Detailed Description

This is the base class for any user defined PTG.

The class factory interface in CParameterizedTrajectoryGenerator::CreatePTG.

Changes history:

30/JUN/2004: Creation (JLBC)
16/SEP/2004: Totally redesigned.
15/SEP/2005: Totally rewritten again, for integration into MRPT Applications Repository.
19/JUL/2009: Simplified to use only STL data types, and created the class factory interface.

Definition at line 52 of file CParameterizedTrajectoryGenerator.h.

#include <mrpt/reactivenav/CParameterizedTrajectoryGenerator.h>

Inheritance diagram for mrpt::reactivenav::CParameterizedTrajectoryGenerator:

[legend]

Classes
class	CColisionGrid
	An internal class for storing the collision grid. More...

struct	TCellForLambdaFunction
	Specifies the min/max values for "k" and "n", respectively. More...

struct	TCPoint
	The trajectories in the C-Space: More...

Public Types
typedef std::map< uint16_t, float >	TCollisionCell
	A list of all the pairs (alpha,distance) such as the robot collides at that cell.

Public Member Functions
virtual std::string	getDescription () const =0
	Gets a short textual description of the PTG and its parameters.

virtual	~CParameterizedTrajectoryGenerator ()
	Destructor.

void	simulateTrajectories (uint16_t alfaValuesCount, float max_time, float max_dist, unsigned int max_n, float diferencial_t, float min_dist, float out_max_acc_v=NULL, float out_max_acc_w=NULL)
	The main method: solves the diferential equation to generate a family of parametrical trajectories.

virtual void	lambdaFunction (float x, float y, int &out_k, float &out_d)
	The "lambda" function, see paper for info.

void	directionToMotionCommand (uint16_t k, float &out_v, float &out_w)
	Converts an "alfa" value (into the discrete set) into a feasible motion command.

size_t	getAlfaValuesCount ()

size_t	getPointsCountInCPath_k (uint16_t k)

void	getCPointWhen_d_Is (float d, uint16_t k, float &x, float &y, float &phi, float &t, float v=NULL, float w=NULL)

float	GetCPathPoint_x (uint16_t k, int n)

float	GetCPathPoint_y (uint16_t k, int n)

float	GetCPathPoint_phi (uint16_t k, int n)

float	GetCPathPoint_t (uint16_t k, int n)

float	GetCPathPoint_d (uint16_t k, int n)

float	GetCPathPoint_v (uint16_t k, int n)

float	GetCPathPoint_w (uint16_t k, int n)

void	allocMemForVerticesData (int nVertices)

void	setVertex_xy (uint16_t k, int n, int m, float x, float y)

float	getVertex_x (uint16_t k, int n, int m)

float	getVertex_y (uint16_t k, int n, int m)

float *	getVertixesArray_x (uint16_t k, int n)

float *	getVertixesArray_y (uint16_t k, int n)

unsigned int	getVertixesCount ()

float	getMax_V ()

float	getMax_W ()

float	getMax_V_inTPSpace ()

float	index2alfa (uint16_t k)
	Alfa value for the discrete corresponding value.

uint16_t	alfa2index (float alfa)
	Discrete index value for the corresponding alfa value.

void	debugDumpInFiles (int nPT)
	Dump PTG trajectories in files in directory "./PTGs/".

bool	SaveColGridsToFile (const std::string &filename)

bool	LoadColGridsFromFile (const std::string &filename)

virtual void	PTG_Generator (float alfa, float t, float x, float y, float phi, float &v, float &w)=0
	The main method to be implemented in derived classes.

virtual bool	PTG_IsIntoDomain (float x, float y)=0
	To be implemented in derived classes:

Static Public Member Functions
static CParameterizedTrajectoryGenerator *	CreatePTG (const TParameters< double > &params)
	The class factory for creating a PTG from a list of parameters "params".

Public Attributes
CColisionGrid	m_collisionGrid
	The collision grid.

float	refDistance

Protected Types
typedef std::vector< TCPoint >	TCPointVector

Protected Member Functions
	CParameterizedTrajectoryGenerator (const TParameters< double > &params)
	Constructor: possible values in "params":

void	initializeCollisionsGrid (float refDistance, float resolution)
	Initialized the collision grid with the given size and resolution.

void	FreeMemory ()
	Free all the memory buffers:

Protected Attributes
float	V_MAX

float	W_MAX

float	TAU

float	DELAY

float	turningRadiusReference

CDynamicGrid < TCellForLambdaFunction >	m_lambdaFunctionOptimizer
	This grid will contain indexes data for speeding-up the default, brute-force lambda function.

