mrpt::nav::PlannerTPS_VirtualBase Class Reference

Detailed Description

Virtual base class for TP-Space-based path planners.

Definition at line 131 of file PlannerRRT_common.h.

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

Inheritance diagram for mrpt::nav::PlannerTPS_VirtualBase:

Classes
struct	TRenderPlannedPathOptions
	Options for renderMoveTree() More...

Public Member Functions
	PlannerTPS_VirtualBase ()
	ctor More...
mrpt::system::CTimeLogger &	getProfiler ()
const mrpt::nav::TListPTGPtr &	getPTGs () const
template<typename node_pose_t , typename world_limits_t , typename tree_t >
void	renderMoveTree (mrpt::opengl::COpenGLScene &scene, const TPlannerInputTempl< node_pose_t, world_limits_t > &pi, const TPlannerResultTempl< tree_t > &result, const TRenderPlannedPathOptions &options)

Public Attributes
RRTEndCriteria	end_criteria
RRTAlgorithmParams	params
	Parameters specific to this path solver algorithm. More...

Protected Member Functions
void	internal_loadConfig_PTG (const mrpt::config::CConfigFileBase &cfgSource, const std::string &sSectionName=std::string("PTG_CONFIG"))
	Load all PTG params from a config file source. More...
void	internal_initialize_PTG ()
	Must be called after setting all params (see internal_loadConfig_PTG()) and before calling solve() More...
void	spaceTransformer (const mrpt::maps::CSimplePointsMap &in_obstacles, const mrpt::nav::CParameterizedTrajectoryGenerator *in_PTG, const double MAX_DIST, std::vector< double > &out_TPObstacles)
void	spaceTransformerOneDirectionOnly (const int tp_space_k_direction, const mrpt::maps::CSimplePointsMap &in_obstacles, const mrpt::nav::CParameterizedTrajectoryGenerator *in_PTG, const double MAX_DIST, double &out_TPObstacle_k)

Static Protected Member Functions
static void	transformPointcloudWithSquareClipping (const mrpt::maps::CPointsMap &in_map, mrpt::maps::CPointsMap &out_map, const mrpt::poses::CPose2D &asSeenFrom, const double MAX_DIST_XY)

Protected Attributes
mrpt::system::CTimeLogger	m_timelogger
bool	m_initialized_PTG {false}
mrpt::nav::TListPTGPtr	m_PTGs
mrpt::maps::CSimplePointsMap	m_local_obs

Constructor & Destructor Documentation

PlannerTPS_VirtualBase()

PlannerTPS_VirtualBase::PlannerTPS_VirtualBase ( )

default

ctor

Member Function Documentation

getProfiler()

mrpt::system::CTimeLogger& mrpt::nav::PlannerTPS_VirtualBase::getProfiler ( )

inline

Definition at line 141 of file PlannerRRT_common.h.

References m_timelogger.

getPTGs()

const mrpt::nav::TListPTGPtr& mrpt::nav::PlannerTPS_VirtualBase::getPTGs ( ) const

inline

Definition at line 142 of file PlannerRRT_common.h.

References m_PTGs.

internal_initialize_PTG()

void PlannerTPS_VirtualBase::internal_initialize_PTG ( )

protected

Must be called after setting all params (see internal_loadConfig_PTG()) and before calling solve()

Definition at line 34 of file PlannerRRT_common.cpp.

References ASSERTMSG_, mrpt::format(), mrpt::math::TPolygon2D::getPlotData(), m_initialized_PTG, m_PTGs, m_timelogger, params, mrpt::nav::RRTAlgorithmParams::ptg_cache_files_directory, mrpt::nav::RRTAlgorithmParams::ptg_verbose, mrpt::nav::RRTAlgorithmParams::robot_shape, and mrpt::nav::RRTAlgorithmParams::robot_shape_circular_radius.

Referenced by mrpt::nav::PlannerRRT_SE2_TPS::initialize().

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internal_loadConfig_PTG()

void PlannerTPS_VirtualBase::internal_loadConfig_PTG ( const mrpt::config::CConfigFileBase &  cfgSource, const std::string &  sSectionName = std::string("PTG_CONFIG")  )

protected

Load all PTG params from a config file source.

Definition at line 92 of file PlannerRRT_common.cpp.

References ASSERT_, mrpt::math::CMatrixDynamic< T >::cols(), mrpt::nav::CParameterizedTrajectoryGenerator::CreatePTG(), mrpt::format(), mrpt::math::MatrixVectorBase< Scalar, Derived >::fromMatlabStringFormat(), m_PTGs, params, mrpt::config::CConfigFileBase::read_double(), mrpt::config::CConfigFileBase::read_int(), mrpt::config::CConfigFileBase::read_string(), mrpt::nav::RRTAlgorithmParams::robot_shape, mrpt::nav::RRTAlgorithmParams::robot_shape_circular_radius, mrpt::math::CMatrixDynamic< T >::rows(), and THROW_EXCEPTION_FMT.

Referenced by mrpt::nav::PlannerRRT_SE2_TPS::loadConfig().

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renderMoveTree()

template<typename node_pose_t , typename world_limits_t , typename tree_t >

void mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree	(	mrpt::opengl::COpenGLScene &	scene,
		const TPlannerInputTempl< node_pose_t, world_limits_t > &	pi,
		const TPlannerResultTempl< tree_t > &	result,
		const TRenderPlannedPathOptions &	options
	)

Definition at line 23 of file impl_renderMoveTree.h.

