mpp::TPS_Astar Class Reference

#include <mpp/algos/TPS_Astar.h>

Inheritance diagram for mpp::TPS_Astar:

Classes
struct	Node
struct	NodeCoords
struct	NodeCoordsHash
struct	NodePtr
struct	path_to_neighbor_t

Public Member Functions
	TPS_Astar ()
virtual	~TPS_Astar ()=default
PlannerOutput	plan (const PlannerInput &in) override
mrpt::containers::yaml	params_as_yaml () override
void	params_from_yaml (const mrpt::containers::yaml &c) override
cost_t	default_heuristic (const SE2_KinState &from, const SE2orR2_KinState &goal) const
cost_t	default_heuristic_SE2 (const SE2_KinState &from, const mrpt::math::TPose2D &goal) const
cost_t	default_heuristic_R2 (const SE2_KinState &from, const mrpt::math::TPoint2D &goal) const
Public Member Functions inherited from mpp::Planner
	Planner ()=default
	~Planner ()
mrpt::system::CTimeLogger &	profiler_ ()
void	attachExternalProfiler_ (mrpt::system::CTimeLogger &p)
cost_t	cost_path_segment (const MoveEdgeSE2_TPS &edge) const

Public Attributes
TPS_Astar_Parameters	params_
astar_heuristic_t	heuristic
Public Attributes inherited from mpp::Planner
std::vector< CostEvaluator::Ptr >	costEvaluators_
planner_progress_callback_t	progressCallback_
duration_seconds_t	progressCallbackCallPeriod_ = 0.1

Private Types
using	nodes_with_desired_speed_t = std::unordered_map< NodeCoords, normalized_speed_t, NodeCoordsHash >
using	absolute_cell_index_t = size_t
using	list_paths_to_neighbors_t = std::vector< path_to_neighbor_t >

Private Member Functions
absolute_cell_index_t	nodeCoordsToAbsIndex (const NodeCoords &n) const
Node &	getOrCreateNodeByPose (const mpp::SE2_KinState &p, mrpt::graphs::TNodeID &nextFreeId)
NodeCoords	nodeGridCoords (const mrpt::math::TPose2D &p) const
	throws on out of grid limits. More...
NodeCoords	nodeGridCoords (const mrpt::math::TPoint2D &p) const
list_paths_to_neighbors_t	find_feasible_paths_to_neighbors (const Node &from, const TrajectoriesAndRobotShape &trs, const SE2orR2_KinState &goalState, const std::vector< mrpt::maps::CPointsMap::Ptr > &globalObstacles, double MAX_XY_OBSTACLES_CLIPPING_DIST, const nodes_with_desired_speed_t &nodesWithSpeed)
mrpt::maps::CPointsMap::Ptr	cached_local_obstacles (const mrpt::math::TPose2D &queryPose, const std::vector< mrpt::maps::CPointsMap::Ptr > &globalObstacles, double MAX_PTG_XY_DIST)

Private Attributes
mrpt::poses::CPose2DGridTemplate< Node >	grid_

Detailed Description

Uses a SE(2) lattice to run an A* algorithm to find a kinematicaly feasible path from "A" to "B" using a set of trajectories in the form of PTGs.

Member Typedef Documentation

absolute_cell_index_t

using mpp::TPS_Astar::absolute_cell_index_t = size_t

private

list_paths_to_neighbors_t

using mpp::TPS_Astar::list_paths_to_neighbors_t = std::vector<path_to_neighbor_t>

private

nodes_with_desired_speed_t

using mpp::TPS_Astar::nodes_with_desired_speed_t = std::unordered_map<NodeCoords, normalized_speed_t, NodeCoordsHash>

private

Constructor & Destructor Documentation

TPS_Astar()

mpp::TPS_Astar::TPS_Astar

(

)

~TPS_Astar()

virtual mpp::TPS_Astar::~TPS_Astar ( )

virtualdefault

Member Function Documentation

cached_local_obstacles()

mrpt::maps::CPointsMap::Ptr mpp::TPS_Astar::cached_local_obstacles ( const mrpt::math::TPose2D &  queryPose, const std::vector< mrpt::maps::CPointsMap::Ptr > &  globalObstacles, double  MAX_PTG_XY_DIST  )

private

default_heuristic()

cost_t mpp::TPS_Astar::default_heuristic	(	const SE2_KinState &	from,
		const SE2orR2_KinState &	goal
	)		const

default_heuristic_R2()

cost_t mpp::TPS_Astar::default_heuristic_R2	(	const SE2_KinState &	from,
		const mrpt::math::TPoint2D &	goal
	)		const

default_heuristic_SE2()

cost_t mpp::TPS_Astar::default_heuristic_SE2	(	const SE2_KinState &	from,
		const mrpt::math::TPose2D &	goal
	)		const

find_feasible_paths_to_neighbors()

list_paths_to_neighbors_t mpp::TPS_Astar::find_feasible_paths_to_neighbors ( const Node &  from, const TrajectoriesAndRobotShape &  trs, const SE2orR2_KinState &  goalState, const std::vector< mrpt::maps::CPointsMap::Ptr > &  globalObstacles, double  MAX_XY_OBSTACLES_CLIPPING_DIST, const nodes_with_desired_speed_t &  nodesWithSpeed  )

private

This generates a list of many potential neighbor cells to visit, subject to kinematic and dynamic limitations, and obstacle checking.

getOrCreateNodeByPose()

Node& mpp::TPS_Astar::getOrCreateNodeByPose ( const mpp::SE2_KinState &  p, mrpt::graphs::TNodeID &  nextFreeId  )

inlineprivate

throws on out of grid limits. Returns a ref to the node.

nodeCoordsToAbsIndex()

absolute_cell_index_t mpp::TPS_Astar::nodeCoordsToAbsIndex ( const NodeCoords &  n ) const

inlineprivate

nodeGridCoords() [1/2]

NodeCoords mpp::TPS_Astar::nodeGridCoords ( const mrpt::math::TPose2D &  p ) const

inlineprivate

throws on out of grid limits.

nodeGridCoords() [2/2]

NodeCoords mpp::TPS_Astar::nodeGridCoords ( const mrpt::math::TPoint2D &  p ) const

inlineprivate

params_as_yaml()

mrpt::containers::yaml mpp::TPS_Astar::params_as_yaml ( )

inlineoverridevirtual

Implements mpp::Planner.

params_from_yaml()

void mpp::TPS_Astar::params_from_yaml ( const mrpt::containers::yaml &  c )

inlineoverridevirtual

Implements mpp::Planner.

plan()

PlannerOutput mpp::TPS_Astar::plan ( const PlannerInput &  in )

overridevirtual

Implements mpp::Planner.

Member Data Documentation

grid_

mrpt::poses::CPose2DGridTemplate<Node> mpp::TPS_Astar::grid_

private

heuristic

astar_heuristic_t mpp::TPS_Astar::heuristic

Initial value:

= astar_heuristic_t(
        [this](const SE2_KinState& from, const SE2orR2_KinState& goal) {
            return this->default_heuristic(from, goal);
        })

params_

TPS_Astar_Parameters mpp::TPS_Astar::params_

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The documentation for this class was generated from the following file:

• /home/docs/checkouts/readthedocs.org/user_builds/selfdriving/checkouts/latest/mrpt_path_planning/include/mpp/algos/TPS_Astar.h