Detailed Description

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

Definition at line 349 of file CParameterizedTrajectoryGenerator.h.

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

Inheritance diagram for mrpt::nav::CPTG_RobotShape_Polygonal:

Public Member Functions
	CPTG_RobotShape_Polygonal ()

virtual	~CPTG_RobotShape_Polygonal ()

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

void	add_robotShape_to_setOfLines (mrpt::opengl::CSetOfLines &gl_shape, const mrpt::poses::CPose2D &origin=mrpt::poses::CPose2D()) const MRPT_OVERRIDE
	Auxiliary function for rendering. 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) MRPT_OVERRIDE
	Parameters accepted by this base class: 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 *	duplicate () const =0
	Returns a copy of the object, indepently of its class. More...

CObject *	clone () const
	Cloning interface for smart pointers. 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...

Robot shape
void	setRobotShape (const mrpt::math::CPolygon &robotShape)
	Robot shape must be set before initialization, either from ctor params or via this method. More...

const mrpt::math::CPolygon &	getRobotShape () const

double	getMaxRobotRadius () const MRPT_OVERRIDE
	Returns an approximation of the robot radius. More...

virtual double	evalClearanceToRobotShape (const double ox, const double oy) const MRPT_OVERRIDE
	Evals the clearance from an obstacle (ox,oy) in coordinates relative to the robot center. More...

RTTI classes and functions
mrpt::utils::CObjectPtr	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 = "./reactivenav.logs"
	The path used as defaul output in, for example, debugDumpInFiles. (Default="./reactivenav.logs/") More...

static PTG_collision_behavior_t	COLLISION_BEHAVIOR = mrpt::nav::COLL_BEH_BACK_AWAY
	Defines the behavior when there is an obstacle inside the robot shape right at the beginning of a PTG trajectory. More...

static const mrpt::utils::TRuntimeClassId	classCObject

RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable

Protected Member Functions
virtual void	internal_processNewRobotShape ()=0
	Will be called whenever the robot shape is set / updated. More...

void	loadShapeFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)

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

void	internal_shape_loadFromStream (mrpt::utils::CStream &in)

void	internal_shape_saveToStream (mrpt::utils::CStream &out) const

void	loadDefaultParams () MRPT_OVERRIDE
	Loads a set of default parameters; provided exclusively for the PTG-configurator tool. More...

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
mrpt::math::CPolygon	m_robotShape

double	m_robotMaxRadius

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

typedef CParameterizedTrajectoryGeneratorPtr	Ptr

typedef CParameterizedTrajectoryGeneratorPtr	ConstPtr

static const mrpt::utils::TRuntimeClassId	classCParameterizedTrajectoryGenerator

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

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::CVehicleVelCmdPtr	directionToMotionCommand (uint16_t k) const =0
	Converts a discretized "alpha" value into a feasible motion command or action. More...

virtual mrpt::kinematics::CVehicleVelCmdPtr	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 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 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

typedef CParameterizedTrajectoryGeneratorPtr mrpt::nav::CParameterizedTrajectoryGenerator::ConstPtr

inherited

Definition at line 64 of file CParameterizedTrajectoryGenerator.h.

◆ Ptr

typedef CParameterizedTrajectoryGeneratorPtr mrpt::nav::CParameterizedTrajectoryGenerator::Ptr

inherited

Definition at line 64 of file CParameterizedTrajectoryGenerator.h.

Constructor & Destructor Documentation

◆ CPTG_RobotShape_Polygonal()

CPTG_RobotShape_Polygonal::CPTG_RobotShape_Polygonal ( )

Definition at line 18 of file CPTG_RobotShape_Polygonal.cpp.

◆ ~CPTG_RobotShape_Polygonal()

CPTG_RobotShape_Polygonal::~CPTG_RobotShape_Polygonal ( )

virtual

Definition at line 23 of file CPTG_RobotShape_Polygonal.cpp.

Member Function Documentation

◆ _GetBaseClass()

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

staticprotectedinherited

◆ add_robotShape_to_setOfLines()

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

virtual

Auxiliary function for rendering.

