An implementation of CPathPlanningMethod.
Definition at line 44 of file CPathPlanningCircularRobot.h.
#include <mrpt/slam/CPathPlanningCircularRobot.h>
Public Member Functions | |
CPathPlanningCircularRobot () | |
Default constructor. | |
virtual | ~CPathPlanningCircularRobot () |
Destructor. | |
void | computePath (const COccupancyGridMap2D &theMap, const CPose2D &origin, const CPose2D &target, std::deque< math::TPoint2D > &path, bool ¬Found, float maxSearchPathLength=-1) const |
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 | robotRadius |
The aproximate robot radius used in the planification. |
mrpt::slam::CPathPlanningCircularRobot::CPathPlanningCircularRobot | ( | ) |
Default constructor.
virtual mrpt::slam::CPathPlanningCircularRobot::~CPathPlanningCircularRobot | ( | ) | [inline, virtual] |
Destructor.
Definition at line 53 of file CPathPlanningCircularRobot.h.
void mrpt::slam::CPathPlanningCircularRobot::computePath | ( | const COccupancyGridMap2D & | theMap, |
const CPose2D & | origin, | ||
const CPose2D & | target, | ||
std::deque< math::TPoint2D > & | path, | ||
bool & | notFound, | ||
float | maxSearchPathLength = -1 |
||
) | const [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.
theMap | [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". |
notFount | [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 |
Implements mrpt::slam::CPathPlanningMethod.
The aproximate robot radius used in the planification.
Default is 0.35m
Definition at line 59 of file CPathPlanningCircularRobot.h.
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