Detailed Description

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.
2016-2017: Many features added to support "PTG continuation", dynamic paths depending on vehicle speeds, etc.

Definition at line 76 of file CParameterizedTrajectoryGenerator.h.

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

Inheritance diagram for mrpt::nav::CParameterizedTrajectoryGenerator:

Classes
struct	TNavDynamicState
	Dynamic state that may affect the PTG path parameterization. More...

Public Member Functions
	CParameterizedTrajectoryGenerator ()
	Default ctor. More...

virtual	~CParameterizedTrajectoryGenerator ()
	Destructor. More...

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. More...

const TNavDynamicState &	getCurrentNavDynamicState () const

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. More...

void	deinitialize ()
	This must be called to de-initialize the PTG if some parameter is to be changed. More...

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. More...

uint16_t	getAlphaValuesCount () const
	Get the number of different, discrete paths in this family. More...

uint16_t	getPathCount () const
	Get the number of different, discrete paths in this family. More...

double	index2alpha (uint16_t k) const
	Alpha value for the discrete corresponding value. More...

uint16_t	alpha2index (double alpha) const
	Discrete index value for the corresponding alpha value. More...

double	getRefDistance () const

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). More...

void	initTPObstacleSingle (uint16_t k, double &TP_Obstacle_k) const

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

void	setScorePriorty (double prior)

unsigned	getClearanceStepCount () const

void	setClearanceStepCount (const unsigned res)

unsigned	getClearanceDecimatedPaths () const

void	setClearanceDecimatedPaths (const unsigned num)

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). More...

bool	debugDumpInFiles (const std::string &ptg_name) const
	Dump PTG trajectories in four text files: `. More...

virtual void	loadFromConfigFile (const mrpt::utils::CConfigFileBase &cfg, const std::string &sSection) override
	Parameters accepted by this base class: More...

virtual void	saveToConfigFile (mrpt::utils::CConfigFileBase &cfg, const std::string &sSection) const override
	This method saves the options to a ".ini"-like file or memory-stored string list. More...

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. More...

void	initClearanceDiagram (ClearanceDiagram &cd) const
	Must be called to resize a CD to its correct size, before calling updateClearance() More...

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. More...

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

virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a `mxArray` Matlab object, typically a MATLAB `struct` whose contents are documented in each derived class. More...

virtual CObject *	clone () const =0
	Returns a deep copy (clone) of the object, indepently of its class. More...

void	loadFromConfigFileName (const std::string &config_file, const std::string &section)
	Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file. More...

void	saveToConfigFileName (const std::string &config_file, const std::string &section) const
	Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file. More...

void	dumpToConsole () const
	Just like dumpToTextStream() but sending the text to the console (std::cout) More...

virtual void	dumpToTextStream (mrpt::utils::CStream &out) const
	This method should clearly display all the contents of the structure in textual form, sending it to a CStream. More...

RTTI classes and functions
mrpt::utils::CObject::Ptr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...

Static Public Member Functions
static CParameterizedTrajectoryGenerator *	CreatePTG (const std::string &ptgClassName, const mrpt::utils::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). More...

static double	index2alpha (uint16_t k, const unsigned int num_paths)

static uint16_t	alpha2index (double alpha, const unsigned int num_paths)

Static Public Attributes
static std::string	OUTPUT_DEBUG_PATH_PREFIX
	The path used as defaul output in, for example, debugDumpInFiles. More...

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. More...

Protected Member Functions
void	internal_TPObsDistancePostprocess (const double ox, const double oy, const double new_tp_obs_dist, double &inout_tp_obs) const
	To be called by implementors of updateTPObstacle() and updateTPObstacleSingle() to honor the user settings regarding COLLISION_BEHAVIOR. More...

virtual void	internal_readFromStream (mrpt::utils::CStream &in)

virtual void	internal_writeToStream (mrpt::utils::CStream &out) const

virtual void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const =0
	Introduces a pure virtual method responsible for writing to a CStream. More...

virtual void	readFromStream (mrpt::utils::CStream &in, int version)=0
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...

Static Protected Member Functions
static void	dumpVar_int (CStream &out, const char *varName, int v)
	Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. More...

static void	dumpVar_float (CStream &out, const char *varName, float v)

static void	dumpVar_double (CStream &out, const char *varName, double v)

static void	dumpVar_bool (CStream &out, const char *varName, bool v)

static void	dumpVar_string (CStream &out, const char *varName, const std::string &v)

Protected Attributes
double	refDistance

uint16_t	m_alphaValuesCount
	The number of discrete values for "alpha" between -PI and +PI. More...

double	m_score_priority

uint16_t	m_clearance_num_points
	Number of steps for the piecewise-constant approximation of clearance from TPS distances [0,1] (Default=5) More...

uint16_t	m_clearance_decimated_paths
	Number of paths for the decimated paths analysis of clearance. More...

TNavDynamicState	m_nav_dyn_state
	Updated before each nav step by. More...

uint16_t	m_nav_dyn_state_target_k
	Update in updateNavDynamicState(), contains the path index (k) for the target. More...

bool	m_is_initialized

Static Protected Attributes
static const uint16_t	INVALID_PTG_PATH_INDEX = static_cast<uint16_t>(-1)

RTTI stuff
using	Ptr = std::shared_ptr< CParameterizedTrajectoryGenerator >

using	ConstPtr = std::shared_ptr< const CParameterizedTrajectoryGenerator >

static const mrpt::utils::TRuntimeClassId	runtimeClassId

class	mrpt::utils::CStream

static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()

virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

static const mrpt::utils::TRuntimeClassId &	GetRuntimeClassIdStatic ()

Virtual interface of each PTG implementation
virtual std::string	getDescription () const =0
	Gets a short textual description of the PTG and its parameters. More...

