mrpt::nav::PlannerSimple2D Class Reference

Detailed Description

Searches for collision-free path in 2D occupancy grids for holonomic circular robots.

The implementation first enlargest obstacles with robot radius, then applies a wavefront algorithm to find the shortest free path between origin and target 2D points.

Notice that this simple planner does not take into account robot kinematic constraints.

Definition at line 31 of file PlannerSimple2D.h.

#include <mrpt/nav/planners/PlannerSimple2D.h>

Public Member Functions
	PlannerSimple2D ()=default
virtual	~PlannerSimple2D ()=default
void	computePath (const mrpt::maps::COccupancyGridMap2D &theMap, const mrpt::poses::CPose2D &origin, const mrpt::poses::CPose2D &target, std::deque< mrpt::math::TPoint2D > &path, bool &notFound, float maxSearchPathLength=-1) const
	This method compute the optimal path for a circular robot, in the given occupancy grid map, from the origin location to a target point. More...

Public Attributes
float	occupancyThreshold {0.5f}
	The maximum occupancy probability to consider a cell as an obstacle, default=0.5. More...
float	minStepInReturnedPath {0.4f}
	The minimum distance between points in the returned found path (default=0.4); Notice that full grid resolution is used in path finding, this is only a way to reduce the amount of redundant information to be returned. More...
float	robotRadius {0.35f}
	The aproximate robot radius used in the planification. More...

Constructor & Destructor Documentation

PlannerSimple2D()

mrpt::nav::PlannerSimple2D::PlannerSimple2D ( )

default

~PlannerSimple2D()

virtual mrpt::nav::PlannerSimple2D::~PlannerSimple2D ( )

virtualdefault

Member Function Documentation

computePath()

void PlannerSimple2D::computePath	(	const mrpt::maps::COccupancyGridMap2D &	theMap,
		const mrpt::poses::CPose2D &	origin,
		const mrpt::poses::CPose2D &	target,
		std::deque< mrpt::math::TPoint2D > &	path,
		bool &	notFound,
		float	maxSearchPathLength = -1
	)		const

This method compute the optimal path for a circular robot, in the given occupancy grid map, from the origin location to a target point.

The options and additional parameters to this method can be set with member configuration variables.

Parameters

theMap	[IN] The occupancy gridmap used to the planning.
origin	[IN] The starting pose of the robot, in coordinates of "map".
target	[IN] The desired target pose for the robot, in coordinates of "map".
path	[OUT] The found path, in global coordinates relative to "map".
notFount	[OUT] Will be true if no path has been found.
maxSearchPathLength	[IN] The maximum path length to search for, in meters (-1 = no limit)

See also

robotRadius

Note

If either the origin or the target are out of the gridmap extensions, notFound will be returned as true.

Exceptions

std::exception

On any error

Definition at line 26 of file PlannerSimple2D.cpp.

References ASSERT_, mrpt::poses::CPose2D::asTPose(), mrpt::maps::COccupancyGridMap2D::getCell(), mrpt::maps::COccupancyGridMap2D::getResolution(), mrpt::maps::COccupancyGridMap2D::getSizeX(), mrpt::maps::COccupancyGridMap2D::getSizeY(), mrpt::maps::COccupancyGridMap2D::getXMax(), mrpt::maps::COccupancyGridMap2D::getXMin(), mrpt::maps::COccupancyGridMap2D::getYMax(), mrpt::maps::COccupancyGridMap2D::getYMin(), mrpt::maps::COccupancyGridMap2D::idx2x(), mrpt::maps::COccupancyGridMap2D::idx2y(), mrpt::round(), mrpt::square(), val, mrpt::math::TPoint2D_data< T >::x, mrpt::maps::COccupancyGridMap2D::x2idx(), mrpt::math::TPoint2D_data< T >::y, and mrpt::maps::COccupancyGridMap2D::y2idx().

Referenced by TEST().

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Member Data Documentation

minStepInReturnedPath

float mrpt::nav::PlannerSimple2D::minStepInReturnedPath {0.4f}

The minimum distance between points in the returned found path (default=0.4); Notice that full grid resolution is used in path finding, this is only a way to reduce the amount of redundant information to be returned.

Definition at line 47 of file PlannerSimple2D.h.

occupancyThreshold

float mrpt::nav::PlannerSimple2D::occupancyThreshold {0.5f}

The maximum occupancy probability to consider a cell as an obstacle, default=0.5.

Definition at line 39 of file PlannerSimple2D.h.

robotRadius

float mrpt::nav::PlannerSimple2D::robotRadius {0.35f}

The aproximate robot radius used in the planification.

Default is 0.35m

Definition at line 51 of file PlannerSimple2D.h.

Referenced by TEST().