Implements mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 89 of file CPTG_RobotShape_Polygonal.cpp.

References mrpt::opengl::CSetOfLines::appendLine(), mrpt::opengl::CSetOfLines::appendLineStrip(), mrpt::poses::CPose2D::composePoint(), and m_robotShape.

◆ alpha2index() [1/2]

uint16_t CParameterizedTrajectoryGenerator::alpha2index ( double alpha ) const

inherited

Discrete index value for the corresponding alpha value.

See also: index2alpha

Definition at line 164 of file CParameterizedTrajectoryGenerator.cpp.

References mrpt::nav::CParameterizedTrajectoryGenerator::m_alphaValuesCount.

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

◆ alpha2index() [2/2]

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

staticinherited

Definition at line 155 of file CParameterizedTrajectoryGenerator.cpp.

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

◆ clone()

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

inlineinherited

Cloning interface for smart pointers.

Definition at line 133 of file CObject.h.

◆ CreatePTG()

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

staticinherited

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(), mrpt::nav::CParameterizedTrajectoryGenerator::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().

◆ debugDumpInFiles()

bool CParameterizedTrajectoryGenerator::debugDumpInFiles ( const std::string & ptg_name ) const

inherited

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 222 of file CParameterizedTrajectoryGenerator.cpp.

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

◆ deinitialize()

void CParameterizedTrajectoryGenerator::deinitialize ( )

inherited

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 329 of file CParameterizedTrajectoryGenerator.cpp.

References mrpt::nav::CParameterizedTrajectoryGenerator::internal_deinitialize(), and mrpt::nav::CParameterizedTrajectoryGenerator::m_is_initialized.

Referenced by mrpt::nav::CParameterizedTrajectoryGenerator::internal_readFromStream().

◆ directionToMotionCommand()

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

pure virtualinherited

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().

◆ dumpToConsole()

void CLoadableOptions::dumpToConsole ( ) const

inherited

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

Definition at line 47 of file CLoadableOptions.cpp.

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

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

◆ 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 80 of file CLoadableOptions.cpp.

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

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

◆ dumpVar_bool()

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

staticprotectedinherited

Definition at line 67 of file CLoadableOptions.cpp.

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

◆ dumpVar_double()

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

staticprotectedinherited

Definition at line 62 of file CLoadableOptions.cpp.

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

◆ dumpVar_float()

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

staticprotectedinherited

Definition at line 57 of file CLoadableOptions.cpp.

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

◆ 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 52 of file CLoadableOptions.cpp.

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

◆ dumpVar_string()

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

staticprotectedinherited

Definition at line 72 of file CLoadableOptions.cpp.

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

◆ duplicate()

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

pure virtualinherited

Returns a copy of the object, indepently of its class.

Referenced by mrpt::poses::CPoseRandomSampler::CPoseRandomSampler(), mrpt::maps::CSimpleMap::insert(), mrpt::obs::CActionCollection::insert(), mrpt::poses::CPoseRandomSampler::operator=(), and mrpt::poses::CPoseRandomSampler::setPosePDF().

◆ duplicateGetSmartPtr()

mrpt::utils::CObjectPtr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

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).

Definition at line 162 of file CObject.h.

References mrpt::utils::CObjectPtr.

Referenced by mrpt::obs::CRawlog::addActions(), mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), and mrpt::obs::CRawlog::addObservations().

◆ 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

virtualinherited

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 411 of file CParameterizedTrajectoryGenerator.cpp.

References mrpt::math::angDistance(), mrpt::mrpt::utils::DEG2RAD(), mrpt::nav::CParameterizedTrajectoryGenerator::evalClearanceToRobotShape(), mrpt::nav::CParameterizedTrajectoryGenerator::getPathPose(), mrpt::nav::CParameterizedTrajectoryGenerator::getPathStepCount(), mrpt::nav::CParameterizedTrajectoryGenerator::index2alpha(), mrpt::math::TPose2D::inverseComposePoint(), mrpt::mrpt::utils::keep_min(), mrpt::math::TPoint2D::norm(), mrpt::nav::CParameterizedTrajectoryGenerator::refDistance, mrpt::utils::round(), mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

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

◆ evalClearanceToRobotShape()

double CPTG_RobotShape_Polygonal::evalClearanceToRobotShape	(	const double	ox,
		const double	oy
	)		const

virtual

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

Zero or negative means collision.

