class mrpt::nav::CPTG_RobotShape_Polygonal

Overview

Base class for all PTGs using a 2D polygonal robot shape model.

#include <mrpt/nav/tpspace/CParameterizedTrajectoryGenerator.h>

class CPTG_RobotShape_Polygonal: public mrpt::nav::CParameterizedTrajectoryGenerator
{
public:
    // construction

    CPTG_RobotShape_Polygonal();

    // methods

    const mrpt::math::CPolygon& getRobotShape() const;
    virtual void setRefDistance(const double refDist);
    const TNavDynamicState& getCurrentNavDynamicState() const;
    double getRefDistance() const;

    void initTPObstacleSingle(
        uint16_t k,
        double& TP_Obstacle_k
        ) const;

    void setScorePriorty(double prior);
    unsigned getClearanceStepCount() const;
    void setClearanceStepCount(const unsigned res);
    unsigned getClearanceDecimatedPaths() const;
    void setClearanceDecimatedPaths(const unsigned num);

    void updateClearancePost(
        ClearanceDiagram& cd,
        const std::vector<double>& TP_obstacles
        ) const;

    static void static_add_robotShape_to_setOfLines(
        mrpt::opengl::CSetOfLines& gl_shape,
        const mrpt::poses::CPose2D& origin,
        const mrpt::math::CPolygon& robotShape
        );

    static double Index2alpha(
        uint16_t k,
        const unsigned int num_paths
        );

    static uint16_t Alpha2index(
        double alpha,
        const unsigned int num_paths
        );
};

// direct descendants

class CPTG_DiffDrive_CollisionGridBased;

Inherited Members

public:
    // structs

    struct TNavDynamicState;

    // methods

    virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section) = 0;
    void loadFromConfigFileName(const std::string& config_file, const std::string& section);
    virtual void saveToConfigFile(mrpt::config::CConfigFileBase& target, const std::string& section) const;
    void saveToConfigFileName(const std::string& config_file, const std::string& section) const;
    void dumpToConsole() const;
    virtual void dumpToTextStream(std::ostream& out) const;
    virtual std::string getDescription() const = 0;

    virtual bool inverseMap_WS2TP(
        double x,
        double y,
        int& out_k,
        double& out_normalized_d,
        double tolerance_dist = 0.10
        ) const = 0;

    virtual bool PTG_IsIntoDomain(double x, double y) const;
    virtual bool isBijectiveAt(] uint16_t k, ] uint32_t step) const;
    virtual mrpt::kinematics::CVehicleVelCmd::Ptr directionToMotionCommand(uint16_t k) const = 0;
    virtual mrpt::kinematics::CVehicleVelCmd::Ptr getSupportedKinematicVelocityCommand() const = 0;
    virtual size_t getPathStepCount(uint16_t k) const = 0;
    virtual mrpt::math::TPose2D getPathPose(uint16_t k, uint32_t step) const = 0;
    virtual mrpt::math::TTwist2D getPathTwist(uint16_t k, uint32_t step) const;
    virtual double getPathDist(uint16_t k, uint32_t step) const = 0;
    virtual double getPathStepDuration() const = 0;
    virtual double getMaxLinVel() const = 0;
    virtual double getMaxAngVel() const = 0;
    virtual bool getPathStepForDist(uint16_t k, double dist, uint32_t& out_step) const = 0;
    virtual void updateTPObstacle(double ox, double oy, std::vector<double>& tp_obstacles) const = 0;
    virtual void updateTPObstacleSingle(double ox, double oy, uint16_t k, double& tp_obstacle_k) const = 0;
    virtual void loadDefaultParams();
    virtual bool supportVelCmdNOP() const;
    virtual bool supportSpeedAtTarget() const;
    virtual double maxTimeInVelCmdNOP(int path_k) const;
    virtual double getActualUnloopedPathLength(] uint16_t k) const;
    virtual double evalPathRelativePriority(] uint16_t k, ] double target_distance) const;
    virtual double getMaxRobotRadius() const = 0;
    virtual bool isPointInsideRobotShape(const double x, const double y) const = 0;
    virtual double evalClearanceToRobotShape(const double ox, const double oy) const = 0;
    void updateNavDynamicState(const TNavDynamicState& newState, const bool force_update = false);

    void initialize(
        const std::string& cacheFilename = std::string(),
        const bool verbose = true
        );

    void deinitialize();
    bool isInitialized() const;
    uint16_t getAlphaValuesCount() const;
    uint16_t getPathCount() const;
    double index2alpha(uint16_t k) const;
    uint16_t alpha2index(double alpha) const;
    void initTPObstacles(std::vector<double>& TP_Obstacles) const;
    double getScorePriority() const;

    virtual void renderPathAsSimpleLine(
        const uint16_t k,
        mrpt::opengl::CSetOfLines& gl_obj,
        const double decimate_distance = 0.1,
        const double max_path_distance = -1.0
        ) const;

    bool debugDumpInFiles(const std::string& ptg_name) const;
    virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& cfg, const std::string& sSection);
    virtual void saveToConfigFile(mrpt::config::CConfigFileBase& target, const std::string& section) const;
    virtual void add_robotShape_to_setOfLines(mrpt::opengl::CSetOfLines& gl_shape, const mrpt::poses::CPose2D& origin = mrpt::poses::CPose2D()) const = 0;
    void initClearanceDiagram(ClearanceDiagram& cd) const;
    void updateClearance(const double ox, const double oy, ClearanceDiagram& cd) const;

    virtual void evalClearanceSingleObstacle(
        const double ox,
        const double oy,
        const uint16_t k,
        ClearanceDiagram::dist2clearance_t& inout_realdist2clearance,
        bool treat_as_obstacle = true
        ) const;

    static CParameterizedTrajectoryGenerator::Ptr CreatePTG(
        const std::string& ptgClassName,
        const mrpt::config::CConfigFileBase& cfg,
        const std::string& sSection,
        const std::string& sKeyPrefix
        );

    static std::string& OUTPUT_DEBUG_PATH_PREFIX();
    static PTG_collision_behavior_t& COLLISION_BEHAVIOR();