#include <mpp/ptgs/HolonomicBlend.h>

Inheritance diagram for mpp::ptg::HolonomicBlend:

Classes
struct	InternalParams

Public Member Functions
	HolonomicBlend ()

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

	~HolonomicBlend () 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

bool	supportVelCmdNOP () const override

double	maxTimeInVelCmdNOP (int path_k) 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	onNewNavDynamicState () override

bool	supportSpeedAtTarget () const override

bool	inverseMap_WS2TP_with_Tramp (double x, double y, int &out_k, double &out_d, double &T_ramp) const

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

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

double	internal_getPathDist (uint32_t step, double T_ramp, double vxf, double vyf) const

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

	~SpeedTrimmablePTG ()=default

Static Public Member Functions
static double	calc_trans_distance_t_below_Tramp (double k2, double k4, double vxi, double vyi, double t)

static double	calc_trans_distance_t_below_Tramp_abc (double t, double a, double b, double c)

Static Public Attributes
static double	PATH_TIME_STEP

static double	eps

Protected Member Functions
InternalParams	internal_params_from_dir_and_dynstate (const double dir) const

void	internal_construct_exprs ()

void	internal_processNewRobotShape () override

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

void	internal_deinitialize () override

Protected Attributes
double	T_ramp_max = -1.0

double	V_MAX = -1.0

double	W_MAX = -1.0

double	turningRadiusReference = 0.30

std::string	expr_V

std::string	expr_W

std::string	expr_T_ramp

std::vector< int >	m_pathStepCountCache

mrpt::expr::CRuntimeCompiledExpression	m_expr_v

mrpt::expr::CRuntimeCompiledExpression	m_expr_w

double	m_expr_dir = 0

double	m_expr_target_dir = 0

double	m_expr_target_dist = 0

std::mutex	m_expr_mtx

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

Detailed Description

A PTG for circular-shaped robots with holonomic kinematics.

Compatible kinematics: Holonomic robot capable of velocity commands with a linear interpolation ("ramp "or "blending") time. See mrpt::kinematics::CVehicleSimul_Holo
Compatible robot shape: Circular robots
PTG parameters: Use the app ptg-configurator

Note: This class is an enhanced version of mrpt::nav::HolonomicBlend

Constructor & Destructor Documentation

◆ HolonomicBlend() [1/2]

mpp::ptg::HolonomicBlend::HolonomicBlend ( )

◆ HolonomicBlend() [2/2]

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

◆ ~HolonomicBlend()

mpp::ptg::HolonomicBlend::~HolonomicBlend ( )

override

Member Function Documentation

◆ calc_trans_distance_t_below_Tramp()

static double mpp::ptg::HolonomicBlend::calc_trans_distance_t_below_Tramp	(	double	k2,
		double	k4,
		double	vxi,
		double	vyi,
		double	t
	)

static

Axiliary function for computing the line-integral distance along the trajectory, handling special cases of 1/0:

◆ calc_trans_distance_t_below_Tramp_abc()

static double mpp::ptg::HolonomicBlend::calc_trans_distance_t_below_Tramp_abc	(	double	t,
		double	a,
		double	b,
		double	c
	)

static

Axiliary function for calc_trans_distance_t_below_Tramp() and others

◆ directionToMotionCommand()

mrpt::kinematics::CVehicleVelCmd::Ptr mpp::ptg::HolonomicBlend::directionToMotionCommand ( uint16_t k ) const

override

Converts a discretized "alpha" value into a feasible motion command or action. See derived classes for the meaning of these actions

◆ getDescription()

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

override

◆ getMaxAngVel()

double mpp::ptg::HolonomicBlend::getMaxAngVel ( ) const

inlineoverride

◆ getMaxLinVel()

double mpp::ptg::HolonomicBlend::getMaxLinVel ( ) const

inlineoverride

◆ getPathDist()

double mpp::ptg::HolonomicBlend::getPathDist	(	uint16_t	k,
		uint32_t	step
	)		const

override

◆ getPathPose()

mrpt::math::TPose2D mpp::ptg::HolonomicBlend::getPathPose	(	uint16_t	k,
		uint32_t	step
	)		const

override

◆ getPathStepCount()

size_t mpp::ptg::HolonomicBlend::getPathStepCount ( uint16_t k ) const

override

◆ getPathStepDuration()

double mpp::ptg::HolonomicBlend::getPathStepDuration ( ) const

override

◆ getPathStepForDist()

bool mpp::ptg::HolonomicBlend::getPathStepForDist	(	uint16_t	k,
		double	dist,
		uint32_t &	out_step
	)		const

override

◆ getSupportedKinematicVelocityCommand()

mrpt::kinematics::CVehicleVelCmd::Ptr mpp::ptg::HolonomicBlend::getSupportedKinematicVelocityCommand ( ) const

override

◆ internal_construct_exprs()

void mpp::ptg::HolonomicBlend::internal_construct_exprs ( )

protected

◆ internal_deinitialize()

void mpp::ptg::HolonomicBlend::internal_deinitialize ( )

overrideprotected

◆ internal_getPathDist()

double mpp::ptg::HolonomicBlend::internal_getPathDist	(	uint32_t	step,
		double	T_ramp,
		double	vxf,
		double	vyf
	)		const

◆ internal_initialize()

void mpp::ptg::HolonomicBlend::internal_initialize	(	const std::string &	cacheFilename = `std::string()`,
		const bool	verbose = `true`
	)

overrideprotected

◆ internal_params_from_dir_and_dynstate()