Implements mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 145 of file CPTG_RobotShape_Polygonal.cpp.

References mrpt::mrpt::math::hypot_fast(), isPointInsideRobotShape(), mrpt::mrpt::utils::keep_max(), and m_robotMaxRadius.

◆ evalPathRelativePriority()

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

inlinevirtualinherited

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 210 of file CParameterizedTrajectoryGenerator.h.

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

◆ getActualUnloopedPathLength()

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

inlinevirtualinherited

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 207 of file CParameterizedTrajectoryGenerator.h.

◆ getAlphaValuesCount()

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

inlineinherited

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

Definition at line 236 of file CParameterizedTrajectoryGenerator.h.

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

◆ getClearanceDecimatedPaths()

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

inlineinherited

Definition at line 261 of file CParameterizedTrajectoryGenerator.h.

◆ getClearanceStepCount()

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

inlineinherited

Definition at line 258 of file CParameterizedTrajectoryGenerator.h.

◆ getCurrentNavDynamicState()

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

inlineinherited

Definition at line 224 of file CParameterizedTrajectoryGenerator.h.

◆ getDescription()

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

pure virtualinherited

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(), mrpt::nav::CParameterizedTrajectoryGenerator::initialize(), and TEST().

◆ getMaxAngVel()

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

pure virtualinherited

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 virtualinherited

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()

double CPTG_RobotShape_Polygonal::getMaxRobotRadius ( ) const

virtual

Returns an approximation of the robot radius.

Implements mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 135 of file CPTG_RobotShape_Polygonal.cpp.

References m_robotMaxRadius.

◆ getPathCount()

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

inlineinherited

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

Definition at line 238 of file CParameterizedTrajectoryGenerator.h.

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

◆ getPathDist()

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

pure virtualinherited

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(), mrpt::nav::CParameterizedTrajectoryGenerator::debugDumpInFiles(), mrpt::nav::CParameterizedTrajectoryGenerator::initClearanceDiagram(), mrpt::nav::CParameterizedTrajectoryGenerator::initTPObstacleSingle(), mrpt::nav::CParameterizedTrajectoryGenerator::renderPathAsSimpleLine(), and TEST().

◆ getPathPose()

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

pure virtualinherited

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(), mrpt::nav::CParameterizedTrajectoryGenerator::debugDumpInFiles(), mrpt::nav::CParameterizedTrajectoryGenerator::evalClearanceSingleObstacle(), mrpt::nav::CParameterizedTrajectoryGenerator::renderPathAsSimpleLine(), and TEST().

◆ getPathStepCount()

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

pure virtualinherited

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 mrpt::nav::CParameterizedTrajectoryGenerator::debugDumpInFiles(), mrpt::nav::CParameterizedTrajectoryGenerator::evalClearanceSingleObstacle(), mrpt::nav::CParameterizedTrajectoryGenerator::initClearanceDiagram(), mrpt::nav::CParameterizedTrajectoryGenerator::initTPObstacleSingle(), and mrpt::nav::CParameterizedTrajectoryGenerator::renderPathAsSimpleLine().

◆ getPathStepDuration()

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

pure virtualinherited

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().

◆ getPathStepForDist()

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

pure virtualinherited

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().

◆ getRefDistance()

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

inlineinherited

Definition at line 248 of file CParameterizedTrajectoryGenerator.h.

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

◆ getRobotShape()

const mrpt::math::CPolygon& mrpt::nav::CPTG_RobotShape_Polygonal::getRobotShape ( ) const

inline

Definition at line 359 of file CParameterizedTrajectoryGenerator.h.

◆ GetRuntimeClass()

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

virtualinherited

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_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, and mrpt::nav::CPTG_Holo_Blend.