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. More...

virtual bool	PTG_IsIntoDomain (double x, double y) const
	Returns the same than inverseMap_WS2TP() but without any additional cost. More...

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. More...

virtual mrpt::kinematics::CVehicleVelCmd::Ptr	directionToMotionCommand (uint16_t k) const =0
	Converts a discretized "alpha" value into a feasible motion command or action. More...

virtual mrpt::kinematics::CVehicleVelCmd::Ptr	getSupportedKinematicVelocityCommand () const =0
	Returns an empty kinematic velocity command object of the type supported by this PTG. More...

virtual void	setRefDistance (const double refDist)

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. More...

virtual void	getPathPose (uint16_t k, uint32_t step, mrpt::math::TPose2D &p) const =0
	Access path `k` ([0,N-1]=>[-pi,pi] in alpha): pose of the vehicle at discrete step `step`. More...

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`. More...

virtual double	getPathStepDuration () const =0
	Returns the duration (in seconds) of each "step". More...

virtual double	getMaxLinVel () const =0
	Returns the maximum linear velocity expected from this PTG [m/s]. More...

virtual double	getMaxAngVel () const =0
	Returns the maximum angular velocity expected from this PTG [rad/s]. More...

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` More...

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) More...

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. More...

virtual void	loadDefaultParams ()
	Loads a set of default parameters into the PTG. More...

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). More...

virtual bool	supportSpeedAtTarget () const
	Returns true if this PTG takes into account the desired velocity at target. More...

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. More...

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. More...

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. More...

virtual double	getMaxRobotRadius () const =0
	Returns an approximation of the robot radius. More...

virtual bool	isPointInsideRobotShape (const double x, const double y) const =0
	Returns true if the point lies within the robot shape. More...

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. More...

virtual void	internal_initialize (const std::string &cacheFilename=std::string(), const bool verbose=true)=0
	Must be called after setting all PTG parameters and before requesting converting obstacles to TP-Space, inverseMap_WS2TP(), etc. More...

virtual void	internal_deinitialize ()=0
	This must be called to de-initialize the PTG if some parameter is to be changed. More...

virtual void	onNewNavDynamicState ()=0
	Invoked when `m_nav_dyn_state` has changed; gives the PTG the opportunity to react and parameterize paths depending on the instantaneous conditions. More...

Member Typedef Documentation

◆ ConstPtr

using mrpt::nav::CParameterizedTrajectoryGenerator::ConstPtr = std::shared_ptr<const CParameterizedTrajectoryGenerator >

Definition at line 79 of file CParameterizedTrajectoryGenerator.h.

◆ Ptr

using mrpt::nav::CParameterizedTrajectoryGenerator::Ptr = std::shared_ptr< CParameterizedTrajectoryGenerator >

Definition at line 79 of file CParameterizedTrajectoryGenerator.h.

Constructor & Destructor Documentation

◆ CParameterizedTrajectoryGenerator()

mrpt::nav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator ( )

Default ctor.

Must call loadFromConfigFile() before initialization

◆ ~CParameterizedTrajectoryGenerator()

virtual mrpt::nav::CParameterizedTrajectoryGenerator::~CParameterizedTrajectoryGenerator ( )

inlinevirtual

Destructor.

Definition at line 84 of file CParameterizedTrajectoryGenerator.h.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::nav::CParameterizedTrajectoryGenerator::_GetBaseClass ( )

staticprotected

◆ add_robotShape_to_setOfLines()

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

pure virtual

Auxiliary function for rendering.

Implemented in mrpt::nav::CPTG_RobotShape_Circular, and mrpt::nav::CPTG_RobotShape_Polygonal.

◆ alpha2index() [1/2]

uint16_t CParameterizedTrajectoryGenerator::alpha2index ( double alpha ) const

Discrete index value for the corresponding alpha value.

See also: index2alpha

Definition at line 218 of file CParameterizedTrajectoryGenerator.cpp.

References m_alphaValuesCount.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), mrpt::nav::CHolonomicFullEval::evalSingleTarget(), mrpt::nav::CAbstractPTGBasedReactive::generate_vel_cmd(), mrpt::nav::CPTG_Holo_Blend::inverseMap_WS2TP(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), and mrpt::nav::ClearanceDiagram::renderAs3DObject().

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◆ alpha2index() [2/2]

uint16_t CParameterizedTrajectoryGenerator::alpha2index	(	double	alpha,
		const unsigned int	num_paths
	)

static

Definition at line 208 of file CParameterizedTrajectoryGenerator.cpp.

References M_PI, mrpt::utils::round(), and mrpt::math::wrapToPi().

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◆ clone()

virtual CObject* mrpt::utils::CObject::clone ( ) const

pure virtualinherited

Returns a deep copy (clone) of the object, indepently of its class.

