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 _motion_planning_utils_H 00029 #define _motion_planning_utils_H 00030 00031 #include <mrpt/reactivenav/CParameterizedTrajectoryGenerator.h> 00032 #include <mrpt/math/CPolygon.h> 00033 #include <mrpt/reactivenav/link_pragmas.h> 00034 00035 namespace mrpt 00036 { 00037 namespace reactivenav 00038 { 00039 /** @name Motion planning utilities 00040 @{*/ 00041 00042 /** Builds the collision grid for a given list of PTGs. 00043 * The collision grid must be calculated before calling CParameterizedTrajectoryGenerator::CColisionGrid::getTPObstacle 00044 * \param PTGs The list of PTGs to calculate their grids. 00045 * \param robotShape The shape of the robot. 00046 * \param cacheFilesPrefix The prefix of the files where the collision grids will be dumped to speed-up future recalculations. 00047 * \param verbose 00048 * \sa CReactiveNavigationSystem 00049 * \ingroup mrpt_reactivenav_grp 00050 */ 00051 00052 void REACTIVENAV_IMPEXP build_PTG_collision_grids( 00053 std::vector<CParameterizedTrajectoryGenerator*> PTGs, 00054 const mrpt::math::CPolygon &robotShape, 00055 const std::string &cacheFilesPrefix = std::string("ReacNavGrid_"), 00056 bool verbose = true 00057 ); 00058 00059 /** @} */ 00060 } 00061 } 00062 00063 00064 #endif 00065
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