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Classes | Typedefs | Enumerations | Functions | Variables
mrpt::nav Namespace Reference

Classes

class  CAbstractHolonomicReactiveMethod
 A base class for holonomic reactive navigation methods. More...
 
class  CAbstractPTGBasedReactive
 Base class for reactive navigator systems based on TP-Space, with an arbitrary holonomic reactive method running on it and any number of PTGs for transforming the navigation space. More...
 
class  CAbstractReactiveNavigationSystem
 This is the base class for any reactive navigation system. More...
 
class  CHolonomicLogFileRecord
 A base class for log records for different holonomic navigation methods. More...
 
class  CHolonomicND
 An implementation of the holonomic reactive navigation method "Nearness-Diagram". More...
 
class  CHolonomicVFF
 A holonomic reactive navigation method, based on Virtual Force Fields (VFF). More...
 
class  CLogFileRecord
 A class for storing, saving and loading a reactive navigation log record for the CReactiveNavigationSystem class. More...
 
class  CLogFileRecord_ND
 A class for storing extra information about the execution of CHolonomicND navigation. More...
 
class  CLogFileRecord_VFF
 A class for storing extra information about the execution of CHolonomicVFF navigation. More...
 
class  CParameterizedTrajectoryGenerator
 This is the base class for any user-defined PTG. More...
 
class  CPTG1
 A PTG for circular paths ("C" type PTG in papers). More...
 
class  CPTG2
 The "alpha-PTG", as named in PTG papers. More...
 
class  CPTG3
 A PTG for optimal paths of type "C|C,S" (as named in PTG papers). More...
 
class  CPTG4
 A PTG for optimal paths of type "C|C" , as named in PTG papers. More...
 
class  CPTG5
 A PTG for optimal paths of type "CS", as named in PTG papers. More...
 
class  CPTG6
 A variation of the alpha-PTG (with fixed parameters, for now) More...
 
class  CPTG7
 Trajectories with a fixed linear speed (V_MAX) and a first turning part followed by a straight segment. More...
 
class  CPTG_Dummy
 A dummy PTG, used mainly to call loadTrajectories() without knowing the exact derived PTG class and still be able to analyze the trajectories. More...
 
class  CReactiveInterfaceImplementation
 The pure virtual class that a user of CAbstractReactiveNavigationSystem-derived classes must implement in order to allow the navigator sense the world and send motion commands to the robot. More...
 
class  CReactiveNavigationSystem
 See base class CAbstractPTGBasedReactive for a description and instructions of use. More...
 
class  CReactiveNavigationSystem3D
 See base class CAbstractPTGBasedReactive for a description and instructions of use. More...
 
class  PlannerRRT_SE2_TPS
 TP Space-based RRT path planning for SE(2) (planar) robots. More...
 
class  PlannerSimple2D
 Searches for collision-free path in 2D occupancy grids for holonomic circular robots. More...
 
struct  PoseDistanceMetric
 Generic base for metrics. More...
 
struct  PoseDistanceMetric< TNodeSE2 >
 Pose metric for SE(2) More...
 
struct  PoseDistanceMetric< TNodeSE2_TP >
 Pose metric for SE(2) limited to a given PTG manifold. More...
 
struct  TCPoint
 Trajectory points in C-Space. More...
 
struct  TMoveEdgeSE2_TP
 An edge for the move tree used for planning in SE2 and TP-space. More...
 
class  TMoveTree
 This class contains motions and motions tree structures for the hybrid navigation algorithm. More...
 
struct  TNodeSE2
 
struct  TNodeSE2_TP
 
struct  TRobotShape
 A 3D robot shape stored as a "sliced" stack of 2D polygons, used for CReactiveNavigationSystem3D. More...
 

Typedefs

typedef TMoveTree< TNodeSE2_TP, TMoveEdgeSE2_TPTMoveTreeSE2_TP
 tree data structure for planning in SE2 within TP-Space manifolds
 
typedef std::vector< TCPointTCPointVector
 
typedef stlplus::smart_ptr< CParameterizedTrajectoryGeneratorCParameterizedTrajectoryGeneratorPtr
 Smart pointer to a PTG.
 
typedef std::vector< mrpt::nav::CParameterizedTrajectoryGenerator * > TListPTGs
 A list of PTGs (bare pointers)
 
typedef std::vector< mrpt::nav::CParameterizedTrajectoryGeneratorPtrTListPTGPtr
 A list of PTGs (smart pointers)
 

Enumerations

enum  THolonomicMethod { hmVIRTUAL_FORCE_FIELDS = 0 , hmSEARCH_FOR_BEST_GAP = 1 }
 The implemented reactive navigation methods. More...
 

