Inheritance diagram for mpp::ptg::DiffDriveCollisionGridBased::CCollisionGrid:

Public Member Functions
	CCollisionGrid (float x_min, float x_max, float y_min, float y_max, float resolution, DiffDriveCollisionGridBased *parent)

	~CCollisionGrid () override=default

bool	saveToFile (mrpt::serialization::CArchive *fil, const mrpt::math::CPolygon &computed_robotShape) const

bool	loadFromFile (mrpt::serialization::CArchive *fil, const mrpt::math::CPolygon &current_robotShape)

const TCollisionCell &	getTPObstacle (const float obsX, const float obsY) const

void	updateCellInfo (const unsigned int icx, const unsigned int icy, const uint16_t k, const float dist)

Private Attributes
DiffDriveCollisionGridBased const *	m_parent

Detailed Description

An internal class for storing the collision grid

Constructor & Destructor Documentation

mpp::ptg::DiffDriveCollisionGridBased::CCollisionGrid::CCollisionGrid	(	float	x_min,
		float	x_max,
		float	y_min,
		float	y_max,
		float	resolution,
		DiffDriveCollisionGridBased *	parent
	)

inline

mpp::ptg::DiffDriveCollisionGridBased::CCollisionGrid::~CCollisionGrid ( )

overridedefault

const TCollisionCell& mpp::ptg::DiffDriveCollisionGridBased::CCollisionGrid::getTPObstacle	(	const float	obsX,
		const float	obsY
	)		const

For an obstacle (x,y), returns a vector with all the pairs (a,d) such as the robot collides

bool mpp::ptg::DiffDriveCollisionGridBased::CCollisionGrid::loadFromFile	(	mrpt::serialization::CArchive *	fil,
		const mrpt::math::CPolygon &	current_robotShape
	)

Load from file, true = OK

bool mpp::ptg::DiffDriveCollisionGridBased::CCollisionGrid::saveToFile	(	mrpt::serialization::CArchive *	fil,
		const mrpt::math::CPolygon &	computed_robotShape
	)		const

Save to file, true = OK

void mpp::ptg::DiffDriveCollisionGridBased::CCollisionGrid::updateCellInfo	(	const unsigned int	icx,
		const unsigned int	icy,
		const uint16_t	k,
		const float	dist
	)

Updates the info into a cell: It updates the cell only if the distance d for the path k is lower than the previous value:

Parameters

cellInfo	The index of the cell
k	The path index (alpha discreet value)
d	The distance (in TP-Space, range 0..1) to collision.

DiffDriveCollisionGridBased const* mpp::ptg::DiffDriveCollisionGridBased::CCollisionGrid::m_parent

private

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/ptgs/DiffDriveCollisionGridBased.h