mpp Namespace Reference

Namespaces
	ptg

Classes
class	CostEvaluator
class	CostEvaluatorCostMap
class	CostEvaluatorPreferredWaypoint
struct	EnqueuedCondition
struct	EnqueuedMotionCmd
class	LidarSource
class	MotionPrimitivesTree
struct	MoveEdgeSE2_TPS
class	MVSIM_VehicleInterface
class	NavEngine
struct	NavErrorReason
class	ObstacleSource
class	ObstacleSourceGenericSensor
class	ObstacleSourceStaticPointcloud
class	Planner
struct	PlannerInput
struct	PlannerOutput
struct	PoseDistanceMetric_Lie
struct	PoseDistanceMetric_Lie< SE2_KinState >
struct	PoseDistanceMetric_TPS
struct	PoseDistanceMetric_TPS< SE2_KinState >
struct	PoseOrPoint
struct	ProgressCallbackData
struct	RenderOptions
struct	RenderVehicleExtraResults
struct	RenderVehicleParams
struct	SE2_KinState
struct	SE2orR2_KinState
class	TargetApproachController
struct	TargetApproachInput
struct	TargetApproachOutput
class	TPS_Astar
struct	TPS_Astar_Parameters
struct	TPS_point
class	TrajectoriesAndRobotShape
struct	trajectory_state_t
struct	VehicleLocalizationState
class	VehicleMotionInterface
struct	VehicleOdometryState
struct	VisualizationOptions
struct	Waypoint
struct	WaypointSequence
struct	WaypointsRenderingParams
struct	WaypointStatus
struct	WaypointStatusSequence

Typedefs
using	astar_heuristic_t = std::function< cost_t(const SE2_KinState &, const SE2orR2_KinState &)>
using	distance_t = double
using	normalized_distance_t = double
using	ptg_step_t = uint32_t
using	cost_t = double
using	trajectory_index_t = int
using	ptg_index_t = size_t
using	normalized_speed_t = double
using	duration_seconds_t = double
template<typename T >
using	const_ref_t = std::optional< std::reference_wrapper< const T > >
using	MotionPrimitivesTreeSE2 = MotionPrimitivesTree< SE2_KinState, MoveEdgeSE2_TPS >
using	planner_progress_callback_t = std::function< void(const ProgressCallbackData &)>
using	ptg_t = mrpt::nav::CParameterizedTrajectoryGenerator
using	robot_radius_t = double
using	RobotShape = std::variant< mrpt::math::TPolygon2D, robot_radius_t, std::monostate >
using	trajectory_t = std::map< duration_seconds_t, trajectory_state_t >
using	waypoint_idx_t = std::size_t

Enumerations
enum	NavStatus : uint8_t { NavStatus::IDLE = 0, NavStatus::NAVIGATING, NavStatus::SUSPENDED, NavStatus::NAV_ERROR }
enum	NavError : uint8_t { NavError::NONE = 0, NavError::EMERGENCY_STOP, NavError::CANNOT_REACH_TARGET, NavError::OTHER }
enum	STOP_TYPE : uint8_t { STOP_TYPE::REGULAR = 0, STOP_TYPE::EMERGENCY }

