Detailed Description

A PTG for circular-shaped robots with holonomic kinematics.

Compatible kinematics: Holonomic robot capable of velocity commands with a linear interpolation ("ramp "or "blending") time. See mrpt::kinematics::CVehicleSimul_Holo
Compatible robot shape: Circular robots
PTG parameters: Use the app ptg-configurator

Note: [New in MRPT 1.5.0]

Definition at line 26 of file CPTG_Holo_Blend.h.

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

Inheritance diagram for mrpt::nav::CPTG_Holo_Blend:

Public Member Functions
	CPTG_Holo_Blend ()

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

	~CPTG_Holo_Blend () override

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...

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

bool	supportVelCmdNOP () const override
	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...

double	maxTimeInVelCmdNOP (int path_k) const override
	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...

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

bool	inverseMap_WS2TP (double x, double y, int &out_k, double &out_d, double tolerance_dist=0.10) const override
	Computes the closest (alpha,d) TP coordinates of the trajectory point closest to the Workspace (WS) Cartesian coordinates (x,y), relative to the current robot frame. More...

bool	PTG_IsIntoDomain (double x, double y) const override
	Returns the same than inverseMap_WS2TP() but without any additional cost. More...

void	onNewNavDynamicState () override
	Invoked when `m_nav_dyn_state` has changed; gives the PTG the opportunity to react and parameterize paths depending on the instantaneous conditions. More...

mrpt::kinematics::CVehicleVelCmd::Ptr	directionToMotionCommand (uint16_t k) const override
	Converts a discretized "alpha" value into a feasible motion command or action. More...

mrpt::kinematics::CVehicleVelCmd::Ptr	getSupportedKinematicVelocityCommand () const override
	Returns an empty kinematic velocity command object of the type supported by this PTG. 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	add_robotShape_to_setOfLines (mrpt::opengl::CSetOfLines &gl_shape, const mrpt::poses::CPose2D &origin=mrpt::poses::CPose2D()) const override
	Auxiliary function for rendering. More...

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

Robot shape
void	setRobotShapeRadius (const double robot_radius)
	Robot shape must be set before initialization, either from ctor params or via this method. More...

double	getRobotShapeRadius () 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	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 void	setRefDistance (const double refDist)

virtual mrpt::math::TPose2D	getPathPose (uint16_t k, uint32_t step) const

virtual mrpt::math::TTwist2D	getPathTwist (uint16_t k, uint32_t step) const
	Gets velocity ("twist") for path `k` ([0,N-1]=>[-pi,pi] in alpha), at vehicle discrete step `step`. More...

virtual bool	supportSpeedAtTarget () const
	Returns true if this PTG takes into account the desired velocity at target. 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 double	calc_trans_distance_t_below_Tramp (double k2, double k4, double vxi, double vyi, double t)
	Axiliary function for computing the line-integral distance along the trajectory, handling special cases of 1/0: More...

static double	calc_trans_distance_t_below_Tramp_abc (double t, double a, double b, double c)
	Axiliary function for calc_trans_distance_t_below_Tramp() and others. More...

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...

Static Public Attributes
static double	PATH_TIME_STEP
	Duration of each PTG "step" (default: 10e-3=10 ms) More...

static double	eps
	Mathematical "epsilon", to detect ill-conditioned situations (e.g. More...

Protected Member Functions
double	internal_get_v (const double dir) const
	Evals expr_v. More...

double	internal_get_w (const double dir) const
	Evals expr_w. More...

double	internal_get_T_ramp (const double dir) const
	Evals expr_T_ramp. More...

void	internal_construct_exprs ()

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	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...

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

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

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	T_ramp_max {-1.0}

double	V_MAX {-1.0}

double	W_MAX {-1.0}

double	turningRadiusReference {0.30}

std::string	expr_V

std::string	expr_W

std::string	expr_T_ramp

std::vector< int >	m_pathStepCountCache

mrpt::expr::CRuntimeCompiledExpression	m_expr_v

mrpt::expr::CRuntimeCompiledExpression	m_expr_w

mrpt::expr::CRuntimeCompiledExpression	m_expr_T_ramp

double	m_expr_dir

double	m_robotRadius {.0}

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< mrpt::nav ::CPTG_Holo_Blend >

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

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

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

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "mrpt::nav" "::" "CPTG_Holo_Blend"

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_Holo_Blend::ConstPtr = std::shared_ptr<const mrpt::nav :: CPTG_Holo_Blend >

Definition at line 28 of file CPTG_Holo_Blend.h.

◆ ConstUniquePtr

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

Definition at line 28 of file CPTG_Holo_Blend.h.

