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. | |
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
PTGs | The list of PTGs to calculate their grids. |
robotShape | The shape of the robot. |
cacheFilename | The 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". |
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