MRPT  1.9.9
TP-Space and PTG classes

Detailed Description

Collaboration diagram for TP-Space and PTG classes:

Classes

class  mrpt::nav::ClearanceDiagram
 Clearance information for one particular PTG and one set of obstacles. More...
 
class  mrpt::nav::CParameterizedTrajectoryGenerator
 This is the base class for any user-defined PTG. More...
 
class  mrpt::nav::CPTG_RobotShape_Polygonal
 Base class for all PTGs using a 2D polygonal robot shape model. More...
 
class  mrpt::nav::CPTG_RobotShape_Circular
 Base class for all PTGs using a 2D circular robot shape model. More...
 
class  mrpt::nav::CPTG_DiffDrive_alpha
 The "a(symptotic)-alpha PTG", as named in PTG papers. More...
 
class  mrpt::nav::CPTG_DiffDrive_C
 A PTG for circular paths ("C" type PTG in papers). More...
 
class  mrpt::nav::CPTG_DiffDrive_CC
 A PTG for optimal paths of type "C|C" , as named in PTG papers. More...
 
class  mrpt::nav::CPTG_DiffDrive_CCS
 A PTG for optimal paths of type "C|C,S" (as named in PTG papers). More...
 
struct  mrpt::nav::TCPoint
 Trajectory points in C-Space for non-holonomic robots. More...
 
class  mrpt::nav::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  mrpt::nav::CPTG_DiffDrive_CS
 A PTG for optimal paths of type "CS", as named in PTG papers. More...
 
class  mrpt::nav::CPTG_Holo_Blend
 A PTG for circular-shaped robots with holonomic kinematics. More...
 

Typedefs

using mrpt::nav::TCPointVector = std::vector< TCPoint >
 

Enumerations

enum  mrpt::nav::PTG_collision_behavior_t { mrpt::nav::COLL_BEH_BACK_AWAY = 0, mrpt::nav::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

mrpt::serialization::CArchivemrpt::nav::operator<< (mrpt::serialization::CArchive &o, const mrpt::nav::TCPoint &p)
 
mrpt::serialization::CArchivemrpt::nav::operator>> (mrpt::serialization::CArchive &i, mrpt::nav::TCPoint &p)
 

Typedef Documentation

◆ TCPointVector

using mrpt::nav::TCPointVector = typedef std::vector<TCPoint>

Definition at line 36 of file CPTG_DiffDrive_CollisionGridBased.h.

Enumeration Type Documentation

◆ PTG_collision_behavior_t

Defines behaviors for where there is an obstacle inside the robot shape right at the beginning of a PTG trajectory.

See also
Used in CParameterizedTrajectoryGenerator::COLLISION_BEHAVIOR
Enumerator
COLL_BEH_BACK_AWAY 

Favor getting back from too-close (almost collision) obstacles.

COLL_BEH_STOP 

Totally dissallow any movement if there is any too-close (almost collision) obstacles.

Definition at line 41 of file CParameterizedTrajectoryGenerator.h.

Function Documentation

◆ operator<<()

mrpt::serialization::CArchive & mrpt::nav::operator<< ( mrpt::serialization::CArchive o,
const mrpt::nav::TCPoint p 
)

Definition at line 86 of file CPTG_DiffDrive_CollisionGridBased.cpp.

◆ operator>>()

Definition at line 92 of file CPTG_DiffDrive_CollisionGridBased.cpp.




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