◆ Ptr

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

A type for the associated smart pointer

Definition at line 28 of file CPTG_Holo_Blend.h.

◆ UniquePtr

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

Definition at line 28 of file CPTG_Holo_Blend.h.

Constructor & Destructor Documentation

◆ CPTG_Holo_Blend() [1/2]

CPTG_Holo_Blend::CPTG_Holo_Blend ( )

Definition at line 791 of file CPTG_Holo_Blend.cpp.

◆ CPTG_Holo_Blend() [2/2]

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

Definition at line 792 of file CPTG_Holo_Blend.cpp.

References internal_construct_exprs(), and loadFromConfigFile().

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◆ ~CPTG_Holo_Blend()

CPTG_Holo_Blend::~CPTG_Holo_Blend ( )

overridedefault

Member Function Documentation

◆ _GetBaseClass()

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

staticprotected

◆ add_robotShape_to_setOfLines()

void CPTG_RobotShape_Circular::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 46 of file CPTG_RobotShape_Circular.cpp.

References mrpt::opengl::CSetOfLines::appendLine(), mrpt::opengl::CSetOfLines::appendLineStrip(), mrpt::poses::CPose2D::composePoint(), M_PI, mrpt::nav::CPTG_RobotShape_Circular::m_robotRadius, R, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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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::CAbstractPTGBasedReactive::generate_vel_cmd(), 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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◆ calc_trans_distance_t_below_Tramp()

double CPTG_Holo_Blend::calc_trans_distance_t_below_Tramp	(	double	k2,
		double	k4,
		double	vxi,
		double	vyi,
		double	t
	)

static

Axiliary function for computing the line-integral distance along the trajectory, handling special cases of 1/0:

Definition at line 152 of file CPTG_Holo_Blend.cpp.

References eps.

◆ calc_trans_distance_t_below_Tramp_abc()

double CPTG_Holo_Blend::calc_trans_distance_t_below_Tramp_abc	(	double	t,
		double	a,
		double	b,
		double	c
	)

static

Axiliary function for calc_trans_distance_t_below_Tramp() and others.

Definition at line 136 of file CPTG_Holo_Blend.cpp.

References calc_trans_distance_t_below_Tramp_abc_numeric().

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◆ clone()

virtual mrpt::rtti::CObject* mrpt::nav::CPTG_Holo_Blend::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_Holo_Blend::Create ( Args &&... args )

inlinestatic

Definition at line 28 of file CPTG_Holo_Blend.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

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

inlinestatic

Definition at line 28 of file CPTG_Holo_Blend.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::nav::CPTG_Holo_Blend::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_Holo_Blend::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 28 of file CPTG_Holo_Blend.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(), mrpt::nav::CParameterizedTrajectoryGenerator::OUTPUT_DEBUG_PATH_PREFIX(), mrpt::math::TPose2D::phi, mrpt::math::TPose2D::x, and mrpt::math::TPose2D::y.

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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 415 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_Holo_Blend::directionToMotionCommand ( uint16_t k ) const

overridevirtual

Converts a discretized "alpha" value into a feasible motion command or action.

See derived classes for the meaning of these actions

Implements mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 420 of file CPTG_Holo_Blend.cpp.

References cmd(), mrpt::nav::CParameterizedTrajectoryGenerator::index2alpha(), and mrpt::signWithZero().

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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 43 of file CLoadableOptions.cpp.

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

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), mrpt::ros1bridge::MapHdl::loadMap(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::printParams(), and mrpt::apps::CGridMapAlignerApp::run().

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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 76 of file CLoadableOptions.cpp.

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

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

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◆ dumpVar_bool()

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

staticprotectedinherited

Definition at line 62 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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◆ dumpVar_double()

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

staticprotectedinherited

Definition at line 56 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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◆ dumpVar_float()

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

staticprotectedinherited

Definition at line 50 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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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 44 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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◆ dumpVar_string()

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

staticprotectedinherited

Definition at line 69 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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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 204 of file CObject.h.

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

Referenced by mrpt::obs::CRawlog::insert().

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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 512 of file CParameterizedTrajectoryGenerator.cpp.

References mrpt::math::angDistance(), 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_< T >::norm(), mrpt::nav::CParameterizedTrajectoryGenerator::refDistance, mrpt::round(), mrpt::math::TPoint2D_data< T >::x, and mrpt::math::TPoint2D_data< T >::y.

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

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◆ evalClearanceToRobotShape()

double CPTG_RobotShape_Circular::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 113 of file CPTG_RobotShape_Circular.cpp.

References mrpt::hypot_fast(), and mrpt::nav::CPTG_RobotShape_Circular::m_robotRadius.

