mrpt::nav::ClearanceDiagram Class Reference

Detailed Description

Clearance information for one particular PTG and one set of obstacles.

Usage:

• Declare an object of this type (it will be initialized to "empty"),
• Call CParameterizedTrajectoryGenerator::initClearanceDiagram()
• Repeatedly call CParameterizedTrajectoryGenerator::updateClearance() for each 2D obstacle point.

Definition at line 28 of file ClearanceDiagram.h.

#include <mrpt/nav/holonomic/ClearanceDiagram.h>

Public Types
typedef std::map< double, double >	dist2clearance_t
	[TPS_distance] => normalized_clearance_for_exactly_that_robot_pose */ More...

Public Member Functions
	ClearanceDiagram ()
	default ctor More...
void	clear ()
	Reset to default, empty state. More...
void	resize (size_t actual_num_paths, size_t decimated_num_paths)
	Initializes the container to allocate decimated_num_paths entries, as a decimated subset of a total of actual_num_paths paths. More...
bool	empty () const
size_t	get_actual_num_paths () const
size_t	get_decimated_num_paths () const
double	getClearance (uint16_t k, double TPS_query_distance, bool integrate_over_path) const
	Gets the clearance for path k and distance TPS_query_distance in one of two modes: More...
void	renderAs3DObject (mrpt::opengl::CMesh &mesh, double min_x, double max_x, double min_y, double max_y, double cell_res, bool integrate_over_path) const
void	readFromStream (mrpt::utils::CStream &in)
void	writeToStream (mrpt::utils::CStream &out) const
dist2clearance_t &	get_path_clearance (size_t actual_k)
const dist2clearance_t &	get_path_clearance (size_t actual_k) const
dist2clearance_t &	get_path_clearance_decimated (size_t decim_k)
const dist2clearance_t &	get_path_clearance_decimated (size_t decim_k) const
size_t	real_k_to_decimated_k (size_t k) const
size_t	decimated_k_to_real_k (size_t k) const

Protected Attributes
std::vector< dist2clearance_t >	m_raw_clearances
	Container: [decimated_path_k][TPS_distance] => normalized_clearance_for_exactly_that_robot_pose. More...
size_t	m_actual_num_paths
double	m_k_a2d
double	m_k_d2a

Member Typedef Documentation

dist2clearance_t

typedef std::map<double, double> mrpt::nav::ClearanceDiagram::dist2clearance_t

[TPS_distance] => normalized_clearance_for_exactly_that_robot_pose */

Definition at line 50 of file ClearanceDiagram.h.

Constructor & Destructor Documentation

ClearanceDiagram()

ClearanceDiagram::ClearanceDiagram

(

)

default ctor

Definition at line 22 of file ClearanceDiagram.cpp.

Member Function Documentation

clear()

void ClearanceDiagram::clear

(

)

Reset to default, empty state.

Definition at line 163 of file ClearanceDiagram.cpp.

References m_actual_num_paths, m_k_a2d, m_k_d2a, and m_raw_clearances.

decimated_k_to_real_k()

size_t mrpt::nav::ClearanceDiagram::decimated_k_to_real_k

(

size_t

k

)

const

Definition at line 118 of file ClearanceDiagram.cpp.

References ASSERT_, and mrpt::utils::round().

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

empty()

bool mrpt::nav::ClearanceDiagram::empty ( ) const

inline

Definition at line 36 of file ClearanceDiagram.h.

Referenced by getClearance().

get_actual_num_paths()

size_t mrpt::nav::ClearanceDiagram::get_actual_num_paths ( ) const

inline

Definition at line 37 of file ClearanceDiagram.h.

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

get_decimated_num_paths()

size_t mrpt::nav::ClearanceDiagram::get_decimated_num_paths ( ) const

inline

Definition at line 38 of file ClearanceDiagram.h.

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

get_path_clearance() [1/2]

ClearanceDiagram::dist2clearance_t & ClearanceDiagram::get_path_clearance

(

size_t

actual_k

)

Definition at line 100 of file ClearanceDiagram.cpp.

References m_raw_clearances, and real_k_to_decimated_k().

get_path_clearance() [2/2]

const ClearanceDiagram::dist2clearance_t & ClearanceDiagram::get_path_clearance

(

size_t

actual_k

)

const

Definition at line 105 of file ClearanceDiagram.cpp.

