mrpt::slam::CPathPlanningCircularRobot Class Reference

An implementation of CPathPlanningMethod. More...

#include <mrpt/slam/CPathPlanningCircularRobot.h>

Inheritance diagram for mrpt::slam::CPathPlanningCircularRobot:

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Collaboration diagram for mrpt::slam::CPathPlanningCircularRobot:

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List of all members.

Public Member Functions
	CPathPlanningCircularRobot ()
	Default constructor.
virtual	~CPathPlanningCircularRobot ()
	Destructor.
void	computePath (const COccupancyGridMap2D &theMap, const CPoseOrPoint &origin, const CPoseOrPoint &target, std::deque< math::TPoint2D > &path, bool &notFound, 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.

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Detailed Description

An implementation of CPathPlanningMethod.

See also:

CPathPlanningMethod

Definition at line 42 of file CPathPlanningCircularRobot.h.

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Constructor & Destructor Documentation

mrpt::slam::CPathPlanningCircularRobot::CPathPlanningCircularRobot

(

)

Default constructor.

virtual mrpt::slam::CPathPlanningCircularRobot::~CPathPlanningCircularRobot

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[inline, virtual]

Destructor.

Definition at line 51 of file CPathPlanningCircularRobot.h.

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Member Function Documentation

void mrpt::slam::CPathPlanningCircularRobot::computePath	(	const COccupancyGridMap2D &	theMap,
		const CPoseOrPoint &	origin,
		const CPoseOrPoint &	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.

Parameters:

	theMap	[IN] The occupancy gridmap used to the planning.
	origin	[IN] The starting pose of the robot (given as a CPose2D, CPoint2D,...), in coordinates of "map".
	target	[IN] The desired target pose for the robot (given as a CPose2D, CPoint2D,...), 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)

See also:

robotRadius

Exceptions:

std::exception

On any error

Implements mrpt::slam::CPathPlanningMethod.

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Member Data Documentation

float mrpt::slam::CPathPlanningCircularRobot::robotRadius

The aproximate robot radius used in the planification.

Default is 0.35m

Definition at line 57 of file CPathPlanningCircularRobot.h.