From 65a03b031310e53666a99312327e53323cd3eb4c Mon Sep 17 00:00:00 2001 From: haider8645 Date: Thu, 28 Nov 2024 08:12:42 +0000 Subject: [PATCH] =?UTF-8?q?Deploying=20to=20gh-pages=20from=20@=20dfki-ric?= =?UTF-8?q?/ugv=5Fnav4d@33da0301c5d72cd0f36756b9c8648058d55d9878=20?= =?UTF-8?q?=F0=9F=9A=80?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- EnvironmentXYZTheta_8hpp_source.html | 111 +++++++++--------- PlannerGui_8h_source.html | 14 ++- Planner_8hpp_source.html | 59 +++++----- classDiscreteTheta.html | 2 +- ...f645ec5cc1055db635daa81ece0d56_icgraph.map | 2 +- ...f645ec5cc1055db635daa81ece0d56_icgraph.md5 | 2 +- ..._nav4d_1_1EnvironmentXYZTheta-members.html | 2 +- classugv__nav4d_1_1EnvironmentXYZTheta.html | 24 ++-- ...ddb0bcc7fb30da66295b26b3a09779_icgraph.map | 2 +- ...ddb0bcc7fb30da66295b26b3a09779_icgraph.md5 | 2 +- ...054b616fdafb39010329cfbd62f1e0b_cgraph.map | 0 ...054b616fdafb39010329cfbd62f1e0b_cgraph.md5 | 0 ...054b616fdafb39010329cfbd62f1e0b_cgraph.png | Bin ...c40da7aff8102dcd405d021dae49a5_icgraph.map | 2 +- ...c40da7aff8102dcd405d021dae49a5_icgraph.md5 | 2 +- ...5b560fb96c0528b4bd62d58d2a416b_icgraph.map | 2 +- ...5b560fb96c0528b4bd62d58d2a416b_icgraph.md5 | 2 +- classugv__nav4d_1_1Planner-members.html | 2 +- classugv__nav4d_1_1Planner.html | 14 ++- classugv__nav4d_1_1PreComputedMotions.html | 2 +- ...f5d501aa5bc8cf8c0adddc488bd0f9_icgraph.map | 2 +- ...f5d501aa5bc8cf8c0adddc488bd0f9_icgraph.md5 | 2 +- functions_func.html | 4 +- functions_g.html | 2 +- functions_p.html | 6 +- index.html | 4 +- 26 files changed, 138 insertions(+), 128 deletions(-) rename classugv__nav4d_1_1EnvironmentXYZTheta_a858dd8428ab48e6d31f6d8fbe11535e1_cgraph.map => classugv__nav4d_1_1EnvironmentXYZTheta_ab054b616fdafb39010329cfbd62f1e0b_cgraph.map (100%) rename classugv__nav4d_1_1EnvironmentXYZTheta_a858dd8428ab48e6d31f6d8fbe11535e1_cgraph.md5 => classugv__nav4d_1_1EnvironmentXYZTheta_ab054b616fdafb39010329cfbd62f1e0b_cgraph.md5 (100%) rename classugv__nav4d_1_1EnvironmentXYZTheta_a858dd8428ab48e6d31f6d8fbe11535e1_cgraph.png => classugv__nav4d_1_1EnvironmentXYZTheta_ab054b616fdafb39010329cfbd62f1e0b_cgraph.png (100%) diff --git a/EnvironmentXYZTheta_8hpp_source.html b/EnvironmentXYZTheta_8hpp_source.html index 8607e03..40f56a6 100644 --- a/EnvironmentXYZTheta_8hpp_source.html +++ b/EnvironmentXYZTheta_8hpp_source.html @@ -211,54 +211,53 @@
199 
200  std::vector<Motion> getMotions(const std::vector<int> &stateIDPath);
201 
-
202  void getTrajectory(const std::vector<int> &stateIDPath, std::vector<trajectory_follower::SubTrajectory> &result,
-
203  const Eigen::Vector3d &startPos, const Eigen::Vector3d &goalPos, const double& goalHeading,
-
204  const Eigen::Affine3d &plan2Body = Eigen::Affine3d::Identity());
-
205 
-
206  const PreComputedMotions& getAvailableMotions() const;
-
207 
-
209  void clear();
-
210 
-
211  void setTravConfig(const traversability_generator3d::TraversabilityConfig& cfg);
-
212 
-
215  void dijkstraComputeCost(const traversability_generator3d::TravGenNode* source, std::vector<double> &outDistances,
-
216  const double maxDist) const;
-
217 
-
220  void enablePathStatistics(bool enable);
-
221 
-
222 private:
-
223 
-
226  traversability_generator3d::TravGenNode* checkTraversableHeuristic(const maps::grid::Index sourceIndex, traversability_generator3d::TravGenNode* sourceNode,
-