◆ getScorePriority()

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

inlineinherited

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 255 of file CParameterizedTrajectoryGenerator.h.

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

◆ getSupportedKinematicVelocityCommand()

virtual mrpt::kinematics::CVehicleVelCmdPtr mrpt::nav::CParameterizedTrajectoryGenerator::getSupportedKinematicVelocityCommand ( ) const

pure virtualinherited

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().

◆ index2alpha() [1/2]

double CParameterizedTrajectoryGenerator::index2alpha ( uint16_t k ) const

inherited

Alpha value for the discrete corresponding value.

See also: alpha2index

Definition at line 150 of file CParameterizedTrajectoryGenerator.cpp.

References mrpt::nav::CParameterizedTrajectoryGenerator::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::CParameterizedTrajectoryGenerator::evalClearanceSingleObstacle(), mrpt::nav::CPTG_Holo_Blend::getPathDist(), mrpt::nav::CPTG_Holo_Blend::getPathPose(), mrpt::nav::CPTG_Holo_Blend::getPathStepForDist(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::simulateTrajectories(), and mrpt::nav::CPTG_Holo_Blend::updateTPObstacleSingle().

◆ index2alpha() [2/2]

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

staticinherited

Definition at line 143 of file CParameterizedTrajectoryGenerator.cpp.

References ASSERT_BELOW_, and M_PI.

◆ initClearanceDiagram()

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

inherited

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

Definition at line 373 of file CParameterizedTrajectoryGenerator.cpp.

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

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

◆ initialize()

void CParameterizedTrajectoryGenerator::initialize	(	const std::string &	cacheFilename = `std::string()`,
		const bool	verbose = `true`
	)

inherited

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

Definition at line 317 of file CParameterizedTrajectoryGenerator.cpp.

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

◆ initTPObstacles()

void CParameterizedTrajectoryGenerator::initTPObstacles ( std::vector< double > & TP_Obstacles ) const

inherited

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 204 of file CParameterizedTrajectoryGenerator.cpp.

References mrpt::nav::CParameterizedTrajectoryGenerator::initTPObstacleSingle(), and mrpt::nav::CParameterizedTrajectoryGenerator::m_alphaValuesCount.

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

◆ initTPObstacleSingle()

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

inherited

Definition at line 210 of file CParameterizedTrajectoryGenerator.cpp.

References mrpt::nav::CParameterizedTrajectoryGenerator::getPathDist(), mrpt::nav::CParameterizedTrajectoryGenerator::getPathStepCount(), mrpt::nav::CParameterizedTrajectoryGenerator::INVALID_PTG_PATH_INDEX, mrpt::nav::CParameterizedTrajectoryGenerator::m_nav_dyn_state_target_k, min, and mrpt::nav::CParameterizedTrajectoryGenerator::refDistance.

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

◆ internal_deinitialize()

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

protectedpure virtualinherited

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 mrpt::nav::CParameterizedTrajectoryGenerator::deinitialize().

◆ internal_initialize()

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

protectedpure virtualinherited

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 mrpt::nav::CParameterizedTrajectoryGenerator::initialize().

◆ internal_processNewRobotShape()

virtual void mrpt::nav::CPTG_RobotShape_Polygonal::internal_processNewRobotShape ( )

protectedpure virtual

Will be called whenever the robot shape is set / updated.

Implemented in mrpt::nav::CPTG_DiffDrive_CollisionGridBased.

Referenced by loadShapeFromConfigFile(), and setRobotShape().

◆ internal_readFromStream()

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

protectedvirtualinherited

Reimplemented in mrpt::nav::CPTG_DiffDrive_CollisionGridBased.

Definition at line 103 of file CParameterizedTrajectoryGenerator.cpp.

References mrpt::nav::CParameterizedTrajectoryGenerator::deinitialize(), mrpt::nav::CParameterizedTrajectoryGenerator::m_alphaValuesCount, mrpt::nav::CParameterizedTrajectoryGenerator::m_clearance_decimated_paths, mrpt::nav::CParameterizedTrajectoryGenerator::m_clearance_num_points, mrpt::nav::CParameterizedTrajectoryGenerator::m_score_priority, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, mrpt::nav::CParameterizedTrajectoryGenerator::refDistance, and version.

