Classes
class	CAbstractHolonomicReactiveMethod
	A base class for holonomic reactive navigation methods. More...

class	CAbstractNavigator
	This is the base class for any reactive/planned navigation system. More...

class	CAbstractPTGBasedReactive
	Base class for reactive navigator systems based on TP-Space, with an arbitrary holonomic reactive method running on it and any number of PTGs for transforming the navigation space. More...

class	CHolonomicFullEval
	Full evaluation of all possible directions within the discrete set of input directions. More...

class	CHolonomicLogFileRecord
	A base class for log records for different holonomic navigation methods. More...

class	CHolonomicND
	An implementation of the holonomic reactive navigation method "Nearness-Diagram". More...

class	CHolonomicVFF
	A holonomic reactive navigation method, based on Virtual Force Fields (VFF). More...

class	ClearanceDiagram
	Clearance information for one particular PTG and one set of obstacles. More...

class	CLogFileRecord
	A class for storing, saving and loading a reactive navigation log record for the CReactiveNavigationSystem class. More...

class	CLogFileRecord_FullEval
	A class for storing extra information about the execution of CHolonomicFullEval navigation. More...

class	CLogFileRecord_ND
	A class for storing extra information about the execution of CHolonomicND navigation. More...

class	CLogFileRecord_VFF
	A class for storing extra information about the execution of CHolonomicVFF navigation. More...

class	CMultiObjectiveMotionOptimizerBase
	Virtual base class for multi-objective motion choosers, as used for reactive navigation engines. More...

class	CMultiObjMotionOpt_Scalarization
	Implementation of multi-objective motion chooser using scalarization: a user-given formula is used to collapse all the scores into a single scalar score. More...

class	CNavigatorManualSequence
	"Fake navigator" for tests: it just sends out a pre-programmed sequence of commands to the robot. More...

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

class	CPTG_DiffDrive_alpha
	The "a(symptotic)-alpha PTG", as named in PTG papers. More...

class	CPTG_DiffDrive_C
	A PTG for circular paths ("C" type PTG in papers). More...

class	CPTG_DiffDrive_CC
	A PTG for optimal paths of type "C\|C" , as named in PTG papers. More...

class	CPTG_DiffDrive_CCS
	A PTG for optimal paths of type "C\|C,S" (as named in PTG papers). More...

class	CPTG_DiffDrive_CollisionGridBased
	Base class for all PTGs suitable to non-holonomic, differentially-driven (or Ackermann) vehicles based on numerical integration of the trajectories and collision look-up-table. More...

class	CPTG_DiffDrive_CS
	A PTG for optimal paths of type "CS", as named in PTG papers. More...

class	CPTG_Holo_Blend
	A PTG for circular-shaped robots with holonomic kinematics. More...

class	CPTG_RobotShape_Circular
	Base class for all PTGs using a 2D circular robot shape model. More...

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

class	CReactiveNavigationSystem
	See base class CAbstractPTGBasedReactive for a description and instructions of use. More...

class	CReactiveNavigationSystem3D
	See base class CAbstractPTGBasedReactive for a description and instructions of use. More...

class	CRobot2NavInterface
	The pure virtual interface between a real or simulated robot and any `CAbstractNavigator`-derived class. More...

class	CRobot2NavInterfaceForSimulator_DiffDriven
	CRobot2NavInterface implemented for a simulator object based on mrpt::kinematics::CVehicleSimul_DiffDriven Only `senseObstacles()` remains virtual for the user to implement it. More...

class	CRobot2NavInterfaceForSimulator_Holo
	CRobot2NavInterface implemented for a simulator object based on mrpt::kinematics::CVehicleSimul_Holo. More...

class	CWaypointsNavigator
	This class extends `CAbstractNavigator` with the capability of following a list of waypoints. More...

class	PlannerRRT_SE2_TPS
	TP Space-based RRT path planning for SE(2) (planar) robots. More...

class	PlannerSimple2D
	Searches for collision-free path in 2D occupancy grids for holonomic circular robots. More...

class	PlannerTPS_VirtualBase
	Virtual base class for TP-Space-based path planners. More...

