TP-Space and PTG classes

Detailed Description

Collaboration diagram for TP-Space and PTG classes:

Classes
class	mrpt::nav::ClearanceDiagram
	Clearance information for one particular PTG and one set of obstacles. More...
class	mrpt::nav::CParameterizedTrajectoryGenerator
	This is the base class for any user-defined PTG. More...
class	mrpt::nav::CPTG_RobotShape_Polygonal
	Base class for all PTGs using a 2D polygonal robot shape model. More...
class	mrpt::nav::CPTG_RobotShape_Circular
	Base class for all PTGs using a 2D circular robot shape model. More...
class	mrpt::nav::CPTG_DiffDrive_alpha
	The "a(symptotic)-alpha PTG", as named in PTG papers. More...
class	mrpt::nav::CPTG_DiffDrive_C
	A PTG for circular paths ("C" type PTG in papers). More...
class	mrpt::nav::CPTG_DiffDrive_CC
	A PTG for optimal paths of type "C|C" , as named in PTG papers. More...
class	mrpt::nav::CPTG_DiffDrive_CCS
	A PTG for optimal paths of type "C|C,S" (as named in PTG papers). More...
struct	mrpt::nav::TCPoint
	Trajectory points in C-Space for non-holonomic robots. More...
class	mrpt::nav::CPTG_DiffDrive_CollisionGridBased
	Base class for all PTGs suitable to non-holonomic, differentially-driven (or Ackermann) vehicles based on numerical integration of the trajectories and collision look-up-table. More...
class	mrpt::nav::CPTG_DiffDrive_CS
	A PTG for optimal paths of type "CS", as named in PTG papers. More...
class	mrpt::nav::CPTG_Holo_Blend
	A PTG for circular-shaped robots with holonomic kinematics. More...

Typedefs
using	mrpt::nav::TCPointVector = std::vector< TCPoint >

Enumerations
enum	mrpt::nav::PTG_collision_behavior_t { mrpt::nav::COLL_BEH_BACK_AWAY = 0, mrpt::nav::COLL_BEH_STOP }
	Defines behaviors for where there is an obstacle inside the robot shape right at the beginning of a PTG trajectory. More...

Functions
mrpt::serialization::CArchive &	mrpt::nav::operator<< (mrpt::serialization::CArchive &o, const mrpt::nav::TCPoint &p)
mrpt::serialization::CArchive &	mrpt::nav::operator>> (mrpt::serialization::CArchive &i, mrpt::nav::TCPoint &p)

Typedef Documentation

TCPointVector

using mrpt::nav::TCPointVector = typedef std::vector<TCPoint>

Definition at line 36 of file CPTG_DiffDrive_CollisionGridBased.h.

Enumeration Type Documentation

PTG_collision_behavior_t

enum mrpt::nav::PTG_collision_behavior_t

Defines behaviors for where there is an obstacle inside the robot shape right at the beginning of a PTG trajectory.

See also

Used in CParameterizedTrajectoryGenerator::COLLISION_BEHAVIOR

Enumerator
COLL_BEH_BACK_AWAY	Favor getting back from too-close (almost collision) obstacles.
COLL_BEH_STOP	Totally dissallow any movement if there is any too-close (almost collision) obstacles.

Definition at line 41 of file CParameterizedTrajectoryGenerator.h.

Function Documentation

operator<<()

mrpt::serialization::CArchive & mrpt::nav::operator<<	(	mrpt::serialization::CArchive &	o,
		const mrpt::nav::TCPoint &	p
	)

Definition at line 86 of file CPTG_DiffDrive_CollisionGridBased.cpp.

References mrpt::nav::TCPoint::dist, mrpt::nav::TCPoint::phi, mrpt::nav::TCPoint::t, mrpt::nav::TCPoint::v, mrpt::nav::TCPoint::w, mrpt::nav::TCPoint::x, and mrpt::nav::TCPoint::y.

operator>>()

mrpt::serialization::CArchive & mrpt::nav::operator>>	(	mrpt::serialization::CArchive &	i,
		mrpt::nav::TCPoint &	p
	)

Definition at line 92 of file CPTG_DiffDrive_CollisionGridBased.cpp.

References mrpt::nav::TCPoint::dist, mrpt::nav::TCPoint::phi, mrpt::nav::TCPoint::t, mrpt::nav::TCPoint::v, mrpt::nav::TCPoint::w, mrpt::nav::TCPoint::x, and mrpt::nav::TCPoint::y.