class mrpt::nav::CParameterizedTrajectoryGenerator

This is the base class for any user-defined PTG.

There is a class factory interface in CParameterizedTrajectoryGenerator::CreatePTG.

Papers:

• J.L. Blanco, J. Gonzalez-Jimenez, J.A. Fernandez-Madrigal, “Extending Obstacle Avoidance Methods through Multiple Parameter-Space Transformations”, Autonomous Robots, vol. 24, no. 1, 2008. http://ingmec.ual.es/~jlblanco/papers/blanco2008eoa_DRAFT.pdf

Changes history:

• 30/JUN/2004: Creation (JLBC)

• 16/SEP/2004: Totally redesigned.

• 15/SEP/2005: Totally rewritten again, for integration into MRPT Applications Repository.

• 19/JUL/2009: Simplified to use only STL data types, and created the class factory interface.

• MAY/2016: Refactored into CParameterizedTrajectoryGenerator, CPTG_DiffDrive_CollisionGridBased, PTG classes renamed.

• 2016-2018: Many features added to support “PTG continuation”, dynamic paths depending on vehicle speeds, etc.

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

class CParameterizedTrajectoryGenerator:
    public mrpt::serialization::CSerializable,
    public mrpt::config::CLoadableOptions
{
public:
    // structs

    struct TNavDynamicState;

    // construction

    CParameterizedTrajectoryGenerator();

    //
methods

    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();
};

// direct descendants

class CPTG_RobotShape_Circular;
class CPTG_RobotShape_Polygonal;

Inherited Members

public:
    //
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;

Construction

CParameterizedTrajectoryGenerator()

Default ctor.

Must call loadFromConfigFile() before initialization

Methods

virtual std::string getDescription() const = 0

Gets a short textual description of the PTG and its parameters.

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

Computes the closest (alpha,d) TP coordinates of the trajectory point closest to the Workspace (WS) Cartesian coordinates (x,y), relative to the current robot frame.

Parameters:

x	X coordinate of the query point, relative to the robot frame.
y	Y coordinate of the query point, relative to the robot frame.
out_k	Trajectory parameter index (discretized alpha value, 0-based index).
out_d	Trajectory distance, normalized such that D_max becomes 1.

Returns:

true if the distance between (x,y) and the actual trajectory point is below the given tolerance (in meters).

virtual bool PTG_IsIntoDomain(double x, double y) const

Returns the same than inverseMap_WS2TP() but without any additional cost.

The default implementation just calls inverseMap_WS2TP() and discards (k,d).

virtual bool isBijectiveAt(] uint16_t k, ] uint32_t step) const

Returns true if a given TP-Space point maps to a unique point in Workspace, and viceversa.

Default implementation returns true.

virtual mrpt::kinematics::CVehicleVelCmd::Ptr directionToMotionCommand(uint16_t k) const = 0

Converts a discretized “alpha” value into a feasible motion command or action.

See derived classes for the meaning of these actions

virtual mrpt::kinematics::CVehicleVelCmd::Ptr getSupportedKinematicVelocityCommand() const = 0

Returns an empty kinematic velocity command object of the type supported by this PTG.

Can be queried to determine the expected kinematic interface of the PTG.

virtual size_t getPathStepCount(uint16_t k) const = 0

Access path k ([0,N-1]=>[-pi,pi] in alpha): number of discrete “steps” along the trajectory.

May be actual steps from a numerical integration or an arbitrary small length for analytical PTGs.

See also:

getAlphaValuesCount()

virtual mrpt::math::TPose2D getPathPose(uint16_t k, uint32_t step) const = 0

Access path k ([0,N-1]=>[-pi,pi] in alpha): pose of the vehicle at discrete step step.

See also:

getPathStepCount(), getAlphaValuesCount(), getPathTwist()

virtual mrpt::math::TTwist2D getPathTwist(uint16_t k, uint32_t step) const

Gets velocity (“twist”) for path k ([0,N-1]=>[-pi,pi] in alpha), at vehicle discrete step step.

The default implementation in this base class uses numerical differentiation to estimate the twist (vx,vy,omega). Velocity is given in “global” coordinates, relative to the starting pose of the robot at t=0 for this PTG path.

See also:

getPathStepCount(), getAlphaValuesCount(), getPathPose()

virtual double getPathDist(uint16_t k, uint32_t step) const = 0

Access path k ([0,N-1]=>[-pi,pi] in alpha): traversed distance at discrete step step.