Referenced by mrpt::utils::CObject::duplicateGetSmartPtr(), mrpt::maps::CSimpleMap::insert(), mrpt::obs::CActionCollection::insert(), and mrpt::poses::CPoseRandomSampler::setPosePDF().

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◆ CreatePTG()

CParameterizedTrajectoryGenerator * CParameterizedTrajectoryGenerator::CreatePTG	(	const std::string &	ptgClassName,
		const mrpt::utils::CConfigFileBase &	cfg,
		const std::string &	sSection,
		const std::string &	sKeyPrefix
	)

static

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::utils::CSerializable class.

Exceptions

std::logic_error On invalid or missing parameters.

Definition at line 21 of file CParameterizedTrajectoryGenerator_factory.cpp.

References mrpt::utils::CConfigFilePrefixer::bind(), mrpt::utils::TRuntimeClassId::createObject(), mrpt::utils::findRegisteredClass(), loadFromConfigFile(), MRPT_END, MRPT_START, mrpt::utils::registerAllPendingClasses(), mrpt::utils::CConfigFilePrefixer::setPrefixes(), THROW_EXCEPTION_FMT, and mrpt::system::trim().

Referenced by mrpt::nav::PlannerTPS_VirtualBase::internal_loadConfig_PTG(), mrpt::nav::CReactiveNavigationSystem::loadConfigFile(), and mrpt::nav::CReactiveNavigationSystem3D::loadConfigFile().

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◆ debugDumpInFiles()

bool CParameterizedTrajectoryGenerator::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

Note: 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

Definition at line 274 of file CParameterizedTrajectoryGenerator.cpp.

References mrpt::system::createDirectory(), mrpt::mrpt::format(), getAlphaValuesCount(), getPathDist(), getPathPose(), getPathStepCount(), min, and OUTPUT_DEBUG_PATH_PREFIX.

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◆ deinitialize()

void CParameterizedTrajectoryGenerator::deinitialize ( )

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

After changing it, call initialize again

Definition at line 411 of file CParameterizedTrajectoryGenerator.cpp.

References internal_deinitialize(), and m_is_initialized.

Referenced by internal_readFromStream().

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◆ directionToMotionCommand()

virtual mrpt::kinematics::CVehicleVelCmd::Ptr mrpt::nav::CParameterizedTrajectoryGenerator::directionToMotionCommand ( uint16_t k ) const

pure virtual

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

See derived classes for the meaning of these actions

Implemented in mrpt::nav::CPTG_DiffDrive_CollisionGridBased, and mrpt::nav::CPTG_Holo_Blend.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), and mrpt::nav::CAbstractPTGBasedReactive::generate_vel_cmd().

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◆ dumpToConsole()

void CLoadableOptions::dumpToConsole ( ) const

inherited

Just like dumpToTextStream() but sending the text to the console (std::cout)

Definition at line 44 of file CLoadableOptions.cpp.

References mrpt::utils::CLoadableOptions::dumpToTextStream(), and loadable_opts_my_cout.

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::printParams().

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◆ dumpToTextStream()

void CLoadableOptions::dumpToTextStream ( mrpt::utils::CStream & out ) const

virtualinherited

This method should clearly display all the contents of the structure in textual form, sending it to a CStream.

The default implementation in this base class relies on saveToConfigFile() to generate a plain text representation of all the parameters.

Definition at line 83 of file CLoadableOptions.cpp.

References mrpt::utils::CConfigFileMemory::getContent(), mrpt::utils::CStream::printf(), and mrpt::utils::CLoadableOptions::saveToConfigFile().

Referenced by mrpt::utils::CLoadableOptions::dumpToConsole().

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◆ dumpVar_bool()

void CLoadableOptions::dumpVar_bool	(	CStream &	out,
		const char *	varName,
		bool	v
	)

staticprotectedinherited

Definition at line 65 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

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◆ dumpVar_double()

void CLoadableOptions::dumpVar_double	(	CStream &	out,
		const char *	varName,
		double	v
	)

staticprotectedinherited

Definition at line 59 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

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◆ dumpVar_float()

void CLoadableOptions::dumpVar_float	(	CStream &	out,
		const char *	varName,
		float	v
	)

staticprotectedinherited

Definition at line 54 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

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◆ dumpVar_int()

void CLoadableOptions::dumpVar_int	(	CStream &	out,
		const char *	varName,
		int	v
	)

staticprotectedinherited

Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.

Definition at line 49 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

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◆ dumpVar_string()

void CLoadableOptions::dumpVar_string	(	CStream &	out,
		const char *	varName,
		const std::string &	v
	)

staticprotectedinherited

Definition at line 71 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

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◆ evalClearanceSingleObstacle()

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

virtual

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)

Definition at line 508 of file CParameterizedTrajectoryGenerator.cpp.

References ASSERT_, evalClearanceToRobotShape(), getPathPose(), getPathStepCount(), mrpt::math::TPose2D::inverseComposePoint(), mrpt::mrpt::utils::keep_min(), mrpt::math::TPoint2D::norm(), refDistance, mrpt::utils::round(), mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), and updateClearance().

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◆ evalClearanceToRobotShape()

virtual double mrpt::nav::CParameterizedTrajectoryGenerator::evalClearanceToRobotShape	(	const double	ox,
		const double	oy
	)		const

pure virtual

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

Zero or negative means collision.

Implemented in mrpt::nav::CPTG_RobotShape_Circular, and mrpt::nav::CPTG_RobotShape_Polygonal.

