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mrpt::slam::CPathPlanningCircularRobot Class Reference

An implementation of CPathPlanningMethod. More...

#include <mrpt/slam/CPathPlanningCircularRobot.h>

Inheritance diagram for mrpt::slam::CPathPlanningCircularRobot:

mrpt::slam::CPathPlanningMethod mrpt::utils::CDebugOutputCapable

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.


Detailed Description

An implementation of CPathPlanningMethod.

See also:
CPathPlanningMethod

Definition at line 42 of file CPathPlanningCircularRobot.h.


Constructor & Destructor Documentation

mrpt::slam::CPathPlanningCircularRobot::CPathPlanningCircularRobot (  ) 

Default constructor.

virtual mrpt::slam::CPathPlanningCircularRobot::~CPathPlanningCircularRobot (  )  [inline, virtual]

Destructor.

Definition at line 51 of file CPathPlanningCircularRobot.h.


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.


Member Data Documentation

The aproximate robot radius used in the planification.

Default is 0.35m

Definition at line 57 of file CPathPlanningCircularRobot.h.




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