#include <mpp/ptgs/DiffDrive_C.h>

Inheritance diagram for mpp::ptg::DiffDrive_C:

Public Member Functions
	DiffDrive_C ()=default

	DiffDrive_C (const mrpt::config::CConfigFileBase &cfg, const std::string &sSection)

void	loadFromConfigFile (const mrpt::config::CConfigFileBase &cfg, const std::string &sSection) override

void	saveToConfigFile (mrpt::config::CConfigFileBase &cfg, const std::string &sSection) const override

std::string	getDescription () const override

bool	inverseMap_WS2TP (double x, double y, int &out_k, double &out_d, double tolerance_dist=0.10) const override

bool	PTG_IsIntoDomain (double x, double y) const override

void	ptgDiffDriveSteeringFunction (float alpha, float t, float x, float y, float phi, float &v, float &w) const override

void	loadDefaultParams () override

Public Member Functions inherited from mpp::ptg::DiffDriveCollisionGridBased
double	getMax_V () const

double	getMax_W () const

bool	inverseMap_WS2TP (double x, double y, int &out_k, double &out_d, double tolerance_dist=0.10) const override

mrpt::kinematics::CVehicleVelCmd::Ptr	directionToMotionCommand (uint16_t k) const override

mrpt::kinematics::CVehicleVelCmd::Ptr	getSupportedKinematicVelocityCommand () const override

void	setRefDistance (const double refDist) override

size_t	getPathStepCount (uint16_t k) const override

mrpt::math::TPose2D	getPathPose (uint16_t k, uint32_t step) const override

double	getPathDist (uint16_t k, uint32_t step) const override

bool	getPathStepForDist (uint16_t k, double dist, uint32_t &out_step) const override

double	getPathStepDuration () const override

double	getMaxLinVel () const override

double	getMaxAngVel () const override

void	updateTPObstacle (double ox, double oy, std::vector< double > &tp_obstacles) const override

void	updateTPObstacleSingle (double ox, double oy, uint16_t k, double &tp_obstacle_k) const override

void	onNewNavDynamicState () override

Public Member Functions inherited from mpp::ptg::SpeedTrimmablePTG
	SpeedTrimmablePTG ()=default

	~SpeedTrimmablePTG ()=default

Protected Attributes
double	K {0}

Protected Attributes inherited from mpp::ptg::DiffDriveCollisionGridBased
double	V_MAX {.0}

double	W_MAX {.0}

double	turningRadiusReference {.10}

std::vector< TCPointVector >	m_trajectory

double	m_resolution {0.05}

double	m_stepTimeDuration {0.01}

CCollisionGrid	m_collisionGrid

mrpt::containers::CDynamicGrid< TCellForLambdaFunction >	m_lambdaFunctionOptimizer

Additional Inherited Members
Public Attributes inherited from mpp::ptg::SpeedTrimmablePTG
double	trimmableSpeed_ = 1.0

Protected Types inherited from mpp::ptg::DiffDriveCollisionGridBased
using	TCollisionCell = std::vector< std::pair< uint16_t, float > >

Protected Member Functions inherited from mpp::ptg::DiffDriveCollisionGridBased
	DiffDriveCollisionGridBased ()

void	internal_processNewRobotShape () override

void	internal_initialize (const std::string &cacheFilename=std::string(), const bool verbose=true) override

void	internal_deinitialize () override

void	loadFromConfigFile (const mrpt::config::CConfigFileBase &cfg, const std::string &sSection) override

void	saveToConfigFile (mrpt::config::CConfigFileBase &cfg, const std::string &sSection) const override

void	loadDefaultParams () override

void	internal_readFromStream (mrpt::serialization::CArchive &in) override

void	internal_writeToStream (mrpt::serialization::CArchive &out) const override

void	simulateTrajectories (float max_time, float max_dist, float dt)

mrpt::math::TTwist2D	getPathTwist (uint16_t k, uint32_t step) const override

bool	saveColGridsToFile (const std::string &filename, const mrpt::math::CPolygon &computed_robotShape) const

bool	loadColGridsFromFile (const std::string &filename, const mrpt::math::CPolygon &current_robotShape)

Detailed Description

A PTG for circular paths ("C" type PTG in papers).

Compatible kinematics: differential-driven / Ackermann steering
Compatible robot shape: Arbitrary 2D polygon
PTG parameters: Use the app ptg-configurator

This PT generator functions are:

$v(\alpha) = V_{MAX} sign(K)$

$\omega(\alpha) = \dfrac{\alpha}{\pi} W_{MAX} sign(K)$

So, the radius of curvature of each trajectory is constant for each "alpha" value (the trajectory parameter):

$R(\alpha) = \dfrac{v}{\omega} = \dfrac{V_{MAX}}{W_{MAX}} \dfrac{\pi}{\alpha}$

from which a minimum radius of curvature can be set by selecting the appropriate values of V_MAX and W_MAX, knowning that $\alpha \in (-\pi,\pi)$ .

Note: [Before MRPT 1.5.0 this was named CPTG1]

Constructor & Destructor Documentation

◆ DiffDrive_C() [1/2]

mpp::ptg::DiffDrive_C::DiffDrive_C ( )

default

◆ DiffDrive_C() [2/2]

mpp::ptg::DiffDrive_C::DiffDrive_C	(	const mrpt::config::CConfigFileBase &	cfg,
		const std::string &	sSection
	)

inline

Member Function Documentation

◆ getDescription()

std::string mpp::ptg::DiffDrive_C::getDescription ( ) const

override

◆ inverseMap_WS2TP()

bool mpp::ptg::DiffDrive_C::inverseMap_WS2TP	(	double	x,
		double	y,
		int &	out_k,
		double &	out_d,
		double	tolerance_dist = `0.10`
	)		const

override

◆ loadDefaultParams()

void mpp::ptg::DiffDrive_C::loadDefaultParams ( )

override

◆ loadFromConfigFile()

void mpp::ptg::DiffDrive_C::loadFromConfigFile	(	const mrpt::config::CConfigFileBase &	cfg,
		const std::string &	sSection
	)

override

◆ PTG_IsIntoDomain()

bool mpp::ptg::DiffDrive_C::PTG_IsIntoDomain	(	double	x,
		double	y
	)		const

override

◆ ptgDiffDriveSteeringFunction()

void mpp::ptg::DiffDrive_C::ptgDiffDriveSteeringFunction	(	float	alpha,
		float	t,
		float	x,
		float	y,
		float	phi,
		float &	v,
		float &	w
	)		const

overridevirtual

The main method to be implemented in derived classes: it defines the differential-driven differential equation

Implements mpp::ptg::DiffDriveCollisionGridBased.

◆ saveToConfigFile()

void mpp::ptg::DiffDrive_C::saveToConfigFile	(	mrpt::config::CConfigFileBase &	cfg,
		const std::string &	sSection
	)		const

override

Member Data Documentation

◆ K

double mpp::ptg::DiffDrive_C::K {0}

protected

A generation parameter

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/DiffDrive_C.h

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ DiffDrive_C() [1/2]

◆ DiffDrive_C() [2/2]

Member Function Documentation

◆ getDescription()

◆ inverseMap_WS2TP()

◆ loadDefaultParams()

◆ loadFromConfigFile()

◆ PTG_IsIntoDomain()

◆ ptgDiffDriveSteeringFunction()

◆ saveToConfigFile()

Member Data Documentation

◆ K