00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://www.mrpt.org/ | 00005 | | 00006 | Copyright (C) 2005-2011 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef CPathPlanningCircularRobot_H 00029 #define CPathPlanningCircularRobot_H 00030 00031 #include <mrpt/slam/CPathPlanningMethod.h> 00032 00033 #include <mrpt/slam/link_pragmas.h> 00034 00035 00036 namespace mrpt 00037 { 00038 namespace slam 00039 { 00040 /** An implementation of CPathPlanningMethod 00041 * \sa CPathPlanningMethod \ingroup mrpt_slam_grp 00042 */ 00043 class SLAM_IMPEXP CPathPlanningCircularRobot : public CPathPlanningMethod 00044 { 00045 public: 00046 /** Default constructor 00047 */ 00048 CPathPlanningCircularRobot(); 00049 00050 /** Destructor 00051 */ 00052 virtual ~CPathPlanningCircularRobot() 00053 { 00054 } 00055 00056 /** The aproximate robot radius used in the planification. Default is 0.35m 00057 */ 00058 float robotRadius; 00059 00060 /** This method compute the optimal path for a circular robot, in the given 00061 * occupancy grid map, from the origin location to a target point. 00062 * The options and additional parameters to this method can be set with 00063 * member configuration variables. 00064 * 00065 * \param theMap [IN] The occupancy gridmap used to the planning. 00066 * \param origin [IN] The starting pose of the robot, in coordinates of "map". 00067 * \param target [IN] The desired target pose for the robot, in coordinates of "map". 00068 * \param path [OUT] The found path, in global coordinates relative to "map". 00069 * \param notFount [OUT] Will be true if no path has been found. 00070 * \param maxSearchPathLength [IN] The maximum path length to search for, in meters (-1 = no limit) 00071 * 00072 * \sa robotRadius 00073 * 00074 * \exception std::exception On any error 00075 */ 00076 void computePath( 00077 const COccupancyGridMap2D &theMap, 00078 const CPose2D &origin, 00079 const CPose2D &target, 00080 std::deque<math::TPoint2D> &path, 00081 bool ¬Found, 00082 float maxSearchPathLength = -1 00083 ) const; 00084 00085 }; 00086 00087 } // End of namespace 00088 } // End of namespace 00089 00090 #endif
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