mrpt::slam::CPathPlanningMethod Class Reference

---

Detailed Description

A virtual base class for computing the optimal path for a robot from a origin location to a target point.

See derived classes for implementations.

See also:

CDebugOutputCapable

#include <mrpt/slam/CPathPlanningMethod.h>

Inheritance diagram for mrpt::slam::CPathPlanningMethod:

List of all members.

Public Member Functions
	CPathPlanningMethod ()
	Default constructor.
virtual	~CPathPlanningMethod ()
	Destructor.
virtual void	computePath (const COccupancyGridMap2D &theMap, const CPose2D &origin, const CPose2D &target, std::deque< math::TPoint2D > &path, bool &notFound, float maxSearchPathLength=-1) const =0
	This method compute the optimal path for a circular robot, in the given occupancy grid map, from the origin location to a target point.
Static Public Member Functions
static void	printf_debug (const char *frmt,...)
	Sends a formated text to "debugOut" if not NULL, or to cout otherwise.
Public Attributes
float	occupancyThreshold
	The maximum occupancy probability to consider a cell as an obstacle, default=0.5.
float	minStepInReturnedPath
	The minimum distance between points in the returned found path (default=0.4); Notice that full grid resolution is used in path finding, this is only a way to reduce the amount of redundant information to be returned.

---

Constructor & Destructor Documentation

mrpt::slam::CPathPlanningMethod::CPathPlanningMethod

(

)

Default constructor.

virtual mrpt::slam::CPathPlanningMethod::~CPathPlanningMethod

(

)

[inline, virtual]

Destructor.

Definition at line 56 of file CPathPlanningMethod.h.

---

Member Function Documentation

virtual void mrpt::slam::CPathPlanningMethod::computePath	(	const COccupancyGridMap2D &	theMap,
		const CPose2D &	origin,
		const CPose2D &	target,
		std::deque< math::TPoint2D > &	path,
		bool &	notFound,
		float	maxSearchPathLength = -1
	)		const [pure virtual]

This method compute the optimal path for a circular robot, in the given occupancy grid map, from the origin location to a target point.

The options and additional parameters to this method can be set with member configuration variables.

Parameters:

map	[IN] The occupancy gridmap used to the planning.
origin	[IN] The starting pose of the robot, in coordinates of "map".
target	[IN] The desired target pose for the robot, in coordinates of "map".
path	[OUT] The found path, in global coordinates relative to "map".
notFound	[OUT] Will be true if no path has been found.
maxSearchPathLength	[IN] The maximum path length to search for, in meters (-1 = no limit)

Exceptions:

std::exception

On any error

Implemented in mrpt::slam::CPathPlanningCircularRobot.

static void mrpt::utils::CDebugOutputCapable::printf_debug	(	const char *	frmt,
			...
	)		[static, inherited]

Sends a formated text to "debugOut" if not NULL, or to cout otherwise.

Referenced by mrpt::math::CLevenbergMarquardtTempl::execute().

---

Member Data Documentation

float mrpt::slam::CPathPlanningMethod::minStepInReturnedPath

The minimum distance between points in the returned found path (default=0.4); Notice that full grid resolution is used in path finding, this is only a way to reduce the amount of redundant information to be returned.

Definition at line 68 of file CPathPlanningMethod.h.

float mrpt::slam::CPathPlanningMethod::occupancyThreshold

The maximum occupancy probability to consider a cell as an obstacle, default=0.5.

Definition at line 62 of file CPathPlanningMethod.h.