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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 312 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 305 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 358 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_Holo_Blend::getClassName ( )

inlinestatic

Definition at line 28 of file CPTG_Holo_Blend.h.

◆ getClearanceDecimatedPaths()

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

inlineinherited

Definition at line 387 of file CParameterizedTrajectoryGenerator.h.

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

◆ getClearanceStepCount()

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

inlineinherited

Definition at line 381 of file CParameterizedTrajectoryGenerator.h.

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

◆ getCurrentNavDynamicState()

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

inlineinherited

Definition at line 336 of file CParameterizedTrajectoryGenerator.h.

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

◆ getDescription()

std::string CPTG_Holo_Blend::getDescription ( ) const

overridevirtual

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

Implements mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 259 of file CPTG_Holo_Blend.cpp.

References mrpt::format().

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◆ getMaxAngVel()

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

inlineoverridevirtual

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

Implements mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 67 of file CPTG_Holo_Blend.h.

References W_MAX.

◆ getMaxLinVel()

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

inlineoverridevirtual

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

Implements mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 66 of file CPTG_Holo_Blend.h.

References V_MAX.

◆ getMaxRobotRadius()

double CPTG_RobotShape_Circular::getMaxRobotRadius ( ) const

overridevirtualinherited

Returns an approximation of the robot radius.

Implements mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 102 of file CPTG_RobotShape_Circular.cpp.

References mrpt::nav::CPTG_RobotShape_Circular::m_robotRadius.

◆ getPathCount()

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

inlineinherited

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

Definition at line 360 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_Holo_Blend::getPathDist	(	uint16_t	k,
		uint32_t	step
	)		const

overridevirtual

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 511 of file CPTG_Holo_Blend.cpp.

References COMMON_PTG_DESIGN_PARAMS, dir, and mrpt::nav::CParameterizedTrajectoryGenerator::index2alpha().

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◆ getPathPose() [1/2]

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

overridevirtual

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

See also: getPathStepCount(), getAlphaValuesCount(), getPathTwist()

Implements mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 455 of file CPTG_Holo_Blend.cpp.

References COMMON_PTG_DESIGN_PARAMS, dir, mrpt::nav::CParameterizedTrajectoryGenerator::index2alpha(), mrpt::math::TPose2D::phi, mrpt::signWithZero(), mrpt::math::solve_poly2(), mrpt::math::TPose2D::x, and mrpt::math::TPose2D::y.

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◆ getPathPose() [2/2]

virtual mrpt::math::TPose2D mrpt::nav::CParameterizedTrajectoryGenerator::getPathPose	(	uint16_t	k,
		uint32_t	step
	)		const

inlinevirtualinherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 209 of file CParameterizedTrajectoryGenerator.h.

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

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◆ getPathStepCount()

size_t CPTG_Holo_Blend::getPathStepCount ( uint16_t k ) const

overridevirtual

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 434 of file CPTG_Holo_Blend.cpp.

References ASSERT_, and THROW_EXCEPTION_FMT.

◆ getPathStepDuration()

double CPTG_Holo_Blend::getPathStepDuration ( ) const

overridevirtual

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

See also: getPathStepCount()

Implements mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 790 of file CPTG_Holo_Blend.cpp.

◆ getPathStepForDist()

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

overridevirtual

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 535 of file CPTG_Holo_Blend.cpp.

References ASSERT_, COMMON_PTG_DESIGN_PARAMS, dir, eps, mrpt::nav::CParameterizedTrajectoryGenerator::index2alpha(), PERFORMANCE_BENCHMARK, and mrpt::round().

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◆ getPathTwist()

mrpt::math::TTwist2D CParameterizedTrajectoryGenerator::getPathTwist	(	uint16_t	k,
		uint32_t	step
	)		const

virtualinherited

Gets velocity ("twist") for path k ([0,N-1]=>[-pi,pi] in alpha), at vehicle discrete step step.

The default implementation in this base class uses numerical differentiation to estimate the twist (vx,vy,omega). Velocity is given in "global" coordinates, relative to the starting pose of the robot at t=0 for this PTG path.

See also: getPathStepCount(), getAlphaValuesCount(), getPathPose()

Definition at line 584 of file CParameterizedTrajectoryGenerator.cpp.

References mrpt::math::angDistance(), ASSERT_ABOVE_, mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::curVelLocal, mrpt::nav::CParameterizedTrajectoryGenerator::getPathPose(), mrpt::nav::CParameterizedTrajectoryGenerator::getPathStepDuration(), and mrpt::nav::CParameterizedTrajectoryGenerator::m_nav_dyn_state.

