mrpt::slam::CPathPlanningCircularRobot Class Reference

Inheritance diagram for mrpt::slam::CPathPlanningCircularRobot:

Collaboration diagram for mrpt::slam::CPathPlanningCircularRobot:

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.

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

Default constructor.

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

Destructor.

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)

Exceptions:

std::exception

On any error

The aproximate robot radius used in the planification.

Default is 0.35m