References ASSERT_, ASSERT_ABOVE_, mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::color_goal, mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::color_ground_xy_grid, mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::color_last_edge, mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::color_local_obstacles, mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::color_normal_edge, mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::color_obstacles, mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::color_optimal_edge, mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::color_start, mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::color_vehicle, mrpt::opengl::stock_objects::CornerXYZ(), mrpt::opengl::stock_objects::CornerXYZSimple(), mrpt::opengl::CGridPlaneXY::Create(), mrpt::opengl::CSetOfLines::Create(), mrpt::opengl::CText3D::Create(), mrpt::opengl::CPointCloud::Create(), mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::draw_obstacles, mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::draw_shape_decimation, mrpt::nav::TPlannerInputTempl< node_pose_t, world_limits_t >::goal_pose, mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::ground_xy_grid_frequency, mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::highlight_last_added_edge, mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::highlight_path_to_node_id, mrpt::opengl::COpenGLScene::insert(), INVALID_NODEID, mrpt::keep_max(), mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::local_obs_from_nearest_pose, mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::log_msg, mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::log_msg_position, mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::log_msg_scale, M_PI, m_PTGs, mrpt::nav::TPlannerResultTempl< tree_t >::move_tree, mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::new_state, mrpt::nav::TPlannerInputTempl< node_pose_t, world_limits_t >::obstacles_points, params, mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::point_size_local_obstacles, mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::point_size_obstacles, R, mrpt::nav::CParameterizedTrajectoryGenerator::renderPathAsSimpleLine(), mrpt::nav::RRTAlgorithmParams::robot_shape, mrpt::nav::RRTAlgorithmParams::robot_shape_circular_radius, mrpt::nav::TPlannerInputTempl< node_pose_t, world_limits_t >::start_pose, mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::vehicle_line_width, mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::vehicle_shape_z, mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::width_last_edge, mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::width_normal_edge, mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::width_optimal_edge, mrpt::nav::TPlannerInputTempl< node_pose_t, world_limits_t >::world_bbox_max, mrpt::nav::TPlannerInputTempl< node_pose_t, world_limits_t >::world_bbox_min, mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::x_nearest_pose, mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::x_rand_pose, and mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::xyzcorners_scale.

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spaceTransformer()

void PlannerTPS_VirtualBase::spaceTransformer ( const mrpt::maps::CSimplePointsMap &  in_obstacles, const mrpt::nav::CParameterizedTrajectoryGenerator *  in_PTG, const double  MAX_DIST, std::vector< double > &  out_TPObstacles  )

protected

Definition at line 171 of file PlannerRRT_common.cpp.

References mrpt::format(), mrpt::maps::CPointsMap::getPointsBuffer(), mrpt::nav::CParameterizedTrajectoryGenerator::initTPObstacles(), and mrpt::nav::CParameterizedTrajectoryGenerator::updateTPObstacle().

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spaceTransformerOneDirectionOnly()

void PlannerTPS_VirtualBase::spaceTransformerOneDirectionOnly ( const int  tp_space_k_direction, const mrpt::maps::CSimplePointsMap &  in_obstacles, const mrpt::nav::CParameterizedTrajectoryGenerator *  in_PTG, const double  MAX_DIST, double &  out_TPObstacle_k  )

protected

Definition at line 221 of file PlannerRRT_common.cpp.

References mrpt::format(), mrpt::maps::CPointsMap::getPointsBuffer(), mrpt::nav::CParameterizedTrajectoryGenerator::initTPObstacleSingle(), and mrpt::nav::CParameterizedTrajectoryGenerator::updateTPObstacleSingle().

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transformPointcloudWithSquareClipping()

void PlannerTPS_VirtualBase::transformPointcloudWithSquareClipping ( const mrpt::maps::CPointsMap &  in_map, mrpt::maps::CPointsMap &  out_map, const mrpt::poses::CPose2D &  asSeenFrom, const double  MAX_DIST_XY  )

staticprotected

Definition at line 137 of file PlannerRRT_common.cpp.

References mrpt::maps::CMetricMap::clear(), mrpt::poses::CPose2D::composePoint(), mrpt::maps::CPointsMap::getPointsBuffer(), mrpt::maps::CPointsMap::insertPointFast(), mrpt::maps::CPointsMap::reserve(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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Member Data Documentation

end_criteria

RRTEndCriteria mrpt::nav::PlannerTPS_VirtualBase::end_criteria

Definition at line 134 of file PlannerRRT_common.h.

m_initialized_PTG

bool mrpt::nav::PlannerTPS_VirtualBase::m_initialized_PTG {false}

protected

Definition at line 229 of file PlannerRRT_common.h.

Referenced by internal_initialize_PTG().

m_local_obs

mrpt::maps::CSimplePointsMap mrpt::nav::PlannerTPS_VirtualBase::m_local_obs

protected

Definition at line 231 of file PlannerRRT_common.h.

m_PTGs

mrpt::nav::TListPTGPtr mrpt::nav::PlannerTPS_VirtualBase::m_PTGs

protected

Definition at line 230 of file PlannerRRT_common.h.

Referenced by getPTGs(), internal_initialize_PTG(), internal_loadConfig_PTG(), and renderMoveTree().

m_timelogger

mrpt::system::CTimeLogger mrpt::nav::PlannerTPS_VirtualBase::m_timelogger

protected

Definition at line 228 of file PlannerRRT_common.h.

Referenced by getProfiler(), and internal_initialize_PTG().

params

RRTAlgorithmParams mrpt::nav::PlannerTPS_VirtualBase::params

Parameters specific to this path solver algorithm.

Definition at line 136 of file PlannerRRT_common.h.

Referenced by internal_initialize_PTG(), internal_loadConfig_PTG(), and renderMoveTree().