float	maxV_inTPSpace

bool	flag1

bool	flag2

unsigned int	alfaValuesCount
	The number of discrete values for ALFA between -PI and +PI.

std::vector< TCPointVector >	CPoints

std::vector< vector_float >	vertexPoints_x
	The shape of the robot along the trajectories:

std::vector< vector_float >	vertexPoints_y

int	nVertices

Member Typedef Documentation

typedef std::map<uint16_t,float> mrpt::reactivenav::CParameterizedTrajectoryGenerator::TCollisionCell

A list of all the pairs (alpha,distance) such as the robot collides at that cell.

map key (uint16_t) -> alpha value (k)
- map value (float) -> the MINIMUM distance (d), in meters, associated with that "k".

Definition at line 185 of file CParameterizedTrajectoryGenerator.h.

typedef std::vector<TCPoint> mrpt::reactivenav::CParameterizedTrajectoryGenerator::TCPointVector

protected

Definition at line 290 of file CParameterizedTrajectoryGenerator.h.

Constructor & Destructor Documentation

mrpt::reactivenav::CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator ( const TParameters< double > & params )

protected

Constructor: possible values in "params":

ref_distance: The maximum distance in PTGs
resolution: The cell size
v_max, w_max: Maximum robot speeds.
system_TAU, system_DELAY (Optional): Robot dynamics

virtual mrpt::reactivenav::CParameterizedTrajectoryGenerator::~CParameterizedTrajectoryGenerator ( )

inlinevirtual

Destructor.

Definition at line 84 of file CParameterizedTrajectoryGenerator.h.

Member Function Documentation

uint16_t mrpt::reactivenav::CParameterizedTrajectoryGenerator::alfa2index ( float alfa )

inline

Discrete index value for the corresponding alfa value.

See Also: index2alfa

Definition at line 170 of file CParameterizedTrajectoryGenerator.h.

References M_2PI, and M_PI.

void mrpt::reactivenav::CParameterizedTrajectoryGenerator::allocMemForVerticesData ( int nVertices )

static CParameterizedTrajectoryGenerator* mrpt::reactivenav::CParameterizedTrajectoryGenerator::CreatePTG ( const TParameters< double > & params )

static

The class factory for creating a PTG from a list of parameters "params".

Possible values in "params" are:

"PTG_type": It's an integer number such as "1" -> CPTG1, "2"-> CPTG2, etc...
Those explained in CParameterizedTrajectoryGenerator::CParameterizedTrajectoryGenerator
Those explained in the specific PTG being created (e.g. CPTG1, CPTG2, etc...)

Exceptions

std::logic_error On invalid or missing parameters.

void mrpt::reactivenav::CParameterizedTrajectoryGenerator::debugDumpInFiles ( int nPT )

Dump PTG trajectories in files in directory "./PTGs/".

void mrpt::reactivenav::CParameterizedTrajectoryGenerator::directionToMotionCommand	(	uint16_t	k,
		float &	out_v,
		float &	out_w
	)

Converts an "alfa" value (into the discrete set) into a feasible motion command.

void mrpt::reactivenav::CParameterizedTrajectoryGenerator::FreeMemory ( )

protected

Free all the memory buffers:

size_t mrpt::reactivenav::CParameterizedTrajectoryGenerator::getAlfaValuesCount ( )

inline

Definition at line 106 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::GetCPathPoint_d	(	uint16_t	k,
		int	n
	)

inline

Definition at line 115 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::GetCPathPoint_phi	(	uint16_t	k,
		int	n
	)

inline

Definition at line 113 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::GetCPathPoint_t	(	uint16_t	k,
		int	n
	)

inline

Definition at line 114 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::GetCPathPoint_v	(	uint16_t	k,
		int	n
	)

inline

Definition at line 116 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::GetCPathPoint_w	(	uint16_t	k,
		int	n
	)

inline

Definition at line 117 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::GetCPathPoint_x	(	uint16_t	k,
		int	n
	)

inline

Definition at line 111 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::GetCPathPoint_y	(	uint16_t	k,
		int	n
	)

inline

Definition at line 112 of file CParameterizedTrajectoryGenerator.h.

void mrpt::reactivenav::CParameterizedTrajectoryGenerator::getCPointWhen_d_Is	(	float	d,
		uint16_t	k,
		float &	x,
		float &	y,
		float &	phi,
		float &	t,
		float *	v = `NULL`,
		float *	w = `NULL`
	)

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

pure virtual

Gets a short textual description of the PTG and its parameters.

