PlannerSimple2D.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#ifndef PlannerSimple2D_H
#define PlannerSimple2D_H

#include <mrpt/maps/COccupancyGridMap2D.h>
#include <mrpt/poses/CPoint2D.h>

namespace mrpt
{
namespace nav
{
/** \addtogroup nav_planners Path planning
  * \ingroup mrpt_nav_grp
  * @{ */

/** 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.
 */
class PlannerSimple2D
{
   public:
        /** Default constructor */
        PlannerSimple2D();
        /** Destructor */
        virtual ~PlannerSimple2D() {}
        /** The maximum occupancy probability to consider a cell as an obstacle,
         * default=0.5  */
        float occupancyThreshold;

        /** 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 minStepInReturnedPath;

        /** The aproximate robot radius used in the planification. Default is 0.35m
         */
        float robotRadius;

        /** 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.
          *
          * \param theMap       [IN] The occupancy gridmap used to the planning.
          * \param origin       [IN] The starting pose of the robot, in coordinates of
         * "map".
          * \param target       [IN] The desired target pose for the robot, in
         * coordinates of "map".
          * \param path         [OUT] The found path, in global coordinates relative
         * to "map".
          * \param notFount     [OUT] Will be true if no path has been found.
          * \param maxSearchPathLength [IN] The maximum path length to search for,
         * in meters (-1 = no limit)
          *
          * \sa robotRadius
          *
          * \exception std::exception On any error
          */
        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;
};

/** @} */
}  // End of namespace
}  // End of namespace

#endif