struct	PoseDistanceMetric
	Generic base for metrics. More...

struct	PoseDistanceMetric< TNodeSE2 >
	Pose metric for SE(2) More...

struct	PoseDistanceMetric< TNodeSE2_TP >
	Pose metric for SE(2) limited to a given PTG manifold. More...

struct	RRTAlgorithmParams

struct	RRTEndCriteria

struct	TCandidateMovementPTG
	Stores a candidate movement in TP-Space-based navigation. More...

struct	TCPoint
	Trajectory points in C-Space for non-holonomic robots. More...

struct	TMoveEdgeSE2_TP
	An edge for the move tree used for planning in SE2 and TP-space. More...

class	TMoveTree
	This class contains motions and motions tree structures for the hybrid navigation algorithm. More...

struct	TNodeSE2

struct	TNodeSE2_TP

struct	TPlannerInputTempl

struct	TPlannerResultTempl

struct	TRobotShape
	A 3D robot shape stored as a "sliced" stack of 2D polygons, used for CReactiveNavigationSystem3D Depending on each PTG, only the 2D polygon or the circular radius will be taken into account. More...

struct	TWaypoint
	A single waypoint within TWaypointSequence. More...

struct	TWaypointSequence
	The struct for requesting navigation requests for a sequence of waypoints. More...

struct	TWaypointsRenderingParams
	used in getAsOpenglVisualization() More...

struct	TWaypointStatus
	A waypoint with an execution status. More...

struct	TWaypointStatusSequence
	The struct for querying the status of waypoints navigation. More...

Typedefs
typedef TMoveTree< TNodeSE2_TP, TMoveEdgeSE2_TP >	TMoveTreeSE2_TP
	tree data structure for planning in SE2 within TP-Space manifolds More...

using	TListPTGPtr = std::vector< mrpt::nav::CParameterizedTrajectoryGenerator::Ptr >
	A list of PTGs (smart pointers) More...

typedef std::vector< TCPoint >	TCPointVector

Enumerations
enum	PTG_collision_behavior_t { COLL_BEH_BACK_AWAY = 0, COLL_BEH_STOP }
	Defines behaviors for where there is an obstacle inside the robot shape right at the beginning of a PTG trajectory. More...

Functions
bool	collision_free_dist_segment_circ_robot (const mrpt::math::TPoint2D &p_start, const mrpt::math::TPoint2D &p_end, const double robot_radius, const mrpt::math::TPoint2D &obstacle, double &out_col_dist)
	Computes the collision-free distance for a linear segment path between two points, for a circular robot, and a point obstacle (ox,oy). More...

bool	collision_free_dist_arc_circ_robot (const double arc_radius, const double robot_radius, const mrpt::math::TPoint2D &obstacle, double &out_col_dist)
	Computes the collision-free distance for a forward path (+X) circular arc path segment from pose (0,0,0) and radius of curvature R (>0 -> +Y, <0 -> -Y), a circular robot and a point obstacle (ox,oy). More...

bool	operator== (const CAbstractNavigator::TNavigationParamsBase &, const CAbstractNavigator::TNavigationParamsBase &)

mrpt::utils::CStream &	operator<< (mrpt::utils::CStream &o, const mrpt::nav::TCPoint &p)

mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &i, mrpt::nav::TCPoint &p)

Typedef Documentation

◆ TListPTGPtr

using mrpt::nav::TListPTGPtr = typedef std::vector<mrpt::nav::CParameterizedTrajectoryGenerator::Ptr>

A list of PTGs (smart pointers)

Definition at line 498 of file CParameterizedTrajectoryGenerator.h.

Function Documentation

◆ operator==()

bool mrpt::nav::operator==	(	const CAbstractNavigator::TNavigationParamsBase &	a,
		const CAbstractNavigator::TNavigationParamsBase &	b
	)

Definition at line 473 of file CAbstractNavigator.cpp.

Classes

Typedefs

Enumerations

Functions

Typedef Documentation

◆ TListPTGPtr

Function Documentation

◆ operator==()