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◆ getRefDistance()

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

inlineinherited

Definition at line 370 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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◆ getRobotShapeRadius()

double mrpt::nav::CPTG_RobotShape_Circular::getRobotShapeRadius ( ) const

inlineinherited

Definition at line 576 of file CParameterizedTrajectoryGenerator.h.

References mrpt::nav::CPTG_RobotShape_Circular::m_robotRadius.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::nav::CPTG_Holo_Blend::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_Holo_Blend::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 379 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_Holo_Blend::getSupportedKinematicVelocityCommand ( ) const

overridevirtual

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 770 of file CPTG_Holo_Blend.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(), directionToMotionCommand(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::directionToMotionCommand(), mrpt::nav::CParameterizedTrajectoryGenerator::evalClearanceSingleObstacle(), getPathDist(), getPathPose(), getPathStepForDist(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::simulateTrajectories(), and 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 465 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 400 of file CParameterizedTrajectoryGenerator.cpp.

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

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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, and mrpt::nav::CParameterizedTrajectoryGenerator::refDistance.

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

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◆ internal_construct_exprs()

void CPTG_Holo_Blend::internal_construct_exprs ( )

protected

Definition at line 801 of file CPTG_Holo_Blend.cpp.

References expr_T_ramp, expr_V, expr_W, m_expr_dir, m_expr_T_ramp, m_expr_v, m_expr_w, mrpt::expr::CRuntimeCompiledExpression::register_symbol_table(), T_ramp_max, V_MAX, and W_MAX.

Referenced by CPTG_Holo_Blend().

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◆ internal_deinitialize()

void CPTG_Holo_Blend::internal_deinitialize ( )

overrideprotectedvirtual

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 415 of file CPTG_Holo_Blend.cpp.

◆ internal_get_T_ramp()

double CPTG_Holo_Blend::internal_get_T_ramp ( const double dir ) const

protected

Evals expr_T_ramp.

Definition at line 829 of file CPTG_Holo_Blend.cpp.

References dir, mrpt::expr::CRuntimeCompiledExpression::eval(), m_expr_dir, and m_expr_T_ramp.

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◆ internal_get_v()

double CPTG_Holo_Blend::internal_get_v ( const double dir ) const

protected

Evals expr_v.

Definition at line 819 of file CPTG_Holo_Blend.cpp.

References dir, mrpt::expr::CRuntimeCompiledExpression::eval(), m_expr_dir, and m_expr_v.

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◆ internal_get_w()

double CPTG_Holo_Blend::internal_get_w ( const double dir ) const

protected

Evals expr_w.

Definition at line 824 of file CPTG_Holo_Blend.cpp.

References dir, mrpt::expr::CRuntimeCompiledExpression::eval(), m_expr_dir, and m_expr_w.

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◆ internal_initialize()

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

overrideprotectedvirtual

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 835 of file CPTG_Holo_Blend.cpp.

References ASSERT_, mrpt::expr::CRuntimeCompiledExpression::compile(), expr_T_ramp, expr_V, expr_W, mrpt::nav::CParameterizedTrajectoryGenerator::m_alphaValuesCount, m_expr_T_ramp, m_expr_v, m_expr_w, m_pathStepCountCache, mrpt::nav::CPTG_RobotShape_Circular::m_robotRadius, T_ramp_max, V_MAX, and W_MAX.

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◆ internal_processNewRobotShape()

void CPTG_Holo_Blend::internal_processNewRobotShape ( )

overrideprotectedvirtual

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

Implements mrpt::nav::CPTG_RobotShape_Circular.

Definition at line 764 of file CPTG_Holo_Blend.cpp.

◆ internal_readFromStream()

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

protectedvirtualinherited

Reimplemented in mrpt::nav::CPTG_DiffDrive_CollisionGridBased.

Definition at line 155 of file CParameterizedTrajectoryGenerator.cpp.

References mrpt::nav::CParameterizedTrajectoryGenerator::deinitialize(), mrpt::nav::CParameterizedTrajectoryGenerator::m_alphaValuesCount, mrpt::nav::CParameterizedTrajectoryGenerator::m_clearance_decimated_paths, mrpt::nav::CParameterizedTrajectoryGenerator::m_clearance_num_points, mrpt::nav::CParameterizedTrajectoryGenerator::m_score_priority, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and mrpt::nav::CParameterizedTrajectoryGenerator::refDistance.

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

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◆ internal_shape_loadFromStream()

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

protectedinherited

Definition at line 77 of file CPTG_RobotShape_Circular.cpp.

References mrpt::nav::CPTG_RobotShape_Circular::m_robotRadius, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

Referenced by serializeFrom().