Referenced by evalClearanceSingleObstacle().

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◆ evalPathRelativePriority()

virtual double mrpt::nav::CParameterizedTrajectoryGenerator::evalPathRelativePriority	(	uint16_t	k,
		double	target_distance
	)		const

inlinevirtual

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.

Definition at line 294 of file CParameterizedTrajectoryGenerator.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores().

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◆ getActualUnloopedPathLength()

virtual double mrpt::nav::CParameterizedTrajectoryGenerator::getActualUnloopedPathLength ( uint16_t k ) const

inlinevirtual

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

Definition at line 287 of file CParameterizedTrajectoryGenerator.h.

References refDistance.

◆ getAlphaValuesCount()

uint16_t mrpt::nav::CParameterizedTrajectoryGenerator::getAlphaValuesCount ( ) const

inline

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

Definition at line 340 of file CParameterizedTrajectoryGenerator.h.

References m_alphaValuesCount.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), debugDumpInFiles(), and mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_initialize().

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◆ getClearanceDecimatedPaths()

unsigned mrpt::nav::CParameterizedTrajectoryGenerator::getClearanceDecimatedPaths ( ) const

inline

Definition at line 369 of file CParameterizedTrajectoryGenerator.h.

References m_clearance_decimated_paths.

◆ getClearanceStepCount()

unsigned mrpt::nav::CParameterizedTrajectoryGenerator::getClearanceStepCount ( ) const

inline

Definition at line 363 of file CParameterizedTrajectoryGenerator.h.

References m_clearance_num_points.

◆ getCurrentNavDynamicState()

const TNavDynamicState& mrpt::nav::CParameterizedTrajectoryGenerator::getCurrentNavDynamicState ( ) const

inline

Definition at line 318 of file CParameterizedTrajectoryGenerator.h.

References m_nav_dyn_state.

◆ getDescription()

virtual std::string mrpt::nav::CParameterizedTrajectoryGenerator::getDescription ( ) const

pure virtual

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

Implemented in mrpt::nav::CPTG_DiffDrive_C, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::nav::CPTG_Holo_Blend, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, and mrpt::nav::CPTG_DiffDrive_CS.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), initialize(), and TEST().

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◆ getMaxAngVel()

virtual double mrpt::nav::CParameterizedTrajectoryGenerator::getMaxAngVel ( ) const

pure virtual

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

Implemented in mrpt::nav::CPTG_DiffDrive_CollisionGridBased, and mrpt::nav::CPTG_Holo_Blend.

◆ getMaxLinVel()

virtual double mrpt::nav::CParameterizedTrajectoryGenerator::getMaxLinVel ( ) const

pure virtual

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

Implemented in mrpt::nav::CPTG_DiffDrive_CollisionGridBased, and mrpt::nav::CPTG_Holo_Blend.

◆ getMaxRobotRadius()

virtual double mrpt::nav::CParameterizedTrajectoryGenerator::getMaxRobotRadius ( ) const

pure virtual

Returns an approximation of the robot radius.

Implemented in mrpt::nav::CPTG_RobotShape_Circular, and mrpt::nav::CPTG_RobotShape_Polygonal.

Referenced by internal_TPObsDistancePostprocess().

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◆ getPathCount()

uint16_t mrpt::nav::CParameterizedTrajectoryGenerator::getPathCount ( ) const

inline

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

Definition at line 342 of file CParameterizedTrajectoryGenerator.h.

References m_alphaValuesCount.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::impl_waypoint_is_reachable(), and TEST().

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◆ getPathDist()

virtual double mrpt::nav::CParameterizedTrajectoryGenerator::getPathDist	(	uint16_t	k,
		uint32_t	step
	)		const

pure virtual

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()

Implemented in mrpt::nav::CPTG_DiffDrive_CollisionGridBased, and mrpt::nav::CPTG_Holo_Blend.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), debugDumpInFiles(), initClearanceDiagram(), initTPObstacleSingle(), renderPathAsSimpleLine(), and TEST().

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◆ getPathPose()

virtual void mrpt::nav::CParameterizedTrajectoryGenerator::getPathPose	(	uint16_t	k,
		uint32_t	step,
		mrpt::math::TPose2D &	p
	)		const

pure virtual

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

See also: getPathStepCount(), getAlphaValuesCount()

Implemented in mrpt::nav::CPTG_DiffDrive_CollisionGridBased, and mrpt::nav::CPTG_Holo_Blend.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), debugDumpInFiles(), evalClearanceSingleObstacle(), renderPathAsSimpleLine(), and TEST().

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◆ getPathStepCount()

virtual size_t mrpt::nav::CParameterizedTrajectoryGenerator::getPathStepCount ( uint16_t k ) const

pure virtual

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()

Implemented in mrpt::nav::CPTG_DiffDrive_CollisionGridBased, and mrpt::nav::CPTG_Holo_Blend.

Referenced by debugDumpInFiles(), evalClearanceSingleObstacle(), initClearanceDiagram(), initTPObstacleSingle(), and renderPathAsSimpleLine().

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◆ getPathStepDuration()

virtual double mrpt::nav::CParameterizedTrajectoryGenerator::getPathStepDuration ( ) const

pure virtual

Returns the duration (in seconds) of each "step".

