mrpt::nav::TRobotShape Struct Reference

Detailed Description

A 3D robot shape stored as a "sliced" stack of 2D polygons, used for CReactiveNavigationSystem3D Depending on each PTG, only the 2D polygon or the circular radius will be taken into account.

Definition at line 21 of file CReactiveNavigationSystem3D.h.

#include <mrpt/nav/reactive/CReactiveNavigationSystem3D.h>

Public Member Functions
size_t	size () const
void	resize (size_t num_levels)
const mrpt::math::CPolygon &	polygon (size_t level) const
double	getRadius (size_t level) const
double	getHeight (size_t level) const
mrpt::math::CPolygon &	polygon (size_t level)
void	setRadius (size_t level, double r)
void	setHeight (size_t level, double h)
const std::vector< double > &	getHeights () const

Private Attributes
std::vector< mrpt::math::CPolygon >	polygons
std::vector< double >	radius
std::vector< double >	heights

Member Function Documentation

getHeight()

double mrpt::nav::TRobotShape::getHeight ( size_t  level ) const

inline

Definition at line 36 of file CReactiveNavigationSystem3D.h.

References heights.

Referenced by mrpt::nav::CReactiveNavigationSystem3D::implementSenseObstacles().

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getHeights()

const std::vector<double>& mrpt::nav::TRobotShape::getHeights ( ) const

inline

Definition at line 40 of file CReactiveNavigationSystem3D.h.

References heights.

getRadius()

double mrpt::nav::TRobotShape::getRadius ( size_t  level ) const

inline

Definition at line 35 of file CReactiveNavigationSystem3D.h.

References radius.

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

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polygon() [1/2]

const mrpt::math::CPolygon& mrpt::nav::TRobotShape::polygon ( size_t  level ) const

inline

Definition at line 31 of file CReactiveNavigationSystem3D.h.

References polygons.

Referenced by mrpt::nav::CReactiveNavigationSystem3D::changeRobotShape(), mrpt::nav::CReactiveNavigationSystem3D::loadConfigFile(), mrpt::nav::CReactiveNavigationSystem3D::loggingGetWSObstaclesAndShape(), and mrpt::nav::CReactiveNavigationSystem3D::STEP1_InitPTGs().

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polygon() [2/2]

mrpt::math::CPolygon& mrpt::nav::TRobotShape::polygon ( size_t  level )

inline

Definition at line 37 of file CReactiveNavigationSystem3D.h.

References polygons.

resize()

void mrpt::nav::TRobotShape::resize ( size_t  num_levels )

inline

Definition at line 24 of file CReactiveNavigationSystem3D.h.

References heights, polygons, and radius.

Referenced by mrpt::nav::CReactiveNavigationSystem3D::loadConfigFile().

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setHeight()

void mrpt::nav::TRobotShape::setHeight ( size_t  level, double  h  )

inline

Definition at line 39 of file CReactiveNavigationSystem3D.h.

References heights.

Referenced by mrpt::nav::CReactiveNavigationSystem3D::loadConfigFile().

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setRadius()

void mrpt::nav::TRobotShape::setRadius ( size_t  level, double  r  )

inline

Definition at line 38 of file CReactiveNavigationSystem3D.h.

References radius.

Referenced by mrpt::nav::CReactiveNavigationSystem3D::loadConfigFile().

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size()

size_t mrpt::nav::TRobotShape::size ( ) const

inline

Definition at line 23 of file CReactiveNavigationSystem3D.h.

References polygons.

Referenced by mrpt::nav::CReactiveNavigationSystem3D::changeRobotShape(), mrpt::nav::CReactiveNavigationSystem3D::checkCollisionWithLatestObstacles(), mrpt::nav::CReactiveNavigationSystem3D::implementSenseObstacles(), mrpt::nav::CReactiveNavigationSystem3D::loadConfigFile(), mrpt::nav::CReactiveNavigationSystem3D::loggingGetWSObstaclesAndShape(), mrpt::nav::CReactiveNavigationSystem3D::saveConfigFile(), mrpt::nav::CReactiveNavigationSystem3D::STEP1_InitPTGs(), and mrpt::nav::CReactiveNavigationSystem3D::STEP3_WSpaceToTPSpace().

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Member Data Documentation

heights

std::vector<double> mrpt::nav::TRobotShape::heights

private

Definition at line 45 of file CReactiveNavigationSystem3D.h.

Referenced by getHeight(), getHeights(), resize(), and setHeight().

polygons

std::vector<mrpt::math::CPolygon> mrpt::nav::TRobotShape::polygons

private

Definition at line 43 of file CReactiveNavigationSystem3D.h.

Referenced by polygon(), resize(), and size().

radius

std::vector<double> mrpt::nav::TRobotShape::radius

private

Definition at line 44 of file CReactiveNavigationSystem3D.h.

Referenced by getRadius(), resize(), and setRadius().