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Classes
TP-Space and PTG classes

Detailed Description

Collaboration diagram for TP-Space and PTG classes:

Classes

class  mrpt::nav::CParameterizedTrajectoryGenerator
 This is the base class for any user-defined PTG. More...
 
class  mrpt::nav::CPTG1
 A PTG for circular paths ("C" type PTG in papers). More...
 
class  mrpt::nav::CPTG2
 The "alpha-PTG", as named in PTG papers. More...
 
class  mrpt::nav::CPTG3
 A PTG for optimal paths of type "C|C,S" (as named in PTG papers). More...
 
class  mrpt::nav::CPTG4
 A PTG for optimal paths of type "C|C" , as named in PTG papers. More...
 
class  mrpt::nav::CPTG5
 A PTG for optimal paths of type "CS", as named in PTG papers. More...
 
class  mrpt::nav::CPTG6
 A variation of the alpha-PTG (with fixed parameters, for now) More...
 
class  mrpt::nav::CPTG7
 Trajectories with a fixed linear speed (V_MAX) and a first turning part followed by a straight segment. More...
 

Motion planning utilities

void NAV_IMPEXP mrpt::nav::build_PTG_collision_grids (CParameterizedTrajectoryGenerator *PTG, const mrpt::math::CPolygon &robotShape, const std::string &cacheFilename, const bool verbose=true)
 Builds the collision grid for a given PTGs, or load it from a cache file.
 

Function Documentation

◆ build_PTG_collision_grids()

void NAV_IMPEXP mrpt::nav::build_PTG_collision_grids ( CParameterizedTrajectoryGenerator PTG,
const mrpt::math::CPolygon robotShape,
const std::string &  cacheFilename,
const bool  verbose = true 
)

Builds the collision grid for a given PTGs, or load it from a cache file.

The collision grid must be calculated before calling CParameterizedTrajectoryGenerator::CColisionGrid::getTPObstacle

Parameters
PTGsThe list of PTGs to calculate their grids.
robotShapeThe shape of the robot.
cacheFilenameThe filename where the collision grids will be dumped to speed-up future recalculations. If it exists upon call, the collision grid will be loaded from here if all PTG parameters match. Example: "PTG_%03d.dat.gz".
See also
CReactiveNavigationSystem



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