See also: getPathStepCount()

Implemented in mrpt::nav::CPTG_DiffDrive_CollisionGridBased, and mrpt::nav::CPTG_Holo_Blend.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores().

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◆ getPathStepForDist()

virtual bool mrpt::nav::CParameterizedTrajectoryGenerator::getPathStepForDist	(	uint16_t	k,
		double	dist,
		uint32_t &	out_step
	)		const

pure virtual

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

Parameters

[in] 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()

Implemented in mrpt::nav::CPTG_DiffDrive_CollisionGridBased, and mrpt::nav::CPTG_Holo_Blend.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), and TEST().

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◆ getRefDistance()

double mrpt::nav::CParameterizedTrajectoryGenerator::getRefDistance ( ) const

inline

Definition at line 352 of file CParameterizedTrajectoryGenerator.h.

References refDistance.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), and TEST().

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◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::nav::CParameterizedTrajectoryGenerator::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

Reimplemented in mrpt::nav::CPTG_DiffDrive_C, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::nav::CPTG_Holo_Blend, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, and mrpt::nav::CPTG_DiffDrive_CS.

◆ GetRuntimeClassIdStatic()

static const mrpt::utils::TRuntimeClassId& mrpt::nav::CParameterizedTrajectoryGenerator::GetRuntimeClassIdStatic ( )

static

◆ getScorePriority()

double mrpt::nav::CParameterizedTrajectoryGenerator::getScorePriority ( ) const

inline

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.

Definition at line 361 of file CParameterizedTrajectoryGenerator.h.

References m_score_priority.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores().

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◆ getSupportedKinematicVelocityCommand()

virtual mrpt::kinematics::CVehicleVelCmd::Ptr mrpt::nav::CParameterizedTrajectoryGenerator::getSupportedKinematicVelocityCommand ( ) const

pure virtual

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.

Implemented in mrpt::nav::CPTG_DiffDrive_CollisionGridBased, and mrpt::nav::CPTG_Holo_Blend.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::generate_vel_cmd().

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◆ index2alpha() [1/2]

double CParameterizedTrajectoryGenerator::index2alpha ( uint16_t k ) const

Alpha value for the discrete corresponding value.

See also: alpha2index

Definition at line 203 of file CParameterizedTrajectoryGenerator.cpp.

References m_alphaValuesCount.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), mrpt::nav::CPTG_Holo_Blend::directionToMotionCommand(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::directionToMotionCommand(), mrpt::nav::CHolonomicFullEval::evalSingleTarget(), mrpt::nav::CPTG_Holo_Blend::getPathDist(), mrpt::nav::CPTG_Holo_Blend::getPathPose(), mrpt::nav::CPTG_Holo_Blend::getPathStepForDist(), mrpt::nav::CHolonomicFullEval::navigate(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::simulateTrajectories(), and mrpt::nav::CPTG_Holo_Blend::updateTPObstacleSingle().

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◆ index2alpha() [2/2]

double CParameterizedTrajectoryGenerator::index2alpha	(	uint16_t	k,
		const unsigned int	num_paths
	)

static

Definition at line 195 of file CParameterizedTrajectoryGenerator.cpp.

References ASSERT_BELOW_, and M_PI.

◆ initClearanceDiagram()

void mrpt::nav::CParameterizedTrajectoryGenerator::initClearanceDiagram ( ClearanceDiagram & cd ) const

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

Definition at line 461 of file CParameterizedTrajectoryGenerator.cpp.

References mrpt::nav::ClearanceDiagram::decimated_k_to_real_k(), mrpt::nav::ClearanceDiagram::get_path_clearance_decimated(), getPathDist(), getPathStepCount(), m_alphaValuesCount, m_clearance_decimated_paths, m_clearance_num_points, mrpt::nav::ClearanceDiagram::resize(), and mrpt::utils::round().

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate().

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◆ initialize()

void CParameterizedTrajectoryGenerator::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.

Definition at line 396 of file CParameterizedTrajectoryGenerator.cpp.

References mrpt::system::fileNameStripInvalidChars(), getDescription(), internal_initialize(), and m_is_initialized.

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◆ initTPObstacles()

void CParameterizedTrajectoryGenerator::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()

Definition at line 258 of file CParameterizedTrajectoryGenerator.cpp.

References initTPObstacleSingle(), and m_alphaValuesCount.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::PlannerTPS_VirtualBase::spaceTransformer(), and TEST().

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◆ initTPObstacleSingle()

void CParameterizedTrajectoryGenerator::initTPObstacleSingle	(	uint16_t	k,
		double &	TP_Obstacle_k
	)		const

Definition at line 265 of file CParameterizedTrajectoryGenerator.cpp.

References getPathDist(), getPathStepCount(), INVALID_PTG_PATH_INDEX, m_nav_dyn_state_target_k, min, and refDistance.

Referenced by initTPObstacles(), and mrpt::nav::PlannerTPS_VirtualBase::spaceTransformerOneDirectionOnly().

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◆ internal_deinitialize()

virtual void mrpt::nav::CParameterizedTrajectoryGenerator::internal_deinitialize ( )

protectedpure virtual

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

After changing it, call initialize again

Implemented in mrpt::nav::CPTG_DiffDrive_CollisionGridBased, and mrpt::nav::CPTG_Holo_Blend.

Referenced by deinitialize().