Returns:

Distance in pseudometers (real distance, NOT normalized to [0,1] for [0,refDist])

See also:

getPathStepCount(), getAlphaValuesCount()

virtual double getPathStepDuration() const = 0

Returns the duration (in seconds) of each “step”.

See also:

getPathStepCount()

virtual double getMaxLinVel() const = 0

Returns the maximum linear velocity expected from this PTG [m/s].

virtual double getMaxAngVel() const = 0

Returns the maximum angular velocity expected from this PTG [rad/s].

virtual bool getPathStepForDist(uint16_t k, double dist, uint32_t& out_step) const = 0

Access path k ([0,N-1]=>[-pi,pi] in alpha): largest step count for which the traversed distance is <dist

Parameters:

dist	Distance in pseudometers (real distance, NOT normalized to [0,1] for [0,refDist])

Returns:

false if no step fulfills the condition for the given trajectory k (e.g. out of reference distance). Note that, anyway, the maximum distance (closest point) is returned in out_step.

See also:

getPathStepCount(), getAlphaValuesCount()

virtual void updateTPObstacle(
    double ox,
    double oy,
    std::vector<double>& tp_obstacles
    ) const = 0

Updates the radial map of closest TP-Obstacles given a single obstacle point at (ox,oy)

The length of tp_obstacles is not checked for efficiency since this method is potentially called thousands of times per navigation timestap, so it is left to the user responsibility to provide a valid buffer.

tp_obstacles must be initialized with initTPObstacle() before call.

Parameters:

tp_obstacles	A vector of length getAlphaValuesCount(), initialized with initTPObstacles() (collision-free ranges, in “pseudometers”, un-normalized).
ox	Obstacle point (X), relative coordinates wrt origin of the PTG.
oy	Obstacle point (Y), relative coordinates wrt origin of the PTG.

virtual void updateTPObstacleSingle(
    double ox,
    double oy,
    uint16_t k,
    double& tp_obstacle_k
    ) const = 0

Like updateTPObstacle() but for one direction only (k) in TP-Space.

tp_obstacle_k must be initialized with initTPObstacleSingle() before call (collision-free ranges, in “pseudometers”, un-normalized).

virtual void loadDefaultParams()

Loads a set of default parameters into the PTG.

Users normally will call loadFromConfigFile() instead, this method is provided exclusively for the PTG-configurator tool.

virtual bool supportVelCmdNOP() const

Returns true if it is possible to stop sending velocity commands to the robot and, still, the robot controller will be able to keep following the last sent trajectory (“NOP” velocity commands).

Default implementation returns “false”.

virtual bool supportSpeedAtTarget() const

Returns true if this PTG takes into account the desired velocity at target.

See also:

updateNavDynamicState()

virtual double maxTimeInVelCmdNOP(int path_k) const

Only for PTGs supporting supportVelCmdNOP() : this is the maximum time (in seconds) for which the path can be followed without re-issuing a new velcmd.

Note that this is only an absolute maximum duration, navigation implementations will check for many other conditions. Default method in the base virtual class returns 0.

Parameters:

path_k

Queried path k index [0,N-1]

virtual double getActualUnloopedPathLength(] uint16_t k) const

Returns the actual distance (in meters) of the path, discounting possible circular loops of the path (e.g.

if it comes back to the origin). Default: refDistance

virtual double evalPathRelativePriority(] uint16_t k, ] double target_distance) const

Query the PTG for the relative priority factor (0,1) of this PTG, in comparison to others, if the k-th path is to be selected.

virtual double getMaxRobotRadius() const = 0

Returns an approximation of the robot radius.

virtual bool isPointInsideRobotShape(const double x, const double y) const = 0

Returns true if the point lies within the robot shape.

virtual double evalClearanceToRobotShape(const double ox, const double oy) const = 0

Evals the clearance from an obstacle (ox,oy) in coordinates relative to the robot center.

Zero or negative means collision.

void updateNavDynamicState(const TNavDynamicState& newState, const bool force_update = false)

To be invoked by the navigator before each navigation step, to let the PTG to react to changing dynamic conditions.

See also:

onNewNavDynamicState(), m_nav_dyn_state

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

Must be called after setting all PTG parameters and before requesting converting obstacles to TP-Space, inverseMap_WS2TP(), etc.

void deinitialize()

This must be called to de-initialize the PTG if some parameter is to be changed.

