridBased::simulateTrajectories	(	float	max_time,
		float	max_dist,
		unsigned int	max_n,
		float	diferencial_t,
		float	min_dist,
		float *	out_max_acc_v = `nullptr`,
		float *	out_max_acc_w = `nullptr`
	)

protectedinherited

Numerically solve the diferential equations to generate a family of trajectories.

Definition at line 103 of file CPTG_DiffDrive_CollisionGridBased.cpp.

Referenced by mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_initialize().

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◆ supportSpeedAtTarget()

virtual bool mrpt::nav::CParameterizedTrajectoryGenerator::supportSpeedAtTarget ( ) const

inlinevirtualinherited

Returns true if this PTG takes into account the desired velocity at target.

See also: updateNavDynamicState()

Definition at line 276 of file CParameterizedTrajectoryGenerator.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), and mrpt::nav::CParameterizedTrajectoryGenerator::updateNavDynamicState().

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◆ supportVelCmdNOP()

bool CParameterizedTrajectoryGenerator::supportVelCmdNOP ( ) const

virtualinherited

Returns true if it is possible to stop sending velocity commands to the robot and, still, the robot controller will be able to keep following the last sent trajectory ("NOP" velocity commands).

Default implementation returns "false".

Reimplemented in mrpt::nav::CPTG_Holo_Blend.

Definition at line 54 of file CParameterizedTrajectoryGenerator.cpp.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), and mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep().

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◆ updateClearance()

void CParameterizedTrajectoryGenerator::updateClearance	(	const double	ox,
		const double	oy,
		ClearanceDiagram &	cd
	)		const

inherited

Updates the clearance diagram given one (ox,oy) obstacle point, in coordinates relative to the PTG path origin.

Parameters

[in,out] cd The clearance will be updated here.

See also: m_clearance_dist_resolution

Definition at line 489 of file CParameterizedTrajectoryGenerator.cpp.

References ASSERT_, mrpt::nav::ClearanceDiagram::decimated_k_to_real_k(), mrpt::nav::CParameterizedTrajectoryGenerator::evalClearanceSingleObstacle(), mrpt::nav::ClearanceDiagram::get_actual_num_paths(), mrpt::nav::ClearanceDiagram::get_decimated_num_paths(), mrpt::nav::ClearanceDiagram::get_path_clearance_decimated(), mrpt::nav::CParameterizedTrajectoryGenerator::m_alphaValuesCount, and mrpt::nav::CParameterizedTrajectoryGenerator::m_clearance_num_points.

Referenced by mrpt::nav::CReactiveNavigationSystem::STEP3_WSpaceToTPSpace().

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◆ updateClearancePost()

void CParameterizedTrajectoryGenerator::updateClearancePost	(	ClearanceDiagram &	cd,
		const std::vector< double > &	TP_obstacles
	)		const

inherited

Definition at line 507 of file CParameterizedTrajectoryGenerator.cpp.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate().

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◆ updateNavDynamicState()

void CParameterizedTrajectoryGenerator::updateNavDynamicState	(	const TNavDynamicState &	newState,
		const bool	force_update = `false`
	)

inherited

To be invoked by the navigator before each navigation step, to let the PTG to react to changing dynamic conditions.

See also
onNewNavDynamicState(), m_nav_dyn_state

Definition at line 360 of file CParameterizedTrajectoryGenerator.cpp.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep().

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◆ updateTPObstacle()

void CPTG_DiffDrive_CollisionGridBased::updateTPObstacle	(	double	ox,
		double	oy,
		std::vector< double > &	tp_obstacles
	)		const

overridevirtualinherited

Updates the radial map of closest TP-Obstacles given a single obstacle point at (ox,oy)

Parameters

[in,out]	tp_obstacles	A vector of length `getAlphaValuesCount()`, initialized with `initTPObstacles()` (collision-free ranges, in "pseudometers", un-normalized).
[in]	ox	Obstacle point (X), relative coordinates wrt origin of the PTG.
[in]	oy	Obstacle point (Y), relative coordinates wrt origin of the PTG.

Note: The length of tp_obstacles is not checked for efficiency since this method is potentially called thousands of times per navigation timestap, so it is left to the user responsibility to provide a valid buffer.; tp_obstacles must be initialized with initTPObstacle() before call.

Implements mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 882 of file CPTG_DiffDrive_CollisionGridBased.cpp.

References ASSERTMSG_, mrpt::nav::CPTG_DiffDrive_CollisionGridBased::CCollisionGrid::getTPObstacle(), mrpt::nav::CParameterizedTrajectoryGenerator::internal_TPObsDistancePostprocess(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::m_collisionGrid, and mrpt::nav::CPTG_DiffDrive_CollisionGridBased::m_trajectory.

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◆ updateTPObstacleSingle()

void CPTG_DiffDrive_CollisionGridBased::updateTPObstacleSingle	(	double	ox,
		double	oy,
		uint16_t	k,
		double &	tp_obstacle_k
	)		const

overridevirtualinherited

Like updateTPObstacle() but for one direction only (k) in TP-Space.

tp_obstacle_k must be initialized with initTPObstacleSingle() before call (collision-free ranges, in "pseudometers", un-normalized).

Implements mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 895 of file CPTG_DiffDrive_CollisionGridBased.cpp.

References ASSERTMSG_, mrpt::nav::CPTG_DiffDrive_CollisionGridBased::CCollisionGrid::getTPObstacle(), mrpt::nav::CParameterizedTrajectoryGenerator::internal_TPObsDistancePostprocess(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::m_collisionGrid, and mrpt::nav::CPTG_DiffDrive_CollisionGridBased::m_trajectory.

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◆ writeToMatlab()

virtual mxArray* mrpt::serialization::CSerializable::writeToMatlab ( ) const

inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.