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◆ internal_initialize()

virtual void mrpt::nav::CParameterizedTrajectoryGenerator::internal_initialize	(	const std::string &	cacheFilename = `std::string()`,
		const bool	verbose = `true`
	)

protectedpure virtual

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

Implemented in mrpt::nav::CPTG_DiffDrive_CollisionGridBased, and mrpt::nav::CPTG_Holo_Blend.

Referenced by initialize().

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◆ internal_readFromStream()

void CParameterizedTrajectoryGenerator::internal_readFromStream ( mrpt::utils::CStream & in )

protectedvirtual

Reimplemented in mrpt::nav::CPTG_DiffDrive_CollisionGridBased.

Definition at line 149 of file CParameterizedTrajectoryGenerator.cpp.

References deinitialize(), m_alphaValuesCount, m_clearance_decimated_paths, m_clearance_num_points, m_score_priority, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and refDistance.

Referenced by mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_readFromStream(), and mrpt::nav::CPTG_Holo_Blend::readFromStream().

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◆ internal_TPObsDistancePostprocess()

void CParameterizedTrajectoryGenerator::internal_TPObsDistancePostprocess	(	const double	ox,
		const double	oy,
		const double	new_tp_obs_dist,
		double &	inout_tp_obs
	)		const

protected

To be called by implementors of updateTPObstacle() and updateTPObstacleSingle() to honor the user settings regarding COLLISION_BEHAVIOR.

Parameters

new_tp_obs_dist	The newly determiend collision-free ranges, in "pseudometers", un-normalized, for some "k" direction.
inout_tp_obs	The target where to store the new TP-Obs distance, if it fulfills the criteria determined by the collision behavior.

Definition at line 418 of file CParameterizedTrajectoryGenerator.cpp.

References mrpt::nav::COLL_BEH_BACK_AWAY, mrpt::nav::COLL_BEH_STOP, COLLISION_BEHAVIOR, getMaxRobotRadius(), isPointInsideRobotShape(), mrpt::mrpt::utils::keep_min(), and THROW_EXCEPTION.

Referenced by mrpt::nav::CPTG_DiffDrive_CollisionGridBased::updateTPObstacle(), and mrpt::nav::CPTG_DiffDrive_CollisionGridBased::updateTPObstacleSingle().

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◆ internal_writeToStream()

void CParameterizedTrajectoryGenerator::internal_writeToStream ( mrpt::utils::CStream & out ) const

protectedvirtual

Reimplemented in mrpt::nav::CPTG_DiffDrive_CollisionGridBased.

Definition at line 184 of file CParameterizedTrajectoryGenerator.cpp.

References m_alphaValuesCount, m_clearance_decimated_paths, m_clearance_num_points, m_score_priority, and refDistance.

Referenced by mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_writeToStream(), and mrpt::nav::CPTG_Holo_Blend::writeToStream().

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◆ inverseMap_WS2TP()

virtual bool mrpt::nav::CParameterizedTrajectoryGenerator::inverseMap_WS2TP	(	double	x,
		double	y,
		int &	out_k,
		double &	out_normalized_d,
		double	tolerance_dist = `0.10`
	)		const

pure virtual

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

[in]	x	X coordinate of the query point, relative to the robot frame.
[in]	y	Y coordinate of the query point, relative to the robot frame.
[out]	out_k	Trajectory parameter index (discretized alpha value, 0-based index).
[out]	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).

Implemented in mrpt::nav::CPTG_DiffDrive_CollisionGridBased, mrpt::nav::CPTG_DiffDrive_C, and mrpt::nav::CPTG_Holo_Blend.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), mrpt::nav::CAbstractPTGBasedReactive::impl_waypoint_is_reachable(), PTG_IsIntoDomain(), TEST(), and updateNavDynamicState().

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◆ isBijectiveAt()

virtual bool mrpt::nav::CParameterizedTrajectoryGenerator::isBijectiveAt	(	uint16_t	k,
		uint32_t	step
	)		const

inlinevirtual

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

Default implementation returns true.

Definition at line 151 of file CParameterizedTrajectoryGenerator.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores().

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◆ isInitialized()

bool CParameterizedTrajectoryGenerator::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.

Definition at line 350 of file CParameterizedTrajectoryGenerator.cpp.

References m_is_initialized.

◆ isPointInsideRobotShape()

virtual bool mrpt::nav::CParameterizedTrajectoryGenerator::isPointInsideRobotShape	(	const double	x,
		const double	y
	)		const

pure virtual

Returns true if the point lies within the robot shape.

Implemented in mrpt::nav::CPTG_RobotShape_Circular, and mrpt::nav::CPTG_RobotShape_Polygonal.

Referenced by internal_TPObsDistancePostprocess().

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◆ loadDefaultParams()

void CParameterizedTrajectoryGenerator::loadDefaultParams ( )

virtual

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.

Reimplemented in mrpt::nav::CPTG_RobotShape_Circular, mrpt::nav::CPTG_RobotShape_Polygonal, mrpt::nav::CPTG_DiffDrive_CollisionGridBased, mrpt::nav::CPTG_DiffDrive_C, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, and mrpt::nav::CPTG_Holo_Blend.

Definition at line 40 of file CParameterizedTrajectoryGenerator.cpp.

References m_alphaValuesCount, m_clearance_decimated_paths, m_clearance_num_points, m_score_priority, and refDistance.