Implemented in mrpt::reactivenav::CPTG5, mrpt::reactivenav::CPTG1, mrpt::reactivenav::CPTG3, mrpt::reactivenav::CPTG4, mrpt::reactivenav::CPTG2, mrpt::reactivenav::CPTG6, and mrpt::reactivenav::CPTG7.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::getMax_V ( )

inline

Definition at line 155 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::getMax_V_inTPSpace ( )

inline

Definition at line 157 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::getMax_W ( )

inline

Definition at line 156 of file CParameterizedTrajectoryGenerator.h.

size_t mrpt::reactivenav::CParameterizedTrajectoryGenerator::getPointsCountInCPath_k ( uint16_t k )

inline

Definition at line 107 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::getVertex_x	(	uint16_t	k,
		int	n,
		int	m
	)

inline

Definition at line 127 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::getVertex_y	(	uint16_t	k,
		int	n,
		int	m
	)

inline

Definition at line 134 of file CParameterizedTrajectoryGenerator.h.

float* mrpt::reactivenav::CParameterizedTrajectoryGenerator::getVertixesArray_x	(	uint16_t	k,
		int	n
	)

inline

Definition at line 141 of file CParameterizedTrajectoryGenerator.h.

float* mrpt::reactivenav::CParameterizedTrajectoryGenerator::getVertixesArray_y	(	uint16_t	k,
		int	n
	)

inline

Definition at line 147 of file CParameterizedTrajectoryGenerator.h.

unsigned int mrpt::reactivenav::CParameterizedTrajectoryGenerator::getVertixesCount ( )

inline

Definition at line 153 of file CParameterizedTrajectoryGenerator.h.

float mrpt::reactivenav::CParameterizedTrajectoryGenerator::index2alfa ( uint16_t k )

inline

Alfa value for the discrete corresponding value.

See Also: alfa2index

Definition at line 162 of file CParameterizedTrajectoryGenerator.h.

References M_PI.

void mrpt::reactivenav::CParameterizedTrajectoryGenerator::initializeCollisionsGrid	(	float	refDistance,
		float	resolution
	)

protected

Initialized the collision grid with the given size and resolution.

virtual void mrpt::reactivenav::CParameterizedTrajectoryGenerator::lambdaFunction	(	float	x,
		float	y,
		int &	out_k,
		float &	out_d
	)

virtual

The "lambda" function, see paper for info.

It takes the (a,d) pair that is closest to a given location.

Reimplemented in mrpt::reactivenav::CPTG1, mrpt::reactivenav::CPTG5, mrpt::reactivenav::CPTG3, mrpt::reactivenav::CPTG4, mrpt::reactivenav::CPTG2, mrpt::reactivenav::CPTG6, and mrpt::reactivenav::CPTG7.

bool mrpt::reactivenav::CParameterizedTrajectoryGenerator::LoadColGridsFromFile ( const std::string & filename )

virtual void mrpt::reactivenav::CParameterizedTrajectoryGenerator::PTG_Generator	(	float	alfa,
		float	t,
		float	x,
		float	y,
		float	phi,
		float &	v,
		float &	w
	)

pure virtual

The main method to be implemented in derived classes.

Implemented in mrpt::reactivenav::CPTG5, mrpt::reactivenav::CPTG1, mrpt::reactivenav::CPTG3, mrpt::reactivenav::CPTG4, mrpt::reactivenav::CPTG2, mrpt::reactivenav::CPTG6, and mrpt::reactivenav::CPTG7.

virtual bool mrpt::reactivenav::CParameterizedTrajectoryGenerator::PTG_IsIntoDomain	(	float	x,
		float	y
	)

pure virtual

To be implemented in derived classes:

Implemented in mrpt::reactivenav::CPTG1, mrpt::reactivenav::CPTG5, mrpt::reactivenav::CPTG3, mrpt::reactivenav::CPTG4, mrpt::reactivenav::CPTG2, mrpt::reactivenav::CPTG6, and mrpt::reactivenav::CPTG7.

bool mrpt::reactivenav::CParameterizedTrajectoryGenerator::SaveColGridsToFile ( const std::string & filename )

void mrpt::reactivenav::CParameterizedTrajectoryGenerator::setVertex_xy	(	uint16_t	k,
		int	n,
		int	m,
		float	x,
		float	y
	)

inline

Definition at line 121 of file CParameterizedTrajectoryGenerator.h.

void mrpt::reactivenav::CParameterizedTrajectoryGenerator::simulateTrajectories	(	uint16_t	alfaValuesCount,
		float	max_time,
		float	max_dist,
		unsigned int	max_n,
		float	diferencial_t,
		float	min_dist,
		float *	out_max_acc_v = `NULL`,
		float *	out_max_acc_w = `NULL`
	)