Functions
bool	bestTrajectory (MoveEdgeSE2_TPS &npa, const TrajectoriesAndRobotShape &trs, std::optional< mrpt::system::COutputLogger *> logger=std::nullopt)
void	edge_interpolated_path (MoveEdgeSE2_TPS &edge, const TrajectoriesAndRobotShape &trs, const std::optional< mrpt::math::TPose2D > &reconstrRelPoseOpt=std::nullopt, const std::optional< size_t > &ptg_stepOpt=std::nullopt, const std::optional< size_t > &numSegments=std::nullopt)
void	refine_trajectory (const MotionPrimitivesTreeSE2::path_t &inPath, MotionPrimitivesTreeSE2::edge_sequence_t &edgesToRefine, const TrajectoriesAndRobotShape &ptgInfo)
void	refine_trajectory (const std::vector< MotionPrimitivesTreeSE2::node_t > &inPath, std::vector< MotionPrimitivesTreeSE2::edge_t > &edgesToRefine, const TrajectoriesAndRobotShape &ptgInfo)
auto	render_tree (const MotionPrimitivesTreeSE2 &tree, const PlannerInput &pi, const RenderOptions &ro) -> std::shared_ptr< mrpt::opengl::CSetOfObjects >
auto	render_vehicle (const RobotShape &rs, mrpt::opengl::CSetOfLines &outPolygon, const RenderVehicleParams &rvp={}) -> RenderVehicleExtraResults
distance_t	tp_obstacles_single_path (const trajectory_index_t tp_space_k_direction, const mrpt::maps::CPointsMap &localObstacles, const ptg_t &ptg)
trajectory_t	plan_to_trajectory (const MotionPrimitivesTreeSE2::edge_sequence_t &planEdges, const TrajectoriesAndRobotShape &ptgInfo, const duration_seconds_t samplePeriod=50e-3)
bool	save_to_txt (const trajectory_t &traj, const std::string &fileName)
void	transform_pc_square_clipping (const mrpt::maps::CPointsMap &inMap, const mrpt::poses::CPose2D &asSeenFrom, const double MAX_DIST_XY, mrpt::maps::CPointsMap &outMap, bool appendToOutMap=true)
void	viz_nav_plan (const PlannerOutput &plan, const VisualizationOptions &opts={}, const std::vector< CostEvaluator::Ptr > costEvaluators={})
void	viz_nav_plan_animation (const PlannerOutput &plan, const mpp::trajectory_t &traj, const RenderOptions &opts={}, const std::vector< CostEvaluator::Ptr > costEvaluators={})
bool	operator< (const TPS_point &a, const TPS_point &b)
bool	obstaclePointCollides (const mrpt::math::TPoint2D &obstacleWrtRobot, const TrajectoriesAndRobotShape &trs)

Typedef Documentation

astar_heuristic_t

using mpp::astar_heuristic_t = typedef std::function<cost_t( const SE2_KinState& , const SE2orR2_KinState& )>

const_ref_t

template<typename T >

using mpp::const_ref_t = typedef std::optional<std::reference_wrapper<const T> >

Wrapper to a const reference to T

cost_t

using mpp::cost_t = typedef double

Cost of a given trajectory or trajectory segment

distance_t

using mpp::distance_t = typedef double

Distances measured by PoseDistanceMetric, or "pseudodistances" of PTGs, that is, distances along SE(2), including a weighted distance for rotations

duration_seconds_t

using mpp::duration_seconds_t = typedef double

Time duration in seconds

MotionPrimitivesTreeSE2

using mpp::MotionPrimitivesTreeSE2 = typedef MotionPrimitivesTree<SE2_KinState, MoveEdgeSE2_TPS>

tree data structure for planning in SE2 within TP-Space manifolds

normalized_distance_t

using mpp::normalized_distance_t = typedef double

TPS normalized distances in range [0,1]

normalized_speed_t

using mpp::normalized_speed_t = typedef double

Normalized (or relative) speed in range [0,1]

planner_progress_callback_t

using mpp::planner_progress_callback_t = typedef std::function<void(const ProgressCallbackData&)>

ptg_index_t

using mpp::ptg_index_t = typedef size_t

ptg_step_t

using mpp::ptg_step_t = typedef uint32_t

TPS discrete time steps

ptg_t

using mpp::ptg_t = typedef mrpt::nav::CParameterizedTrajectoryGenerator

robot_radius_t

using mpp::robot_radius_t = typedef double

RobotShape

using mpp::RobotShape = typedef std::variant<mrpt::math::TPolygon2D, robot_radius_t, std::monostate>

trajectory_index_t

using mpp::trajectory_index_t = typedef int

Index of a trajectory in a PTG

trajectory_t

using mpp::trajectory_t = typedef std::map<duration_seconds_t, trajectory_state_t>

waypoint_idx_t

using mpp::waypoint_idx_t = typedef std::size_t

Enumeration Type Documentation

NavError

enum mpp::NavError : uint8_t

strong

Explains the reason for the navigation error.

Enumerator
NONE
EMERGENCY_STOP
CANNOT_REACH_TARGET
OTHER

NavStatus

enum mpp::NavStatus : uint8_t

strong

The different statuses for the navigation system.