References m_raw_clearances, and real_k_to_decimated_k().

get_path_clearance_decimated() [1/2]

dist2clearance_t& mrpt::nav::ClearanceDiagram::get_path_clearance_decimated ( size_t  decim_k )

inline

Definition at line 54 of file ClearanceDiagram.h.

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

get_path_clearance_decimated() [2/2]

const dist2clearance_t& mrpt::nav::ClearanceDiagram::get_path_clearance_decimated ( size_t  decim_k ) const

inline

Definition at line 55 of file ClearanceDiagram.h.

getClearance()

double ClearanceDiagram::getClearance	(	uint16_t	k,
		double	TPS_query_distance,
		bool	integrate_over_path
	)		const

Gets the clearance for path k and distance TPS_query_distance in one of two modes:

• [integrate_over_path=false] clearance from that specific spot, or
• [integrate_over_path=true] average clearance over the path from the origin to that specific spot.

Definition at line 126 of file ClearanceDiagram.cpp.

References ASSERT_BELOW_, empty(), m_actual_num_paths, m_raw_clearances, and real_k_to_decimated_k().

Referenced by mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), and renderAs3DObject().

readFromStream()

void mrpt::nav::ClearanceDiagram::readFromStream

(

mrpt::utils::CStream &

in

)

Definition at line 73 of file ClearanceDiagram.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and version.

real_k_to_decimated_k()

size_t mrpt::nav::ClearanceDiagram::real_k_to_decimated_k

(

size_t

k

)

const

Definition at line 110 of file ClearanceDiagram.cpp.

References ASSERT_, and mrpt::utils::round().

Referenced by get_path_clearance(), and getClearance().

renderAs3DObject()

void ClearanceDiagram::renderAs3DObject	(	mrpt::opengl::CMesh &	mesh,
		double	min_x,
		double	max_x,
		double	min_y,
		double	max_y,
		double	cell_res,
		bool	integrate_over_path
	)		const

Definition at line 28 of file ClearanceDiagram.cpp.

References mrpt::nav::CParameterizedTrajectoryGenerator::alpha2index(), ASSERT_, mrpt::opengl::CMesh::enableColorFromZ(), mrpt::opengl::CMesh::enableTransparency(), mrpt::opengl::CMesh::enableWireFrame(), getClearance(), m_actual_num_paths, m_raw_clearances, mrpt::opengl::CRenderizableDisplayList::setColorA_u8(), mrpt::opengl::CMesh::setXBounds(), mrpt::opengl::CMesh::setYBounds(), and mrpt::opengl::CMesh::setZ().

resize()

void mrpt::nav::ClearanceDiagram::resize	(	size_t	actual_num_paths,
		size_t	decimated_num_paths
	)

Initializes the container to allocate decimated_num_paths entries, as a decimated subset of a total of actual_num_paths paths.

Definition at line 170 of file ClearanceDiagram.cpp.

References ASSERT_ABOVEEQ_, and mrpt::utils::clear().

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

writeToStream()

void mrpt::nav::ClearanceDiagram::writeToStream

(

mrpt::utils::CStream &

out

)

const

Definition at line 91 of file ClearanceDiagram.cpp.

References version.

Member Data Documentation

m_actual_num_paths

size_t mrpt::nav::ClearanceDiagram::m_actual_num_paths

protected

Definition at line 64 of file ClearanceDiagram.h.

Referenced by clear(), getClearance(), and renderAs3DObject().

m_k_a2d

double mrpt::nav::ClearanceDiagram::m_k_a2d

protected

Definition at line 65 of file ClearanceDiagram.h.

Referenced by clear().

m_k_d2a

double mrpt::nav::ClearanceDiagram::m_k_d2a

protected

Definition at line 65 of file ClearanceDiagram.h.

Referenced by clear().

m_raw_clearances

std::vector<dist2clearance_t> mrpt::nav::ClearanceDiagram::m_raw_clearances

protected

Container: [decimated_path_k][TPS_distance] => normalized_clearance_for_exactly_that_robot_pose.

Definition at line 62 of file ClearanceDiagram.h.

Referenced by clear(), get_path_clearance(), getClearance(), and renderAs3DObject().