[mrpt-reactivenav]

Detailed Description

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Library mrpt-reactivenav

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This library implements:

• Holonomic navigation algorithms: Virtual Force Fields (VFF), Nearness Diagram (ND), ... See mrpt::reactivenav::CAbstractHolonomicReactiveMethod

• A complex reactive navigator: Using space transformations (PTGs) to drive a robot using an internal simpler holonomic algorithm. See mrpt::reactivenav::CReactiveNavigationSystem

• A number of different PTGs: See mrpt::reactivenav::CParameterizedTrajectoryGenerator

See the full list of classes in mrpt::reactivenav, or the online page http://www.mrpt.org/Application:ReactiveNavigationDemo for a discussion of a working application (see MRPT/apps/ReactiveNavigationDemo).

Classes
class	mrpt::reactivenav::CAbstractHolonomicReactiveMethod
	A base class for holonomic reactive navigation methods. More...
class	mrpt::reactivenav::CReactiveInterfaceImplementation
	The pure virtual class that a user of CAbstractReactiveNavigationSystem-derived classes must implement in order to allow the navigator sense the world and send motion commands to the robot. More...
class	mrpt::reactivenav::CHolonomicLogFileRecord
	A base class for log records for different holonomic navigation methods. More...
class	mrpt::reactivenav::CHolonomicND
	An implementation of the holonomic reactive navigation method "Nearness-Diagram". More...
class	mrpt::reactivenav::CLogFileRecord_VFF
	A class for storing extra information about the execution of CHolonomicVFF navigation. More...
class	mrpt::reactivenav::CLogFileRecord
	A class for storing, saving and loading a reactive navigation log record for the CReactiveNavigationSystem class. More...
struct	mrpt::reactivenav::CLogFileRecord::TInfoPerPTG
	The structure used to store all relevant information about each transformation into TP-Space. More...
class	mrpt::reactivenav::CParameterizedTrajectoryGenerator
	This is the base class for any user defined PTG. More...
class	mrpt::reactivenav::CPRRTNavigator
	This class is a multi-threaded mobile robot navigator, implementing an (anytime) PTG-based Rapidly-exploring Random Tree (PRRT) search algorithm. More...
class	mrpt::reactivenav::CPTG1
	A PTG for circular paths. More...
class	mrpt::reactivenav::CPTG2
	The alpha-PTG. More...
class	mrpt::reactivenav::CPTG3
	A PTG for optimal paths of type "C|C,S". More...
class	mrpt::reactivenav::CPTG4
	A PTG for optimal paths of type "C|C". More...
class	mrpt::reactivenav::CPTG5
	A PTG for optimal paths of type "C|C,S". More...
class	mrpt::reactivenav::CPTG6
	A PTG for circular paths. More...
class	mrpt::reactivenav::CPTG7
	A PTG for circular paths. More...
class	mrpt::reactivenav::CReactiveNavigationSystem
	Implements a reactive navigation system based on TP-Space, with an arbitrary holonomic reactive method running on it, and any desired number of PTG for transforming the navigation space. More...

Namespaces
namespace	mrpt::reactivenav
	This namespace contains classes for building a TP-Space Reactive Navigation System.

Enumerations
enum	mrpt::reactivenav::THolonomicMethod { mrpt::reactivenav::hmVIRTUAL_FORCE_FIELDS = 0, mrpt::reactivenav::hmSEARCH_FOR_BEST_GAP = 1 }
	The implemented reactive navigation methods. More...

Motion planning utilities
void REACTIVENAV_IMPEXP	mrpt::reactivenav::build_PTG_collision_grids (std::vector< CParameterizedTrajectoryGenerator * > PTGs, const mrpt::math::CPolygon &robotShape, const std::string &cacheFilesPrefix=std::string("ReacNavGrid_"), bool verbose=true)
	Builds the collision grid for a given list of PTGs.

Enumeration Type Documentation

enum mrpt::reactivenav::THolonomicMethod

The implemented reactive navigation methods.

Enumerator
hmVIRTUAL_FORCE_FIELDS
hmSEARCH_FOR_BEST_GAP

Definition at line 53 of file CReactiveNavigationSystem.h.

Function Documentation

void REACTIVENAV_IMPEXP mrpt::reactivenav::build_PTG_collision_grids	(	std::vector< CParameterizedTrajectoryGenerator * >	PTGs,
		const mrpt::math::CPolygon &	robotShape,
		const std::string &	cacheFilesPrefix = std::string("ReacNavGrid_"),
		bool	verbose = true
	)

Builds the collision grid for a given list of PTGs.

The collision grid must be calculated before calling CParameterizedTrajectoryGenerator::CColisionGrid::getTPObstacle

Parameters

PTGs	The list of PTGs to calculate their grids.
robotShape	The shape of the robot.
cacheFilesPrefix	The prefix of the files where the collision grids will be dumped to speed-up future recalculations.
verbose

See Also

CReactiveNavigationSystem