Referenced by mrpt::nav::CPTG_Holo_Blend::loadDefaultParams(), and mrpt::nav::CPTG_DiffDrive_CollisionGridBased::loadDefaultParams().

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◆ loadFromConfigFile()

void CParameterizedTrajectoryGenerator::loadFromConfigFile	(	const mrpt::utils::CConfigFileBase &	cfg,
		const std::string &	sSection
	)

overridevirtual

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.

Implements mrpt::utils::CLoadableOptions.

Reimplemented in mrpt::nav::CPTG_DiffDrive_CollisionGridBased, mrpt::nav::CPTG_DiffDrive_C, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, and mrpt::nav::CPTG_Holo_Blend.

Definition at line 58 of file CParameterizedTrajectoryGenerator.cpp.

References mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::curVelLocal, mrpt::mrpt::utils::keep_max(), m_alphaValuesCount, m_clearance_decimated_paths, m_clearance_num_points, m_nav_dyn_state, m_score_priority, MRPT_LOAD_CONFIG_VAR_NO_DEFAULT, MRPT_LOAD_HERE_CONFIG_VAR, MRPT_LOAD_HERE_CONFIG_VAR_DEGREES, MRPT_LOAD_HERE_CONFIG_VAR_NO_DEFAULT, mrpt::math::TTwist2D::omega, mrpt::math::TPose2D::phi, refDistance, mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::relTarget, mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::targetRelSpeed, mrpt::math::TTwist2D::vx, mrpt::math::TTwist2D::vy, mrpt::math::TPose2D::x, and mrpt::math::TPose2D::y.

Referenced by CreatePTG(), mrpt::nav::CPTG_Holo_Blend::loadFromConfigFile(), and mrpt::nav::CPTG_DiffDrive_CollisionGridBased::loadFromConfigFile().

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◆ loadFromConfigFileName()

void CLoadableOptions::loadFromConfigFileName	(	const std::string &	config_file,
		const std::string &	section
	)

inherited

Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file.

See also: loadFromConfigFile

Definition at line 22 of file CLoadableOptions.cpp.

References mrpt::utils::CLoadableOptions::loadFromConfigFile().

Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::loadParams().

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◆ maxTimeInVelCmdNOP()

double CParameterizedTrajectoryGenerator::maxTimeInVelCmdNOP ( int path_k ) const

virtual

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]

Reimplemented in mrpt::nav::CPTG_Holo_Blend.

Definition at line 53 of file CParameterizedTrajectoryGenerator.cpp.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), and mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep().

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◆ onNewNavDynamicState()

virtual void mrpt::nav::CParameterizedTrajectoryGenerator::onNewNavDynamicState ( )

protectedpure virtual

Invoked when m_nav_dyn_state has changed; gives the PTG the opportunity to react and parameterize paths depending on the instantaneous conditions.

Implemented in mrpt::nav::CPTG_DiffDrive_CollisionGridBased, and mrpt::nav::CPTG_Holo_Blend.

Referenced by updateNavDynamicState().

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◆ PTG_IsIntoDomain()

virtual bool mrpt::nav::CParameterizedTrajectoryGenerator::PTG_IsIntoDomain	(	double	x,
		double	y
	)		const

inlinevirtual

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

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

Reimplemented in mrpt::nav::CPTG_DiffDrive_C, mrpt::nav::CPTG_Holo_Blend, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, and mrpt::nav::CPTG_DiffDrive_CS.

Definition at line 142 of file CParameterizedTrajectoryGenerator.h.

References inverseMap_WS2TP().

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◆ readFromStream()

virtual void mrpt::utils::CSerializable::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)

protectedpure virtualinherited

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions

std::exception On any error, see CStream::ReadBuffer

See also: CStream

◆ renderPathAsSimpleLine()

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

virtual

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

Parameters

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

Definition at line 223 of file CParameterizedTrajectoryGenerator.cpp.

References mrpt::opengl::CSetOfLines::appendLine(), mrpt::opengl::CSetOfLines::appendLineStrip(), getPathDist(), getPathPose(), and getPathStepCount().

Referenced by mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree().

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◆ saveToConfigFile()

void CParameterizedTrajectoryGenerator::saveToConfigFile	(	mrpt::utils::CConfigFileBase &	target,
		const std::string &	section
	)		const

overridevirtual

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

See also: loadFromConfigFile, saveToConfigFileName

Reimplemented from mrpt::utils::CLoadableOptions.

Reimplemented in mrpt::nav::CPTG_RobotShape_Circular, mrpt::nav::CPTG_RobotShape_Polygonal, mrpt::nav::CPTG_DiffDrive_CollisionGridBased, mrpt::nav::CPTG_DiffDrive_C, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, and mrpt::nav::CPTG_Holo_Blend.

Definition at line 94 of file CParameterizedTrajectoryGenerator.cpp.

References mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::curVelLocal, m_alphaValuesCount, m_clearance_decimated_paths, m_clearance_num_points, m_nav_dyn_state, m_score_priority, MRPT_END, MRPT_START, mrpt::math::TTwist2D::omega, mrpt::math::TPose2D::phi, mrpt::mrpt::utils::RAD2DEG(), refDistance, mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::relTarget, mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::targetRelSpeed, mrpt::math::TTwist2D::vx, mrpt::math::TTwist2D::vy, mrpt::utils::CConfigFileBase::write(), mrpt::math::TPose2D::x, and mrpt::math::TPose2D::y.

