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.
Definition at line 47 of file CPathPlanningMethod.h.
#include <mrpt/slam/CPathPlanningMethod.h>
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 ¬Found, 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. | |
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. |
mrpt::slam::CPathPlanningMethod::CPathPlanningMethod | ( | ) |
Default constructor.
virtual mrpt::slam::CPathPlanningMethod::~CPathPlanningMethod | ( | ) | [inline, virtual] |
Destructor.
Definition at line 56 of file CPathPlanningMethod.h.
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.
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) |
std::exception | On any error |
Implemented in mrpt::slam::CPathPlanningCircularRobot.
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.
The maximum occupancy probability to consider a cell as an obstacle, default=0.5.
Definition at line 62 of file CPathPlanningMethod.h.
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