227  const ugv_nav4d::Motion& motion, const maps::grid::TraversabilityMap3d< traversability_generator3d::TravGenNode* >& trMap);
-
228 
-
232  bool checkOrientationAllowed(const traversability_generator3d::TravGenNode* node,
-
233  const base::Orientation2D& orientation) const;
+
202  void getTrajectory(const std::vector<int> &stateIDPath, std::vector<trajectory_follower::SubTrajectory> &result,
+
203  bool setZToZero, const Eigen::Vector3d &startPos, const Eigen::Vector3d &goalPos, const double& goalHeading, const Eigen::Affine3d &plan2Body = Eigen::Affine3d::Identity());
+
204 
+
205  const PreComputedMotions& getAvailableMotions() const;
+
206 
+
208  void clear();
+
209 
+
210  void setTravConfig(const traversability_generator3d::TraversabilityConfig& cfg);
+
211 
+
214  void dijkstraComputeCost(const traversability_generator3d::TravGenNode* source, std::vector<double> &outDistances,
+
215  const double maxDist) const;
+
216 
+
219  void enablePathStatistics(bool enable);
+
220 
+
221 private:
+
222 
+
225  traversability_generator3d::TravGenNode* checkTraversableHeuristic(const maps::grid::Index sourceIndex, traversability_generator3d::TravGenNode* sourceNode,
+
226  const ugv_nav4d::Motion& motion, const maps::grid::TraversabilityMap3d< traversability_generator3d::TravGenNode* >& trMap);
+
227 
+
231  bool checkOrientationAllowed(const traversability_generator3d::TravGenNode* node,
+
232  const base::Orientation2D& orientation) const;
+
233 
234 
-
235 
-
237  void precomputeCost();
-
238 
-
240  double getAvgSlope(std::vector<const traversability_generator3d::TravGenNode*> path) const;
-
241 
-
243  double getMaxSlope(std::vector<const traversability_generator3d::TravGenNode*> path) const;
+
236  void precomputeCost();
+
237 
+
239  double getAvgSlope(std::vector<const traversability_generator3d::TravGenNode*> path) const;
+
240 
+
242  double getMaxSlope(std::vector<const traversability_generator3d::TravGenNode*> path) const;
+
243 
244 
-
245 
-
247  double getHeuristicDistance(const Eigen::Vector3d& a, const Eigen::Vector3d& b) const;
-
248 
-
253  traversability_generator3d::TravGenNode* movementPossible(traversability_generator3d::TravGenNode* fromTravNode, const maps::grid::Index& fromIdx, const maps::grid::Index& toIdx);
-
254 
-
258  bool checkExpandTreadSafe(traversability_generator3d::TravGenNode * node);
-
259 
-
260  bool usePathStatistics;
-
261 
-
262  traversability_generator3d::TraversabilityConfig travConf;
-
263  sbpl_spline_primitives::SplinePrimitivesConfig primitiveConfig;
-
264 
-
265  unsigned int numAngles;
-
266 
-
267  Mobility mobilityConfig;
-
268 };
-
269 
-
270 }
+
246  double getHeuristicDistance(const Eigen::Vector3d& a, const Eigen::Vector3d& b) const;
+
247 
+
252  traversability_generator3d::TravGenNode* movementPossible(traversability_generator3d::TravGenNode* fromTravNode, const maps::grid::Index& fromIdx, const maps::grid::Index& toIdx);
+
253 
+
257  bool checkExpandTreadSafe(traversability_generator3d::TravGenNode * node);
+
258 
+
259  bool usePathStatistics;
+
260 
+
261  traversability_generator3d::TraversabilityConfig travConf;
+
262  sbpl_spline_primitives::SplinePrimitivesConfig primitiveConfig;
+
263 
+
264  unsigned int numAngles;
+
265 
+
266  Mobility mobilityConfig;
+
267 };
+
268 
+
269 }
DiscreteTheta.hpp
operator<<
std::ostream & operator<<(std::ostream &stream, const DiscreteTheta &angle)
