[mrpt-nav]

Overview

Autonomous navigation, path planning

Library mrpt-nav

This library is part of MRPT and can be installed in Debian-based systems with:

sudo apt install libmrpt-nav-dev

Read also how to import MRPT into your CMake scripts.

This library implements:

• Reactive navigation:

  • Holonomic navigation algorithms: Virtual Force Fields (VFF), Nearness Diagram (ND), … See mrpt::nav::CAbstractHolonomicReactiveMethod

  • A complex reactive navigator: Using space transformations (PTGs) to drive a robot using an internal simpler holonomic algorithm. See mrpt::nav::CReactiveNavigationSystem

  • A number of different PTGs: See mrpt::nav::CParameterizedTrajectoryGenerator

  • See the full list of classes in mrpt::nav, or the online page https://www.mrpt.org/list-of-mrpt-apps/application-reactivenavigationdemo/ for a working application (see MRPT/apps/ReactiveNavigationDemo).

• Planned / hybrid navigation:

  • See mrpt::nav

Library contents

Holonomic navigation methods

Motion planning geometry utility functions

Path planning

Reactive navigation classes

TP-Space and PTG classes

// global functions

void mrpt::nav::registerAllClasses_mrpt_nav();

Global Functions

void mrpt::nav::registerAllClasses_mrpt_nav()

Forces manual RTTI registration of all serializable classes in this namespace.

Should never be required to be explicitly called by users, except if building MRPT as a static library.