InternalParams mpp::ptg::HolonomicBlend::internal_params_from_dir_and_dynstate ( const double dir ) const

protected

◆ internal_processNewRobotShape()

void mpp::ptg::HolonomicBlend::internal_processNewRobotShape ( )

overrideprotected

◆ inverseMap_WS2TP()

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

override

◆ inverseMap_WS2TP_with_Tramp()

bool mpp::ptg::HolonomicBlend::inverseMap_WS2TP_with_Tramp	(	double	x,
		double	y,
		int &	out_k,
		double &	out_d,
		double &	T_ramp
	)		const

◆ loadDefaultParams()

void mpp::ptg::HolonomicBlend::loadDefaultParams ( )

override

◆ loadFromConfigFile()

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

override

◆ maxTimeInVelCmdNOP()

double mpp::ptg::HolonomicBlend::maxTimeInVelCmdNOP ( int path_k ) const

override

◆ onNewNavDynamicState()

void mpp::ptg::HolonomicBlend::onNewNavDynamicState ( )

override

◆ PTG_IsIntoDomain()

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

override

◆ saveToConfigFile()

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

override

◆ supportSpeedAtTarget()

bool mpp::ptg::HolonomicBlend::supportSpeedAtTarget ( ) const

inlineoverride

◆ supportVelCmdNOP()

bool mpp::ptg::HolonomicBlend::supportVelCmdNOP ( ) const

override

◆ updateTPObstacle()

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

override

◆ updateTPObstacleSingle()

void mpp::ptg::HolonomicBlend::updateTPObstacleSingle	(	double	ox,
		double	oy,
		uint16_t	k,
		double &	tp_obstacle_k
	)		const

override

Member Data Documentation

◆ eps

double mpp::ptg::HolonomicBlend::eps

static

Mathematical "epsilon", to detect ill-conditioned situations (e.g. 1/0) (Default: 1e-4)

◆ expr_T_ramp

std::string mpp::ptg::HolonomicBlend::expr_T_ramp

protected

◆ expr_V

std::string mpp::ptg::HolonomicBlend::expr_V

protected

◆ expr_W

std::string mpp::ptg::HolonomicBlend::expr_W

protected

◆ m_expr_dir

double mpp::ptg::HolonomicBlend::m_expr_dir = 0

protected

◆ m_expr_mtx

std::mutex mpp::ptg::HolonomicBlend::m_expr_mtx

protected

◆ m_expr_target_dir

double mpp::ptg::HolonomicBlend::m_expr_target_dir = 0

protected

◆ m_expr_target_dist

double mpp::ptg::HolonomicBlend::m_expr_target_dist = 0

protected

◆ m_expr_v

mrpt::expr::CRuntimeCompiledExpression mpp::ptg::HolonomicBlend::m_expr_v

protected

◆ m_expr_w

mrpt::expr::CRuntimeCompiledExpression mpp::ptg::HolonomicBlend::m_expr_w

protected

◆ m_pathStepCountCache

std::vector<int> mpp::ptg::HolonomicBlend::m_pathStepCountCache

mutableprotected

◆ PATH_TIME_STEP

double mpp::ptg::HolonomicBlend::PATH_TIME_STEP

static

Duration of each PTG "step" (default: 10e-3=10 ms)

◆ T_ramp_max

double mpp::ptg::HolonomicBlend::T_ramp_max = -1.0

protected

◆ turningRadiusReference

double mpp::ptg::HolonomicBlend::turningRadiusReference = 0.30

protected

◆ V_MAX

double mpp::ptg::HolonomicBlend::V_MAX = -1.0

protected

◆ W_MAX

double mpp::ptg::HolonomicBlend::W_MAX = -1.0

protected

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/HolonomicBlend.h

Classes

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ HolonomicBlend() [1/2]

◆ HolonomicBlend() [2/2]

◆ ~HolonomicBlend()

Member Function Documentation

◆ calc_trans_distance_t_below_Tramp()

◆ calc_trans_distance_t_below_Tramp_abc()

◆ directionToMotionCommand()

◆ getDescription()

◆ getMaxAngVel()

◆ getMaxLinVel()

◆ getPathDist()

◆ getPathPose()

◆ getPathStepCount()

◆ getPathStepDuration()

◆ getPathStepForDist()

◆ getSupportedKinematicVelocityCommand()

◆ internal_construct_exprs()

◆ internal_deinitialize()

◆ internal_getPathDist()

◆ internal_initialize()

◆ internal_params_from_dir_and_dynstate()

◆ internal_processNewRobotShape()

◆ inverseMap_WS2TP()

◆ inverseMap_WS2TP_with_Tramp()

◆ loadDefaultParams()

◆ loadFromConfigFile()

◆ maxTimeInVelCmdNOP()

◆ onNewNavDynamicState()

◆ PTG_IsIntoDomain()

◆ saveToConfigFile()

◆ supportSpeedAtTarget()

◆ supportVelCmdNOP()

◆ updateTPObstacle()

◆ updateTPObstacleSingle()

Member Data Documentation

◆ eps

◆ expr_T_ramp

◆ expr_V

◆ expr_W

◆ m_expr_dir

◆ m_expr_mtx

◆ m_expr_target_dir

◆ m_expr_target_dist

◆ m_expr_v

◆ m_expr_w

◆ m_pathStepCountCache

◆ PATH_TIME_STEP

◆ T_ramp_max

◆ turningRadiusReference

◆ V_MAX

◆ W_MAX