Referenced by mrpt::nav::CPTG_Holo_Blend::saveToConfigFile(), and mrpt::nav::CPTG_DiffDrive_CollisionGridBased::saveToConfigFile().

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◆ saveToConfigFileName()

void CLoadableOptions::saveToConfigFileName	(	const std::string &	config_file,
		const std::string &	section
	)		const

inherited

Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file.

See also: saveToConfigFile, loadFromConfigFileName

Definition at line 37 of file CLoadableOptions.cpp.

References mrpt::utils::CLoadableOptions::saveToConfigFile().

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◆ setClearanceDecimatedPaths()

void mrpt::nav::CParameterizedTrajectoryGenerator::setClearanceDecimatedPaths ( const unsigned num )

inline

Definition at line 373 of file CParameterizedTrajectoryGenerator.h.

References m_clearance_decimated_paths.

◆ setClearanceStepCount()

void mrpt::nav::CParameterizedTrajectoryGenerator::setClearanceStepCount ( const unsigned res )

inline

Definition at line 364 of file CParameterizedTrajectoryGenerator.h.

References m_clearance_num_points.

◆ setRefDistance()

virtual void mrpt::nav::CParameterizedTrajectoryGenerator::setRefDistance ( const double refDist )

inlinevirtual

Reimplemented in mrpt::nav::CPTG_DiffDrive_CollisionGridBased.

Definition at line 192 of file CParameterizedTrajectoryGenerator.h.

References refDistance.

◆ setScorePriorty()

void mrpt::nav::CParameterizedTrajectoryGenerator::setScorePriorty ( double prior )

inline

Definition at line 362 of file CParameterizedTrajectoryGenerator.h.

References m_score_priority.

◆ supportSpeedAtTarget()

virtual bool mrpt::nav::CParameterizedTrajectoryGenerator::supportSpeedAtTarget ( ) const

inlinevirtual

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

See also: updateNavDynamicState()

Definition at line 273 of file CParameterizedTrajectoryGenerator.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), and updateNavDynamicState().

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◆ supportVelCmdNOP()

bool CParameterizedTrajectoryGenerator::supportVelCmdNOP ( ) const

virtual

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".

Reimplemented in mrpt::nav::CPTG_Holo_Blend.

Definition at line 49 of file CParameterizedTrajectoryGenerator.cpp.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), and mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep().

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◆ updateClearance()

void CParameterizedTrajectoryGenerator::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

[in,out] cd The clearance will be updated here.

See also: m_clearance_dist_resolution

Definition at line 484 of file CParameterizedTrajectoryGenerator.cpp.

References ASSERT_, mrpt::nav::ClearanceDiagram::decimated_k_to_real_k(), evalClearanceSingleObstacle(), mrpt::nav::ClearanceDiagram::get_actual_num_paths(), mrpt::nav::ClearanceDiagram::get_decimated_num_paths(), mrpt::nav::ClearanceDiagram::get_path_clearance_decimated(), m_alphaValuesCount, and m_clearance_num_points.

Referenced by mrpt::nav::CReactiveNavigationSystem::STEP3_WSpaceToTPSpace().

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◆ updateClearancePost()

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

Definition at line 502 of file CParameterizedTrajectoryGenerator.cpp.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate().

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◆ updateNavDynamicState()

void CParameterizedTrajectoryGenerator::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

Definition at line 355 of file CParameterizedTrajectoryGenerator.cpp.

References ASSERT_, INVALID_PTG_PATH_INDEX, inverseMap_WS2TP(), m_alphaValuesCount, m_nav_dyn_state, m_nav_dyn_state_target_k, onNewNavDynamicState(), mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::relTarget, supportSpeedAtTarget(), mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::targetRelSpeed, mrpt::math::TPose2D::x, and mrpt::math::TPose2D::y.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep().

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◆ updateTPObstacle()

virtual void mrpt::nav::CParameterizedTrajectoryGenerator::updateTPObstacle	(	double	ox,
		double	oy,
		std::vector< double > &	tp_obstacles
	)		const

pure virtual

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

Parameters

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

Note: 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.

Implemented in mrpt::nav::CPTG_DiffDrive_CollisionGridBased, and mrpt::nav::CPTG_Holo_Blend.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::spaceTransformer(), mrpt::nav::CReactiveNavigationSystem::STEP3_WSpaceToTPSpace(), and TEST().

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◆ updateTPObstacleSingle()

virtual void mrpt::nav::CParameterizedTrajectoryGenerator::updateTPObstacleSingle	(	double	ox,
		double	oy,
		uint16_t	k,
		double &	tp_obstacle_k
	)		const

pure virtual

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).

Implemented in mrpt::nav::CPTG_DiffDrive_CollisionGridBased, and mrpt::nav::CPTG_Holo_Blend.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::spaceTransformerOneDirectionOnly().

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◆ writeToMatlab()

virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const

inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns: A new mxArray (caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB.

Definition at line 89 of file CSerializable.h.

◆ writeToStream()

virtual void mrpt::utils::CSerializable::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const

protectedpure virtualinherited

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters

out	The output binary stream where object must be dumped.
getVersion	If nullptr, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions

std::exception On any error, see CStream::WriteBuffer