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◆ internal_shape_saveToStream()

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

protectedinherited

Definition at line 93 of file CPTG_RobotShape_Circular.cpp.

References mrpt::nav::CPTG_RobotShape_Circular::m_robotRadius, and out.

Referenced by serializeTo().

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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 422 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 CParameterizedTrajectoryGenerator::internal_writeToStream ( mrpt::serialization::CArchive & out ) const

protectedvirtualinherited

Reimplemented in mrpt::nav::CPTG_DiffDrive_CollisionGridBased.

Definition at line 190 of file CParameterizedTrajectoryGenerator.cpp.

References mrpt::nav::CParameterizedTrajectoryGenerator::m_alphaValuesCount, mrpt::nav::CParameterizedTrajectoryGenerator::m_clearance_decimated_paths, mrpt::nav::CParameterizedTrajectoryGenerator::m_clearance_num_points, mrpt::nav::CParameterizedTrajectoryGenerator::m_score_priority, out, and mrpt::nav::CParameterizedTrajectoryGenerator::refDistance.

Referenced by mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_writeToStream(), and serializeTo().

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◆ inverseMap_WS2TP()

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

overridevirtual

Computes the closest (alpha,d) TP coordinates of the trajectory point closest to the Workspace (WS) Cartesian coordinates (x,y), relative to the current robot frame.

Parameters

[in]	x	X coordinate of the query point, relative to the robot frame.
[in]	y	Y coordinate of the query point, relative to the robot frame.
[out]	out_k	Trajectory parameter index (discretized alpha value, 0-based index).
[out]	out_d	Trajectory distance, normalized such that D_max becomes 1.

Returns: true if the distance between (x,y) and the actual trajectory point is below the given tolerance (in meters).

Implements mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 309 of file CPTG_Holo_Blend.cpp.

References mrpt::nav::CParameterizedTrajectoryGenerator::alpha2index(), ASSERT_, mrpt::math::CMatrixFixed< T, ROWS, COLS >::lu_solve(), mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::norm(), PERFORMANCE_BENCHMARK, 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_Circular::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 107 of file CPTG_RobotShape_Circular.cpp.

References mrpt::hypot_fast(), and mrpt::nav::CPTG_RobotShape_Circular::m_robotRadius.

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◆ loadDefaultParams()

void CPTG_Holo_Blend::loadDefaultParams ( )

overridevirtual

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

Reimplemented from mrpt::nav::CPTG_RobotShape_Circular.

Definition at line 189 of file CPTG_Holo_Blend.cpp.

References mrpt::DEG2RAD(), mrpt::nav::CParameterizedTrajectoryGenerator::loadDefaultParams(), and mrpt::nav::CPTG_RobotShape_Circular::loadDefaultParams().

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◆ loadFromConfigFile()

void CPTG_Holo_Blend::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.

Definition at line 200 of file CPTG_Holo_Blend.cpp.

References mrpt::nav::CParameterizedTrajectoryGenerator::loadFromConfigFile(), mrpt::nav::CPTG_RobotShape_Circular::loadShapeFromConfigFile(), MRPT_LOAD_CONFIG_VAR, MRPT_LOAD_HERE_CONFIG_VAR, MRPT_LOAD_HERE_CONFIG_VAR_DEGREES_NO_DEFAULT, and MRPT_LOAD_HERE_CONFIG_VAR_NO_DEFAULT.

Referenced by CPTG_Holo_Blend().

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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().

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams().

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◆ loadShapeFromConfigFile()

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

protectedinherited

Definition at line 28 of file CPTG_RobotShape_Circular.cpp.

References mrpt::nav::CPTG_RobotShape_Circular::internal_processNewRobotShape(), mrpt::nav::CPTG_RobotShape_Circular::m_robotRadius, and MRPT_LOAD_HERE_CONFIG_VAR.

Referenced by loadFromConfigFile().

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◆ maxTimeInVelCmdNOP()

double CPTG_Holo_Blend::maxTimeInVelCmdNOP ( int path_k ) const

overridevirtual

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 from mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 777 of file CPTG_Holo_Blend.cpp.

◆ onNewNavDynamicState()

void CPTG_Holo_Blend::onNewNavDynamicState ( )

overridevirtual

Invoked when m_nav_dyn_state has changed; gives the PTG the opportunity to react and parameterize paths depending on the instantaneous conditions.

Implements mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 184 of file CPTG_Holo_Blend.cpp.

◆ 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()

bool CPTG_Holo_Blend::PTG_IsIntoDomain	(	double	x,
		double	y
	)		const

overridevirtual

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

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

Reimplemented from mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 408 of file CPTG_Holo_Blend.cpp.