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

◆ internal_shape_loadFromStream()

void CPTG_RobotShape_Polygonal::internal_shape_loadFromStream ( mrpt::utils::CStream & in )

protected

Definition at line 112 of file CPTG_RobotShape_Polygonal.cpp.

References m_robotShape, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and version.

Referenced by mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_readFromStream().

◆ internal_shape_saveToStream()

void CPTG_RobotShape_Polygonal::internal_shape_saveToStream ( mrpt::utils::CStream & out ) const

protected

Definition at line 127 of file CPTG_RobotShape_Polygonal.cpp.

References m_robotShape, and version.

Referenced by mrpt::nav::CPTG_DiffDrive_CollisionGridBased::internal_writeToStream().

◆ internal_TPObsDistancePostprocess()

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

protectedinherited

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 336 of file CParameterizedTrajectoryGenerator.cpp.

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

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

◆ internal_writeToStream()

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

protectedvirtualinherited

Reimplemented in mrpt::nav::CPTG_DiffDrive_CollisionGridBased.

Definition at line 134 of file CParameterizedTrajectoryGenerator.cpp.

References mrpt::nav::CParameterizedTrajectoryGenerator::m_alphaValuesCount, mrpt::nav::CParameterizedTrajectoryGenerator::m_clearance_decimated_paths, mrpt::nav::CParameterizedTrajectoryGenerator::m_clearance_num_points, mrpt::nav::CParameterizedTrajectoryGenerator::m_score_priority, mrpt::nav::CParameterizedTrajectoryGenerator::refDistance, and version.

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

◆ 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 virtualinherited

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(), TEST(), and mrpt::nav::CParameterizedTrajectoryGenerator::updateNavDynamicState().

◆ isBijectiveAt()

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

inlinevirtualinherited

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

Default implementation returns true.

Definition at line 112 of file CParameterizedTrajectoryGenerator.h.

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

◆ isInitialized()

bool CParameterizedTrajectoryGenerator::isInitialized ( ) const

inherited

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 281 of file CParameterizedTrajectoryGenerator.cpp.

References mrpt::nav::CParameterizedTrajectoryGenerator::m_is_initialized.

◆ isPointInsideRobotShape()

bool CPTG_RobotShape_Polygonal::isPointInsideRobotShape	(	const double	x,
		const double	y
	)		const

virtual

Returns true if the point lies within the robot shape.

Implements mrpt::nav::CParameterizedTrajectoryGenerator.

Definition at line 140 of file CPTG_RobotShape_Polygonal.cpp.

References mrpt::math::TPolygon2D::contains(), and m_robotShape.

Referenced by evalClearanceToRobotShape().

◆ loadDefaultParams()

void CPTG_RobotShape_Polygonal::loadDefaultParams ( )

protectedvirtual

Loads a set of default parameters; provided exclusively for the PTG-configurator tool.

Reimplemented from mrpt::nav::CParameterizedTrajectoryGenerator.

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, and mrpt::nav::CPTG_DiffDrive_CS.

Definition at line 39 of file CPTG_RobotShape_Polygonal.cpp.

References mrpt::math::CPolygon::AddVertex(), and m_robotShape.

Referenced by mrpt::nav::CPTG_DiffDrive_CollisionGridBased::loadDefaultParams().

◆ loadFromConfigFile()

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

virtualinherited

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 56 of file CParameterizedTrajectoryGenerator.cpp.

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

◆ 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 23 of file CLoadableOptions.cpp.

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

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

◆ loadShapeFromConfigFile()

void CPTG_RobotShape_Polygonal::loadShapeFromConfigFile	(	const mrpt::utils::CConfigFileBase &	source,
		const std::string &	section
	)

protected

Definition at line 48 of file CPTG_RobotShape_Polygonal.cpp.

References mrpt::math::CPolygon::AddVertex(), ASSERTMSG_, mrpt::mrpt::format(), internal_processNewRobotShape(), m_robotShape, and mrpt::utils::CConfigFileBase::read_double().

