class mrpt::nav::PlannerSimple2D

Overview

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.

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

class PlannerSimple2D
{
public:
    // fields

    float occupancyThreshold {0.5f};
    float minStepInReturnedPath {0.4f};
    float robotRadius {0.35f};

    // construction

    PlannerSimple2D();

    // methods

    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;
};

Fields

float occupancyThreshold {0.5f}

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

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.

float robotRadius {0.35f}

The aproximate robot radius used in the planification.

Default is 0.35m

Methods

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.

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

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

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)
std::exception	On any error