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nav/tpspace/motion_planning_utils.h
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1/* +---------------------------------------------------------------------------+
2 | Mobile Robot Programming Toolkit (MRPT) |
3 | http://www.mrpt.org/ |
4 | |
5 | Copyright (c) 2005-2016, Individual contributors, see AUTHORS file |
6 | See: http://www.mrpt.org/Authors - All rights reserved. |
7 | Released under BSD License. See details in http://www.mrpt.org/License |
8 +---------------------------------------------------------------------------+ */
9#ifndef _motion_planning_utils_H
10#define _motion_planning_utils_H
11
13#include <mrpt/math/CPolygon.h>
15
16namespace mrpt
17{
18 namespace nav
19 {
20 /** @name Motion planning utilities
21 @{*/
22
23 /** Builds the collision grid for a given PTGs, or load it from a cache file.
24 * The collision grid must be calculated before calling CParameterizedTrajectoryGenerator::CColisionGrid::getTPObstacle
25 * \param PTGs The list of PTGs to calculate their grids.
26 * \param robotShape The shape of the robot.
27 * \param 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".
28 * \sa CReactiveNavigationSystem
29 * \ingroup nav_tpspace
30 */
33 const mrpt::math::CPolygon & robotShape,
34 const std::string & cacheFilename,
35 const bool verbose = true
36 );
37
38 /** @} */
39 }
40}
41
42
43#endif
44
A wrapper of a TPolygon2D class, implementing CSerializable.
Definition CPolygon.h:26
This is the base class for any user-defined PTG.
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.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.



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