Referenced by mrpt::nav::CPTG_DiffDrive_CollisionGridBased::loadFromConfigFile().

◆ maxTimeInVelCmdNOP()

double CParameterizedTrajectoryGenerator::maxTimeInVelCmdNOP ( int path_k ) const

virtualinherited

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 50 of file CParameterizedTrajectoryGenerator.cpp.

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

◆ onNewNavDynamicState()

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

protectedpure virtualinherited

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 mrpt::nav::CParameterizedTrajectoryGenerator::updateNavDynamicState().

◆ PTG_IsIntoDomain()

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

inlinevirtualinherited

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 106 of file CParameterizedTrajectoryGenerator.h.

◆ 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

virtualinherited

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 169 of file CParameterizedTrajectoryGenerator.cpp.

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

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

◆ saveToConfigFile()

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

protectedvirtual

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

See also: loadFromConfigFile, saveToConfigFileName

Reimplemented from mrpt::nav::CParameterizedTrajectoryGenerator.

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, and mrpt::nav::CPTG_DiffDrive_CS.

Definition at line 75 of file CPTG_RobotShape_Polygonal.cpp.

References mrpt::mrpt::format(), m_robotShape, and mrpt::utils::CConfigFileBase::write().

Referenced by mrpt::nav::CPTG_DiffDrive_CollisionGridBased::saveToConfigFile().

◆ 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 39 of file CLoadableOptions.cpp.

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

◆ setClearanceDecimatedPaths()

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

inlineinherited

Definition at line 262 of file CParameterizedTrajectoryGenerator.h.

◆ setClearanceStepCount()

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

inlineinherited

Definition at line 259 of file CParameterizedTrajectoryGenerator.h.

◆ setRefDistance()

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

inlinevirtualinherited

Reimplemented in mrpt::nav::CPTG_DiffDrive_CollisionGridBased.

Definition at line 140 of file CParameterizedTrajectoryGenerator.h.

◆ setRobotShape()

void CPTG_RobotShape_Polygonal::setRobotShape ( const mrpt::math::CPolygon & robotShape )

Robot shape must be set before initialization, either from ctor params or via this method.

Definition at line 27 of file CPTG_RobotShape_Polygonal.cpp.

References ASSERT_ABOVEEQ_, internal_processNewRobotShape(), mrpt::mrpt::utils::keep_max(), m_robotMaxRadius, and m_robotShape.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::internal_initialize_PTG(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), and mrpt::nav::CReactiveNavigationSystem3D::STEP1_InitPTGs().

◆ setScorePriorty()

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

inlineinherited

Definition at line 256 of file CParameterizedTrajectoryGenerator.h.

◆ supportSpeedAtTarget()

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

inlinevirtualinherited

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

See also: updateNavDynamicState()

Definition at line 195 of file CParameterizedTrajectoryGenerator.h.

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

◆ supportVelCmdNOP()

bool CParameterizedTrajectoryGenerator::supportVelCmdNOP ( ) const

virtualinherited

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 46 of file CParameterizedTrajectoryGenerator.cpp.

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

◆ updateClearance()

void CParameterizedTrajectoryGenerator::updateClearance	(	const double	ox,
		const double	oy,
		ClearanceDiagram &	cd
	)		const

inherited

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 392 of file CParameterizedTrajectoryGenerator.cpp.

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

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

◆ updateClearancePost()

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

inherited

Definition at line 406 of file CParameterizedTrajectoryGenerator.cpp.

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

◆ updateNavDynamicState()

void CParameterizedTrajectoryGenerator::updateNavDynamicState	(	const TNavDynamicState &	newState,
		const bool	force_update = `false`
	)

inherited

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 286 of file CParameterizedTrajectoryGenerator.cpp.

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

◆ updateTPObstacle()

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

pure virtualinherited

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().

◆ updateTPObstacleSingle()

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

pure virtualinherited

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().

◆ 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 NULL is class does not support conversion to MATLAB.

Definition at line 79 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 NULL, 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