CPathPlanningMethod.h

Go to the documentation of this file.

/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
   |                                                                           |
   |                       http://www.mrpt.org/                                |
   |                                                                           |
   |   Copyright (C) 2005-2012  University of Malaga                           |
   |                                                                           |
   |    This software was written by the Machine Perception and Intelligent    |
   |      Robotics Lab, University of Malaga (Spain).                          |
   |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
   |                                                                           |
   |  This file is part of the MRPT project.                                   |
   |                                                                           |
   |     MRPT is free software: you can redistribute it and/or modify          |
   |     it under the terms of the GNU General Public License as published by  |
   |     the Free Software Foundation, either version 3 of the License, or     |
   |     (at your option) any later version.                                   |
   |                                                                           |
   |   MRPT is distributed in the hope that it will be useful,                 |
   |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
   |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
   |     GNU General Public License for more details.                          |
   |                                                                           |
   |     You should have received a copy of the GNU General Public License     |
   |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
   |                                                                           |
   +---------------------------------------------------------------------------+ */
#ifndef CPathPlanningMethod_H
#define CPathPlanningMethod_H

#include <mrpt/utils/CDebugOutputCapable.h>
#include <mrpt/slam/COccupancyGridMap2D.h>
#include <mrpt/poses/CPoint2D.h>

#include <mrpt/slam/link_pragmas.h>

namespace mrpt
{
namespace slam
{
        /** 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.
     *
         * \sa CDebugOutputCapable  \ingroup mrpt_slam_grp
         */
        class SLAM_IMPEXP CPathPlanningMethod : public mrpt::utils::CDebugOutputCapable
        {
        public:
                /** Default constructor
                  */
                CPathPlanningMethod();

                /** Destructor
                 */
                virtual ~CPathPlanningMethod()
                {
                }

                /** The maximum occupancy probability to consider a cell as an obstacle, default=0.5
                  */
                float   occupancyThreshold;

                /** 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.
                  */
                float   minStepInReturnedPath;

                /** 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.
                  *
                  * \param map          [IN] The occupancy gridmap used to the planning.
                  * \param origin       [IN] The starting pose of the robot, in coordinates of "map".
                  * \param target       [IN] The desired target pose for the robot, in coordinates of "map".
                  * \param path         [OUT] The found path, in global coordinates relative to "map".
                  * \param notFound     [OUT] Will be true if no path has been found.
                  * \param maxSearchPathLength [IN] The maximum path length to search for, in meters (-1 = no limit)
                  *
                  * \exception std::exception On any error
                  */
                virtual void  computePath(
                                const COccupancyGridMap2D       &theMap,
                                const CPose2D                           &origin,
                                const CPose2D                           &target,
                                std::deque<math::TPoint2D>      &path,
                                bool                                            &notFound,
                                float                                           maxSearchPathLength = -1
                                ) const = 0;

        };

        } // End of namespace
} // End of namespace

#endif