Functions

NAV_IMPEXP::mrpt::utils::CStream & operator>> (mrpt::utils::CStream &in, CHolonomicLogFileRecordPtr &pObj)
 
NAV_IMPEXP::mrpt::utils::CStream & operator>> (mrpt::utils::CStream &in, CLogFileRecord_NDPtr &pObj)
 
NAV_IMPEXP::mrpt::utils::CStream & operator>> (mrpt::utils::CStream &in, CLogFileRecord_VFFPtr &pObj)
 
NAV_IMPEXP::mrpt::utils::CStream & operator>> (mrpt::utils::CStream &in, CLogFileRecordPtr &pObj)
 
mrpt::utils::CStream NAV_IMPEXPoperator<< (mrpt::utils::CStream &o, const mrpt::nav::TCPoint &p)
 
mrpt::utils::CStream NAV_IMPEXPoperator>> (mrpt::utils::CStream &i, mrpt::nav::TCPoint &p)
 
Motion planning utilities
void NAV_IMPEXP 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.
 

Variables

class NAV_IMPEXP CHolonomicLogFileRecord
 
struct NAV_IMPEXP CHolonomicLogFileRecordPtr
 
class NAV_IMPEXP CLogFileRecord_ND
 
struct NAV_IMPEXP CLogFileRecord_NDPtr
 
class NAV_IMPEXP CLogFileRecord_VFF
 
struct NAV_IMPEXP CLogFileRecord_VFFPtr
 
class NAV_IMPEXP CLogFileRecord
 
struct NAV_IMPEXP CLogFileRecordPtr
 

Typedef Documentation

◆ CParameterizedTrajectoryGeneratorPtr

Smart pointer to a PTG.

Definition at line 282 of file CParameterizedTrajectoryGenerator.h.

◆ TCPointVector

typedef std::vector<TCPoint> mrpt::nav::TCPointVector

Definition at line 41 of file CParameterizedTrajectoryGenerator.h.

◆ TListPTGPtr

A list of PTGs (smart pointers)

Definition at line 285 of file CParameterizedTrajectoryGenerator.h.

◆ TListPTGs

A list of PTGs (bare pointers)

Definition at line 284 of file CParameterizedTrajectoryGenerator.h.

Function Documentation

◆ operator<<()

mrpt::utils::CStream NAV_IMPEXP & mrpt::nav::operator<< ( mrpt::utils::CStream o,
const mrpt::nav::TCPoint p 
)

◆ operator>>() [1/5]

mrpt::utils::CStream NAV_IMPEXP & mrpt::nav::operator>> ( mrpt::utils::CStream i,
mrpt::nav::TCPoint p 
)

◆ operator>>() [2/5]

NAV_IMPEXP::mrpt::utils::CStream & mrpt::nav::operator>> ( mrpt::utils::CStream in,
CHolonomicLogFileRecordPtr pObj 
)

◆ operator>>() [3/5]

NAV_IMPEXP::mrpt::utils::CStream & mrpt::nav::operator>> ( mrpt::utils::CStream in,
CLogFileRecord_NDPtr pObj 
)

◆ operator>>() [4/5]

NAV_IMPEXP::mrpt::utils::CStream & mrpt::nav::operator>> ( mrpt::utils::CStream in,
CLogFileRecord_VFFPtr pObj 
)

◆ operator>>() [5/5]

NAV_IMPEXP::mrpt::utils::CStream & mrpt::nav::operator>> ( mrpt::utils::CStream in,
CLogFileRecordPtr pObj 
)

Variable Documentation

◆ CHolonomicLogFileRecord

Definition at line 19 of file CHolonomicLogFileRecord.h.

◆ CHolonomicLogFileRecordPtr

struct NAV_IMPEXP mrpt::nav::CHolonomicLogFileRecordPtr

Definition at line 19 of file CHolonomicLogFileRecord.h.

◆ CLogFileRecord

Definition at line 23 of file CLogFileRecord.h.

◆ CLogFileRecord_ND

Definition at line 19 of file CHolonomicND.h.

◆ CLogFileRecord_NDPtr

struct NAV_IMPEXP mrpt::nav::CLogFileRecord_NDPtr

Definition at line 19 of file CHolonomicND.h.

◆ CLogFileRecord_VFF

Definition at line 21 of file CHolonomicVFF.h.

◆ CLogFileRecord_VFFPtr

struct NAV_IMPEXP mrpt::nav::CLogFileRecord_VFFPtr

Definition at line 21 of file CHolonomicVFF.h.

◆ CLogFileRecordPtr

struct NAV_IMPEXP mrpt::nav::CLogFileRecordPtr

Definition at line 23 of file CLogFileRecord.h.




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