class mrpt::nav::CPTG_RobotShape_Polygonal
Overview
Base class for all PTGs using a 2D polygonal robot shape model.
#include <mrpt/nav/tpspace/CParameterizedTrajectoryGenerator.h> class CPTG_RobotShape_Polygonal: public mrpt::nav::CParameterizedTrajectoryGenerator { public: // construction CPTG_RobotShape_Polygonal(); // methods void setRobotShape(const mrpt::math::CPolygon& robotShape); const mrpt::math::CPolygon& getRobotShape() const; virtual double getMaxRobotRadius() const; virtual double evalClearanceToRobotShape(const double ox, const double oy) const; virtual bool isPointInsideRobotShape(const double x, const double y) const; virtual void add_robotShape_to_setOfLines(mrpt::viz::CSetOfLines& gl_shape, const mrpt::poses::CPose2D& origin = mrpt::poses::CPose2D()) const; static void static_add_robotShape_to_setOfLines( mrpt::viz::CSetOfLines& gl_shape, const mrpt::poses::CPose2D& origin, const mrpt::math::CPolygon& robotShape ); }; // direct descendants class CPTG_DiffDrive_CollisionGridBased;
Inherited Members
public: // typedefs typedef std::shared_ptr<CObject> Ptr; typedef std::shared_ptr<const CObject> ConstPtr; typedef std::unique_ptr<CObject> UniquePtr; typedef std::unique_ptr<const CObject> ConstUniquePtr; typedef std::shared_ptr<CSerializable> Ptr; typedef std::shared_ptr<const CSerializable> ConstPtr; typedef std::shared_ptr<CParameterizedTrajectoryGenerator> Ptr; typedef std::shared_ptr<const CParameterizedTrajectoryGenerator> ConstPtr; // structs struct TNavDynamicState; // methods mrpt::rtti::CObject::Ptr duplicateGetSmartPtr() const; static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic(); virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const; virtual CObject* clone() const = 0; virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const; static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic(); CLoadableOptions& operator = (const CLoadableOptions&); CLoadableOptions& operator = (CLoadableOptions&&); 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; virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const; static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic(); virtual std::string getDescription() const = 0; virtual std::optional<std::pair<int, double>> inverseMap_WS2TP( double x, double y, 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 void setRefDistance(const double refDist); 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 std::optional<uint32_t> getPathStepForDist(uint16_t k, double dist) const = 0; bool getPathStepForDist(uint16_t k, double dist, uint32_t& out_step) const; uint32_t getPathStepForDistClamped(uint16_t k, double dist) const; 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 updateTPObstacles( const float* xs, const float* ys, std::size_t n, std::vector<double>& tp_obstacles ) const; 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); const TNavDynamicState& getCurrentNavDynamicState() const; 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; double getRefDistance() const; void initTPObstacles(std::vector<double>& TP_Obstacles) const; void initTPObstacleSingle(uint16_t k, double& TP_Obstacle_k) const; double getScorePriority() const; void setScorePriority(double prior); void setScorePriorty(double prior); unsigned getClearanceStepCount() const; void setClearanceStepCount(const uint16_t res); unsigned getClearanceDecimatedPaths() const; void setClearanceDecimatedPaths(const uint16_t num); virtual void renderPathAsSimpleLine( const uint16_t k, mrpt::viz::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::viz::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 getOutputDebugPathPrefix(); static void setOutputDebugPathPrefix(const std::string& path); static std::string& OUTPUT_DEBUG_PATH_PREFIX(); static double Index2alpha(uint16_t k, const unsigned int num_paths); static uint16_t Alpha2index(double alpha, const unsigned int num_paths); static PTGCollisionBehavior getCollisionBehavior(); static void setCollisionBehavior(PTGCollisionBehavior behavior); static PTGCollisionBehavior& COLLISION_BEHAVIOR();
Methods
void setRobotShape(const mrpt::math::CPolygon& robotShape)
Robot shape must be set before initialization, either from ctor params or via this method.
virtual double getMaxRobotRadius() const
Returns an approximation of the robot radius.
virtual double evalClearanceToRobotShape(const double ox, const double oy) const
Evals the clearance from an obstacle (ox,oy) in coordinates relative to the robot center.
Zero or negative means collision.
virtual bool isPointInsideRobotShape(const double x, const double y) const
Returns true if the point lies within the robot shape.
virtual void add_robotShape_to_setOfLines(mrpt::viz::CSetOfLines& gl_shape, const mrpt::poses::CPose2D& origin = mrpt::poses::CPose2D()) const
Auxiliary function for rendering.