◆ 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(), mrpt::nav::CParameterizedTrajectoryGenerator::getPathStepCount(), mrpt::math::TPose2D::x, and mrpt::math::TPose2D::y.

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

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◆ saveToConfigFile()

void CPTG_Holo_Blend::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_Circular.

Definition at line 218 of file CPTG_Holo_Blend.cpp.

References MRPT_END, MRPT_START, mrpt::RAD2DEG(), mrpt::nav::CParameterizedTrajectoryGenerator::saveToConfigFile(), mrpt::nav::CPTG_RobotShape_Circular::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 36 of file CLoadableOptions.cpp.

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

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◆ serializeFrom() [1/2]

void CPTG_Holo_Blend::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 266 of file CPTG_Holo_Blend.cpp.

References mrpt::nav::CParameterizedTrajectoryGenerator::internal_readFromStream(), mrpt::nav::CPTG_RobotShape_Circular::internal_shape_loadFromStream(), 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_Holo_Blend::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 299 of file CPTG_Holo_Blend.cpp.

◆ serializeTo() [1/2]

void CPTG_Holo_Blend::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 300 of file CPTG_Holo_Blend.cpp.

References mrpt::nav::CPTG_RobotShape_Circular::internal_shape_saveToStream(), mrpt::nav::CParameterizedTrajectoryGenerator::internal_writeToStream(), and out.

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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 391 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 382 of file CParameterizedTrajectoryGenerator.h.

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

◆ setRefDistance()

virtual void mrpt::nav::CParameterizedTrajectoryGenerator::setRefDistance ( const double refDist )

inlinevirtualinherited

Reimplemented in mrpt::nav::CPTG_DiffDrive_CollisionGridBased.

Definition at line 195 of file CParameterizedTrajectoryGenerator.h.

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

◆ setRobotShapeRadius()

void CPTG_RobotShape_Circular::setRobotShapeRadius ( const double robot_radius )

inherited

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

Definition at line 21 of file CPTG_RobotShape_Circular.cpp.

References mrpt::nav::CPTG_RobotShape_Circular::internal_processNewRobotShape(), and mrpt::nav::CPTG_RobotShape_Circular::m_robotRadius.

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 380 of file CParameterizedTrajectoryGenerator.h.

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

◆ 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 291 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 CPTG_Holo_Blend::supportVelCmdNOP ( ) const

overridevirtual

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 from mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 776 of file CPTG_Holo_Blend.cpp.

◆ 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 488 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 506 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_Holo_Blend::updateTPObstacle	(	double	ox,
		double	oy,
		std::vector< double > &	tp_obstacles
	)		const

overridevirtual

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 753 of file CPTG_Holo_Blend.cpp.

References PERFORMANCE_BENCHMARK.

◆ updateTPObstacleSingle()

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

overridevirtual

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 630 of file CPTG_Holo_Blend.cpp.

References COMMON_PTG_DESIGN_PARAMS, dir, eps, mrpt::nav::CParameterizedTrajectoryGenerator::index2alpha(), mrpt::keep_min(), R, mrpt::math::solve_poly3(), and mrpt::math::solve_poly4().

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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.

Returns: A new mxArray (caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.h.

Member Data Documentation

◆ className

constexpr const char* mrpt::nav::CPTG_Holo_Blend::className = "mrpt::nav" "::" "CPTG_Holo_Blend"

static

Definition at line 28 of file CPTG_Holo_Blend.h.

◆ eps

double mrpt::nav::CPTG_Holo_Blend::eps

static

Mathematical "epsilon", to detect ill-conditioned situations (e.g.

1/0) (Default: 1e-4)

Definition at line 77 of file CPTG_Holo_Blend.h.

◆ expr_T_ramp

std::string mrpt::nav::CPTG_Holo_Blend::expr_T_ramp

protected

Definition at line 84 of file CPTG_Holo_Blend.h.

Referenced by internal_construct_exprs(), and internal_initialize().

◆ expr_V

std::string mrpt::nav::CPTG_Holo_Blend::expr_V

protected

Definition at line 84 of file CPTG_Holo_Blend.h.

Referenced by internal_construct_exprs(), and internal_initialize().

◆ expr_W

std::string mrpt::nav::CPTG_Holo_Blend::expr_W

protected

Definition at line 84 of file CPTG_Holo_Blend.h.

Referenced by internal_construct_exprs(), and internal_initialize().

◆ INVALID_PTG_PATH_INDEX

const uint16_t mrpt::nav::CParameterizedTrajectoryGenerator::INVALID_PTG_PATH_INDEX = static_cast<uint16_t>(-1)

staticprotectedinherited

Definition at line 479 of file CParameterizedTrajectoryGenerator.h.