Enumerator
IDLE
NAVIGATING
SUSPENDED
NAV_ERROR

STOP_TYPE

enum mpp::STOP_TYPE : uint8_t

strong

Enumerator
REGULAR
EMERGENCY

Function Documentation

bestTrajectory()

bool mpp::bestTrajectory	(	MoveEdgeSE2_TPS &	npa,
		const TrajectoriesAndRobotShape &	trs,
		std::optional< mrpt::system::COutputLogger *>	logger = std::nullopt
	)

Finds the best trajectory between two kinematic states, given the set of feasible trajectories.

Returns

true on success, false on no valid path found

edge_interpolated_path()

void mpp::edge_interpolated_path	(	MoveEdgeSE2_TPS &	edge,
		const TrajectoriesAndRobotShape &	trs,
		const std::optional< mrpt::math::TPose2D > &	reconstrRelPoseOpt = std::nullopt,
		const std::optional< size_t > &	ptg_stepOpt = std::nullopt,
		const std::optional< size_t > &	numSegments = std::nullopt
	)

obstaclePointCollides()

bool mpp::obstaclePointCollides	(	const mrpt::math::TPoint2D &	obstacleWrtRobot,
		const TrajectoriesAndRobotShape &	trs
	)

operator<()

bool mpp::operator< ( const TPS_point &  a, const TPS_point &  b  )

inline

plan_to_trajectory()

trajectory_t mpp::plan_to_trajectory	(	const MotionPrimitivesTreeSE2::edge_sequence_t &	planEdges,
		const TrajectoriesAndRobotShape &	ptgInfo,
		const duration_seconds_t	samplePeriod = 50e-3
	)

refine_trajectory() [1/2]

void mpp::refine_trajectory	(	const MotionPrimitivesTreeSE2::path_t &	inPath,
		MotionPrimitivesTreeSE2::edge_sequence_t &	edgesToRefine,
		const TrajectoriesAndRobotShape &	ptgInfo
	)

Takes a sequence of N states (the inPath) and the N-1 edges in between them, and recalculate the PTG parameters of all edges using the exact poses in the path nodes.

refine_trajectory() [2/2]

void mpp::refine_trajectory	(	const std::vector< MotionPrimitivesTreeSE2::node_t > &	inPath,
		std::vector< MotionPrimitivesTreeSE2::edge_t > &	edgesToRefine,
		const TrajectoriesAndRobotShape &	ptgInfo
	)

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

render_tree()

auto mpp::render_tree	(	const MotionPrimitivesTreeSE2 &	tree,
		const PlannerInput &	pi,
		const RenderOptions &	ro
	)		-> std::shared_ptr< mrpt::opengl::CSetOfObjects >

Gets a CSetOfObjects::Ptr visual representation of a motion tree

render_vehicle()

auto mpp::render_vehicle	(	const RobotShape &	rs,
		mrpt::opengl::CSetOfLines &	outPolygon,
		const RenderVehicleParams &	rvp = {}
	)		-> RenderVehicleExtraResults

Generates a polygon for the vehicle shape

save_to_txt()

bool mpp::save_to_txt	(	const trajectory_t &	traj,
		const std::string &	fileName
	)

tp_obstacles_single_path()

distance_t mpp::tp_obstacles_single_path	(	const trajectory_index_t	tp_space_k_direction,
		const mrpt::maps::CPointsMap &	localObstacles,
		const ptg_t &	ptg
	)

Returns TPS-distance (pseudometers, not normalized) to obstacles. ptg dynamic state must be updated by the caller.

transform_pc_square_clipping()

void mpp::transform_pc_square_clipping	(	const mrpt::maps::CPointsMap &	inMap,
		const mrpt::poses::CPose2D &	asSeenFrom,
		const double	MAX_DIST_XY,
		mrpt::maps::CPointsMap &	outMap,
		bool	appendToOutMap = true
	)

Returns local obstacles as seen from a given pose, clipped to a maximum distance.

viz_nav_plan()

void mpp::viz_nav_plan	(	const PlannerOutput &	plan,
		const VisualizationOptions &	opts = {},
		const std::vector< CostEvaluator::Ptr >	costEvaluators = {}
	)

viz_nav_plan_animation()

void mpp::viz_nav_plan_animation	(	const PlannerOutput &	plan,
		const mpp::trajectory_t &	traj,
		const RenderOptions &	opts = {},
		const std::vector< CostEvaluator::Ptr >	costEvaluators = {}
	)