After changing it, call initialize again

bool isInitialized() const

Returns true if initialize() has been called and there was no errors, so the PTG is ready to be queried for paths, obstacles, etc.

uint16_t getAlphaValuesCount() const

Get the number of different, discrete paths in this family.

uint16_t getPathCount() const

Get the number of different, discrete paths in this family.

double index2alpha(uint16_t k) const

Alpha value for the discrete corresponding value.

See also:

alpha2index

uint16_t alpha2index(double alpha) const

Discrete index value for the corresponding alpha value.

See also:

index2alpha

void initTPObstacles(std::vector<double>& TP_Obstacles) const

Resizes and populates the initial appropriate contents in a vector of tp-obstacles (collision-free ranges, in “pseudometers”, un-normalized).

See also:

updateTPObstacle()

double getScorePriority() const

When used in path planning, a multiplying factor (default=1.0) for the scores for this PTG.

Assign values <1 to PTGs with low priority.

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

Returns the representation of one trajectory of this PTG as a 3D OpenGL object (a simple curved line).

Parameters:

k	The 0-based index of the selected trajectory (discrete “alpha” parameter).
gl_obj	Output object.
decimate_distance	Minimum distance between path points (in meters).
max_path_distance	If >=0, cut the path at this distance (in meters).

bool debugDumpInFiles(const std::string& ptg_name) const

Dump PTG trajectories in four text files: `.

/reactivenav.logs/PTGs/PTGi_{x,y,phi,d}.txt` Text files are loadable from MATLAB/Octave, and can be visualized with the script [MRPT_DIR]/scripts/viewPTG.m The directory “./reactivenav.logs/PTGs” will be created if doesn’t exist.

Returns:

false on any error writing to disk.

See also:

OUTPUT_DEBUG_PATH_PREFIX

virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& cfg, const std::string& sSection)

Parameters accepted by this base class:

• ${sKeyPrefix}num_paths : The number of different paths in this family (number of discrete alpha values).

• ${sKeyPrefix}ref_distance : The maximum distance in PTGs [meters]

• ${sKeyPrefix}score_priority : When used in path planning, a multiplying factor (default=1.0) for the scores for this PTG. Assign values <1 to PTGs with low priority.

virtual void saveToConfigFile(mrpt::config::CConfigFileBase& target, const std::string& section) const

This method saves the options to a “.ini”-like file or memory-stored string list.

See also:

loadFromConfigFile, saveToConfigFileName

virtual void add_robotShape_to_setOfLines(mrpt::opengl::CSetOfLines& gl_shape, const mrpt::poses::CPose2D& origin = mrpt::poses::CPose2D()) const = 0

Auxiliary function for rendering.

void initClearanceDiagram(ClearanceDiagram& cd) const

Must be called to resize a CD to its correct size, before calling updateClearance()

void updateClearance(const double ox, const double oy, ClearanceDiagram& cd) const

Updates the clearance diagram given one (ox,oy) obstacle point, in coordinates relative to the PTG path origin.

Parameters:

cd	The clearance will be updated here.

See also:

m_clearance_dist_resolution

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

Evals the robot clearance for each robot pose along path k, for the real distances in the key of the map<>, then keep in the map value the minimum of its current stored clearance, or the computed clearance.

In case of collision, clearance is zero.

Parameters:

treat_as_obstacle

true: normal use for obstacles; false: compute shortest distances to a target point (no collision)

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

The class factory for creating a PTG from a list of parameters in a section of a given config file (physical file or in memory).

Possible parameters are:

• Those explained in CParameterizedTrajectoryGenerator::loadFromConfigFile()

• Those explained in the specific PTG being created (see list of derived classes)

ptgClassName can be any PTG class name which has been registered as any other mrpt::serialization::CSerializable class.

Parameters:

std::logic_error

On invalid or missing parameters.

static std::string& OUTPUT_DEBUG_PATH_PREFIX()

The path used as defaul output in, for example, debugDumpInFiles.

(Default=”./reactivenav.logs/”)

static PTG_collision_behavior_t& COLLISION_BEHAVIOR()

Defines the behavior when there is an obstacle inside the robot shape right at the beginning of a PTG trajectory.

Default value: COLL_BEH_BACK_AWAY