Referenced by mrpt::nav::CParameterizedTrajectoryGenerator::initTPObstacleSingle(), and mrpt::nav::CParameterizedTrajectoryGenerator::updateNavDynamicState().

◆ m_alphaValuesCount

uint16_t mrpt::nav::CParameterizedTrajectoryGenerator::m_alphaValuesCount {0}

protectedinherited

The number of discrete values for "alpha" between -PI and +PI.

Definition at line 466 of file CParameterizedTrajectoryGenerator.h.

◆ m_clearance_decimated_paths

uint16_t mrpt::nav::CParameterizedTrajectoryGenerator::m_clearance_decimated_paths {15}

protectedinherited

Number of paths for the decimated paths analysis of clearance.

Definition at line 472 of file CParameterizedTrajectoryGenerator.h.

◆ m_clearance_num_points

uint16_t mrpt::nav::CParameterizedTrajectoryGenerator::m_clearance_num_points {5}

protectedinherited

Number of steps for the piecewise-constant approximation of clearance from TPS distances [0,1] (Default=5)

See also: updateClearance()

Definition at line 470 of file CParameterizedTrajectoryGenerator.h.

◆ m_expr_dir

double mrpt::nav::CPTG_Holo_Blend::m_expr_dir

protected

Definition at line 89 of file CPTG_Holo_Blend.h.

Referenced by internal_construct_exprs(), internal_get_T_ramp(), internal_get_v(), and internal_get_w().

◆ m_expr_T_ramp

mrpt::expr::CRuntimeCompiledExpression mrpt::nav::CPTG_Holo_Blend::m_expr_T_ramp

protected

Definition at line 88 of file CPTG_Holo_Blend.h.

Referenced by internal_construct_exprs(), internal_get_T_ramp(), and internal_initialize().

◆ m_expr_v

mrpt::expr::CRuntimeCompiledExpression mrpt::nav::CPTG_Holo_Blend::m_expr_v

protected

Definition at line 88 of file CPTG_Holo_Blend.h.

Referenced by internal_construct_exprs(), internal_get_v(), and internal_initialize().

◆ m_expr_w

mrpt::expr::CRuntimeCompiledExpression mrpt::nav::CPTG_Holo_Blend::m_expr_w

protected

Definition at line 88 of file CPTG_Holo_Blend.h.

Referenced by internal_construct_exprs(), internal_get_w(), and internal_initialize().

◆ m_is_initialized

bool mrpt::nav::CParameterizedTrajectoryGenerator::m_is_initialized {false}

protectedinherited

Definition at line 481 of file CParameterizedTrajectoryGenerator.h.

Referenced by mrpt::nav::CParameterizedTrajectoryGenerator::deinitialize(), mrpt::nav::CParameterizedTrajectoryGenerator::initialize(), and mrpt::nav::CParameterizedTrajectoryGenerator::isInitialized().

◆ m_nav_dyn_state

TNavDynamicState mrpt::nav::CParameterizedTrajectoryGenerator::m_nav_dyn_state

protectedinherited

Updated before each nav step by.

Definition at line 474 of file CParameterizedTrajectoryGenerator.h.

Referenced by mrpt::nav::CParameterizedTrajectoryGenerator::getCurrentNavDynamicState(), mrpt::nav::CParameterizedTrajectoryGenerator::getPathTwist(), mrpt::nav::CParameterizedTrajectoryGenerator::loadFromConfigFile(), mrpt::nav::CParameterizedTrajectoryGenerator::saveToConfigFile(), and mrpt::nav::CParameterizedTrajectoryGenerator::updateNavDynamicState().

◆ m_nav_dyn_state_target_k

uint16_t mrpt::nav::CParameterizedTrajectoryGenerator::m_nav_dyn_state_target_k

protectedinherited

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

Definition at line 477 of file CParameterizedTrajectoryGenerator.h.

Referenced by mrpt::nav::CParameterizedTrajectoryGenerator::initTPObstacleSingle(), and mrpt::nav::CParameterizedTrajectoryGenerator::updateNavDynamicState().

◆ m_pathStepCountCache

std::vector<int> mrpt::nav::CPTG_Holo_Blend::m_pathStepCountCache

mutableprotected

Definition at line 85 of file CPTG_Holo_Blend.h.

Referenced by internal_initialize().

◆ m_robotRadius

double mrpt::nav::CPTG_RobotShape_Circular::m_robotRadius {.0}

protectedinherited

Definition at line 590 of file CParameterizedTrajectoryGenerator.h.

◆ m_score_priority

double mrpt::nav::CParameterizedTrajectoryGenerator::m_score_priority {1.0}

protectedinherited

Definition at line 467 of file CParameterizedTrajectoryGenerator.h.