Definition: DiscreteTheta.cpp:3
ObstacleMapGenerator3D.hpp
@@ -267,9 +266,9 @@
ugv_nav4d::EnvironmentXYZTheta
Definition: EnvironmentXYZTheta.hpp:25
ugv_nav4d::EnvironmentXYZTheta::robotHalfSize
Eigen::Vector3d robotHalfSize
Definition: EnvironmentXYZTheta.hpp:126
ugv_nav4d::EnvironmentXYZTheta::travNodeIdToDistance
std::vector< Distance > travNodeIdToDistance
Definition: EnvironmentXYZTheta.hpp:97
-
ugv_nav4d::EnvironmentXYZTheta::setTravConfig
void setTravConfig(const traversability_generator3d::TraversabilityConfig &cfg)
Definition: EnvironmentXYZTheta.cpp:1232
+
ugv_nav4d::EnvironmentXYZTheta::setTravConfig
void setTravConfig(const traversability_generator3d::TraversabilityConfig &cfg)
Definition: EnvironmentXYZTheta.cpp:1235
ugv_nav4d::EnvironmentXYZTheta::PrintState
virtual void PrintState(int stateID, bool bVerbose, FILE *fOut=0)
Definition: EnvironmentXYZTheta.cpp:924
-
ugv_nav4d::EnvironmentXYZTheta::getTraversabilityMap
const maps::grid::TraversabilityMap3d< traversability_generator3d::TravGenNode * > & getTraversabilityMap() const
Definition: EnvironmentXYZTheta.cpp:1143
+
ugv_nav4d::EnvironmentXYZTheta::getTraversabilityMap
const maps::grid::TraversabilityMap3d< traversability_generator3d::TravGenNode * > & getTraversabilityMap() const
Definition: EnvironmentXYZTheta.cpp:1146
ugv_nav4d::EnvironmentXYZTheta::startThetaNode
ThetaNode * startThetaNode
Definition: EnvironmentXYZTheta.hpp:101
ugv_nav4d::EnvironmentXYZTheta::getMotions
std::vector< Motion > getMotions(const std::vector< int > &stateIDPath)
Definition: EnvironmentXYZTheta.cpp:939
ugv_nav4d::EnvironmentXYZTheta::~EnvironmentXYZTheta
virtual ~EnvironmentXYZTheta()
Definition: EnvironmentXYZTheta.cpp:93
@@ -278,31 +277,31 @@
ugv_nav4d::EnvironmentXYZTheta::dijkstraComputeCost
void dijkstraComputeCost(const traversability_generator3d::TravGenNode *source, std::vector< double > &outDistances, const double maxDist) const
ugv_nav4d::EnvironmentXYZTheta::setStart
void setStart(const Eigen::Vector3d &startPos, double theta)
Definition: EnvironmentXYZTheta.cpp:346
ugv_nav4d::EnvironmentXYZTheta::GetStartHeuristic
virtual int GetStartHeuristic(int stateID)
heuristic estimate from start state to state with stateID
Definition: EnvironmentXYZTheta.cpp:495
-
ugv_nav4d::EnvironmentXYZTheta::getTravGen
traversability_generator3d::TraversabilityGenerator3d & getTravGen()
Definition: EnvironmentXYZTheta.cpp:1222
+
ugv_nav4d::EnvironmentXYZTheta::getTravGen
traversability_generator3d::TraversabilityGenerator3d & getTravGen()
Definition: EnvironmentXYZTheta.cpp:1225
ugv_nav4d::EnvironmentXYZTheta::SetAllPreds
virtual void SetAllPreds(CMDPSTATE *state)
Definition: EnvironmentXYZTheta.cpp:376
ugv_nav4d::EnvironmentXYZTheta::clear
void clear()
Definition: EnvironmentXYZTheta.cpp:58
ugv_nav4d::EnvironmentXYZTheta::searchGrid
maps::grid::TraversabilityMap3d< XYZNode * > searchGrid
Definition: EnvironmentXYZTheta.hpp:80
ugv_nav4d::EnvironmentXYZTheta::mlsGrid
std::shared_ptr< MLGrid > mlsGrid
Definition: EnvironmentXYZTheta.hpp:31
-
ugv_nav4d::EnvironmentXYZTheta::findObstacleNode
traversability_generator3d::TravGenNode * findObstacleNode(const traversability_generator3d::TravGenNode *travNode) const
Definition: EnvironmentXYZTheta.cpp:1238
+
ugv_nav4d::EnvironmentXYZTheta::findObstacleNode
traversability_generator3d::TravGenNode * findObstacleNode(const traversability_generator3d::TravGenNode *travNode) const
