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CPathPlanningCircularRobot.h

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00001 /* +---------------------------------------------------------------------------+
00002    |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
00003    |                                                                           |
00004    |                   http://mrpt.sourceforge.net/                            |
00005    |                                                                           |
00006    |   Copyright (C) 2005-2011  University of Malaga                           |
00007    |                                                                           |
00008    |    This software was written by the Machine Perception and Intelligent    |
00009    |      Robotics Lab, University of Malaga (Spain).                          |
00010    |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
00011    |                                                                           |
00012    |  This file is part of the MRPT project.                                   |
00013    |                                                                           |
00014    |     MRPT is free software: you can redistribute it and/or modify          |
00015    |     it under the terms of the GNU General Public License as published by  |
00016    |     the Free Software Foundation, either version 3 of the License, or     |
00017    |     (at your option) any later version.                                   |
00018    |                                                                           |
00019    |   MRPT is distributed in the hope that it will be useful,                 |
00020    |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
00021    |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
00022    |     GNU General Public License for more details.                          |
00023    |                                                                           |
00024    |     You should have received a copy of the GNU General Public License     |
00025    |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
00026    |                                                                           |
00027    +---------------------------------------------------------------------------+ */
00028 #ifndef CPathPlanningCircularRobot_H
00029 #define CPathPlanningCircularRobot_H
00030 
00031 #include <mrpt/slam/CPathPlanningMethod.h>
00032 
00033 #include <mrpt/slam/link_pragmas.h>
00034 
00035 
00036 namespace mrpt
00037 {
00038 namespace slam
00039 {
00040         /** An implementation of CPathPlanningMethod
00041      *
00042          * \sa CPathPlanningMethod
00043          */
00044         class SLAM_IMPEXP CPathPlanningCircularRobot : public CPathPlanningMethod
00045         {
00046         public:
00047                 /** Default constructor
00048                   */
00049                 CPathPlanningCircularRobot();
00050 
00051                 /** Destructor
00052                   */
00053         virtual ~CPathPlanningCircularRobot()
00054                 {
00055                 }
00056 
00057                 /** The aproximate robot radius used in the planification. Default is 0.35m
00058                   */
00059                 float   robotRadius;
00060 
00061                 /** This method compute the optimal path for a circular robot, in the given
00062                   *   occupancy grid map, from the origin location to a target point.
00063                   * The options and additional parameters to this method can be set with
00064                   *   member configuration variables.
00065                   *
00066                   * \param theMap       [IN] The occupancy gridmap used to the planning.
00067                   * \param origin       [IN] The starting pose of the robot, in coordinates of "map".
00068                   * \param target       [IN] The desired target pose for the robot, in coordinates of "map".
00069                   * \param path         [OUT] The found path, in global coordinates relative to "map".
00070                   * \param notFount     [OUT] Will be true if no path has been found.
00071                   * \param maxSearchPathLength [IN] The maximum path length to search for, in meters (-1 = no limit)
00072                   *
00073                   * \sa robotRadius
00074                   *
00075                   * \exception std::exception On any error
00076                   */
00077                 void  computePath(
00078                                 const COccupancyGridMap2D       &theMap,
00079                                 const CPose2D                           &origin,
00080                                 const CPose2D                           &target,
00081                                 std::deque<math::TPoint2D>      &path,
00082                                 bool                                            &notFound,
00083                                 float                                           maxSearchPathLength = -1
00084                                 ) const;
00085 
00086         };
00087 
00088         } // End of namespace
00089 } // End of namespace
00090 
00091 #endif



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