Referenced by mrpt::nav::CParameterizedTrajectoryGenerator::getScorePriority(), mrpt::nav::CParameterizedTrajectoryGenerator::internal_readFromStream(), mrpt::nav::CParameterizedTrajectoryGenerator::internal_writeToStream(), mrpt::nav::CParameterizedTrajectoryGenerator::loadDefaultParams(), mrpt::nav::CParameterizedTrajectoryGenerator::loadFromConfigFile(), mrpt::nav::CParameterizedTrajectoryGenerator::saveToConfigFile(), and mrpt::nav::CParameterizedTrajectoryGenerator::setScorePriorty().

◆ PATH_TIME_STEP

double mrpt::nav::CPTG_Holo_Blend::PATH_TIME_STEP

static

Duration of each PTG "step" (default: 10e-3=10 ms)

Definition at line 74 of file CPTG_Holo_Blend.h.

◆ refDistance

double mrpt::nav::CParameterizedTrajectoryGenerator::refDistance {.0}

protectedinherited

Definition at line 464 of file CParameterizedTrajectoryGenerator.h.

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::nav::CPTG_Holo_Blend::runtimeClassId

staticprotected

Definition at line 28 of file CPTG_Holo_Blend.h.

◆ T_ramp_max

double mrpt::nav::CPTG_Holo_Blend::T_ramp_max {-1.0}

protected

Definition at line 80 of file CPTG_Holo_Blend.h.

Referenced by internal_construct_exprs(), and internal_initialize().

◆ turningRadiusReference

double mrpt::nav::CPTG_Holo_Blend::turningRadiusReference {0.30}

protected

Definition at line 82 of file CPTG_Holo_Blend.h.

◆ V_MAX

double mrpt::nav::CPTG_Holo_Blend::V_MAX {-1.0}

protected

Definition at line 81 of file CPTG_Holo_Blend.h.

Referenced by getMaxLinVel(), internal_construct_exprs(), and internal_initialize().

◆ W_MAX

double mrpt::nav::CPTG_Holo_Blend::W_MAX {-1.0}

protected

Definition at line 81 of file CPTG_Holo_Blend.h.

Referenced by getMaxAngVel(), internal_construct_exprs(), and internal_initialize().

Detailed Description

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Static Protected Attributes

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

◆ Ptr

◆ UniquePtr

Constructor & Destructor Documentation

◆ CPTG_Holo_Blend() [1/2]

◆ CPTG_Holo_Blend() [2/2]

◆ ~CPTG_Holo_Blend()

Member Function Documentation

◆ _GetBaseClass()

◆ add_robotShape_to_setOfLines()

◆ alpha2index() [1/2]

◆ alpha2index() [2/2]

◆ calc_trans_distance_t_below_Tramp()

◆ calc_trans_distance_t_below_Tramp_abc()

◆ clone()

◆ COLLISION_BEHAVIOR()

◆ Create()

◆ CreateAlloc()

◆ CreateObject()

◆ CreatePTG()

◆ CreateUnique()

◆ debugDumpInFiles()

◆ deinitialize()

◆ directionToMotionCommand()

◆ dumpToConsole()

◆ dumpToTextStream()

◆ dumpVar_bool()

◆ dumpVar_double()

◆ dumpVar_float()

◆ dumpVar_int()

◆ dumpVar_string()

◆ duplicateGetSmartPtr()

◆ evalClearanceSingleObstacle()

◆ evalClearanceToRobotShape()

◆ evalPathRelativePriority()

◆ getActualUnloopedPathLength()

◆ getAlphaValuesCount()

◆ getClassName()

◆ getClearanceDecimatedPaths()

◆ getClearanceStepCount()

◆ getCurrentNavDynamicState()

◆ getDescription()

◆ getMaxAngVel()

◆ getMaxLinVel()

◆ getMaxRobotRadius()

◆ getPathCount()

◆ getPathDist()

◆ getPathPose() [1/2]

◆ getPathPose() [2/2]

◆ getPathStepCount()

◆ getPathStepDuration()

◆ getPathStepForDist()

◆ getPathTwist()

◆ getRefDistance()

◆ getRobotShapeRadius()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ getScorePriority()

◆ getSupportedKinematicVelocityCommand()

◆ index2alpha() [1/2]

◆ index2alpha() [2/2]

◆ initClearanceDiagram()

◆ initialize()

◆ initTPObstacles()

◆ initTPObstacleSingle()

◆ internal_construct_exprs()

◆ internal_deinitialize()

◆ internal_get_T_ramp()

◆ internal_get_v()