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CPathPlanningMethod.h

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00001 /* +---------------------------------------------------------------------------+
00002    |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
00003    |                                                                           |
00004    |                   http://mrpt.sourceforge.net/                            |
00005    |                                                                           |
00006    |   Copyright (C) 2005-2011  University of Malaga                           |
00007    |                                                                           |
00008    |    This software was written by the Machine Perception and Intelligent    |
00009    |      Robotics Lab, University of Malaga (Spain).                          |
00010    |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
00011    |                                                                           |
00012    |  This file is part of the MRPT project.                                   |
00013    |                                                                           |
00014    |     MRPT is free software: you can redistribute it and/or modify          |
00015    |     it under the terms of the GNU General Public License as published by  |
00016    |     the Free Software Foundation, either version 3 of the License, or     |
00017    |     (at your option) any later version.                                   |
00018    |                                                                           |
00019    |   MRPT is distributed in the hope that it will be useful,                 |
00020    |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
00021    |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
00022    |     GNU General Public License for more details.                          |
00023    |                                                                           |
00024    |     You should have received a copy of the GNU General Public License     |
00025    |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
00026    |                                                                           |
00027    +---------------------------------------------------------------------------+ */
00028 #ifndef CPathPlanningMethod_H
00029 #define CPathPlanningMethod_H
00030 
00031 #include <mrpt/utils/CDebugOutputCapable.h>
00032 #include <mrpt/slam/COccupancyGridMap2D.h>
00033 #include <mrpt/poses/CPoint2D.h>
00034 
00035 #include <mrpt/slam/link_pragmas.h>
00036 
00037 namespace mrpt
00038 {
00039 namespace slam
00040 {
00041         /** A virtual base class for computing the optimal path for a robot
00042          *        from a origin location to a target point. See derived classes for
00043          *    implementations.
00044      *
00045          * \sa CDebugOutputCapable
00046          */
00047         class SLAM_IMPEXP CPathPlanningMethod : public mrpt::utils::CDebugOutputCapable
00048         {
00049         public:
00050                 /** Default constructor
00051                   */
00052                 CPathPlanningMethod();
00053 
00054                 /** Destructor
00055                  */
00056                 virtual ~CPathPlanningMethod()
00057                 {
00058                 }
00059 
00060                 /** The maximum occupancy probability to consider a cell as an obstacle, default=0.5
00061                   */
00062                 float   occupancyThreshold;
00063 
00064                 /** The minimum distance between points in the returned found path (default=0.4); Notice
00065                   *  that full grid resolution is used in path finding, this is only a way to reduce the
00066                   *  amount of redundant information to be returned.
00067                   */
00068                 float   minStepInReturnedPath;
00069 
00070                 /** This method compute the optimal path for a circular robot, in the given
00071                   *   occupancy grid map, from the origin location to a target point.
00072                   * The options and additional parameters to this method can be set with
00073                   *   member configuration variables.
00074                   *
00075                   * \param map          [IN] The occupancy gridmap used to the planning.
00076                   * \param origin       [IN] The starting pose of the robot, in coordinates of "map".
00077                   * \param target       [IN] The desired target pose for the robot, in coordinates of "map".
00078                   * \param path         [OUT] The found path, in global coordinates relative to "map".
00079                   * \param notFound     [OUT] Will be true if no path has been found.
00080                   * \param maxSearchPathLength [IN] The maximum path length to search for, in meters (-1 = no limit)
00081                   *
00082                   * \exception std::exception On any error
00083                   */
00084                 virtual void  computePath(
00085                                 const COccupancyGridMap2D       &theMap,
00086                                 const CPose2D                           &origin,
00087                                 const CPose2D                           &target,
00088                                 std::deque<math::TPoint2D>      &path,
00089                                 bool                                            &notFound,
00090                                 float                                           maxSearchPathLength = -1
00091                                 ) const = 0;
00092 
00093         };
00094 
00095         } // End of namespace
00096 } // End of namespace
00097 
00098 #endif



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