Definition: EnvironmentXYZTheta.cpp:1241
ugv_nav4d::EnvironmentXYZTheta::SizeofCreatedEnv
virtual int SizeofCreatedEnv()
Definition: EnvironmentXYZTheta.cpp:914
ugv_nav4d::EnvironmentXYZTheta::GetSuccs
virtual void GetSuccs(int SourceStateID, std::vector< int > *SuccIDV, std::vector< int > *CostV)
ugv_nav4d::EnvironmentXYZTheta::travGen
traversability_generator3d::TraversabilityGenerator3d travGen
Definition: EnvironmentXYZTheta.hpp:29
ugv_nav4d::EnvironmentXYZTheta::setInitialPatch
void setInitialPatch(const Eigen::Affine3d &ground2Mls, double patchRadius)
Definition: EnvironmentXYZTheta.cpp:98
-
ugv_nav4d::EnvironmentXYZTheta::getTrajectory
void getTrajectory(const std::vector< int > &stateIDPath, std::vector< trajectory_follower::SubTrajectory > &result, const Eigen::Vector3d &startPos, const Eigen::Vector3d &goalPos, const double &goalHeading, const Eigen::Affine3d &plan2Body=Eigen::Affine3d::Identity())
Definition: EnvironmentXYZTheta.cpp:952
ugv_nav4d::EnvironmentXYZTheta::GetPreds
virtual void GetPreds(int TargetStateID, std::vector< int > *PredIDV, std::vector< int > *CostV)
Definition: EnvironmentXYZTheta.cpp:908
-
ugv_nav4d::EnvironmentXYZTheta::getAvailableMotions
const PreComputedMotions & getAvailableMotions() const
Definition: EnvironmentXYZTheta.cpp:1158
+
ugv_nav4d::EnvironmentXYZTheta::getAvailableMotions
const PreComputedMotions & getAvailableMotions() const
Definition: EnvironmentXYZTheta.cpp:1161
ugv_nav4d::EnvironmentXYZTheta::XYZNode
maps::grid::TraversabilityNode< PlannerData > XYZNode
Definition: EnvironmentXYZTheta.hpp:77
ugv_nav4d::EnvironmentXYZTheta::GetFromToHeuristic
virtual int GetFromToHeuristic(int FromStateID, int ToStateID)
heuristic estimate from state FromStateID to state ToStateID
Definition: EnvironmentXYZTheta.cpp:391
ugv_nav4d::EnvironmentXYZTheta::checkStartGoalNode
bool checkStartGoalNode(const std::string &name, traversability_generator3d::TravGenNode *node, double theta)
Definition: EnvironmentXYZTheta.cpp:221
ugv_nav4d::EnvironmentXYZTheta::startXYZNode
XYZNode * startXYZNode
Definition: EnvironmentXYZTheta.hpp:102
ugv_nav4d::EnvironmentXYZTheta::PrintEnv_Config
virtual void PrintEnv_Config(FILE *fOut)
Definition: EnvironmentXYZTheta.cpp:919
-
ugv_nav4d::EnvironmentXYZTheta::getObstacleMap
const maps::grid::TraversabilityMap3d< traversability_generator3d::TravGenNode * > & getObstacleMap() const
Definition: EnvironmentXYZTheta.cpp:1148
+
ugv_nav4d::EnvironmentXYZTheta::getObstacleMap
const maps::grid::TraversabilityMap3d< traversability_generator3d::TravGenNode * > & getObstacleMap() const
Definition: EnvironmentXYZTheta.cpp:1151
ugv_nav4d::EnvironmentXYZTheta::obstacleStartNode
traversability_generator3d::TravGenNode * obstacleStartNode
Definition: EnvironmentXYZTheta.hpp:107
ugv_nav4d::EnvironmentXYZTheta::SetAllActionsandAllOutcomes
virtual void SetAllActionsandAllOutcomes(CMDPSTATE *state)
Definition: EnvironmentXYZTheta.cpp:384
ugv_nav4d::EnvironmentXYZTheta::enablePathStatistics
void enablePathStatistics(bool enable)
Definition: EnvironmentXYZTheta.cpp:491
ugv_nav4d::EnvironmentXYZTheta::obsGen
ObstacleMapGenerator3D obsGen
Definition: EnvironmentXYZTheta.hpp:30
ugv_nav4d::EnvironmentXYZTheta::updateMap
void updateMap(std::shared_ptr< MLGrid > mlsGrid)
Definition: EnvironmentXYZTheta.cpp:104
-
ugv_nav4d::EnvironmentXYZTheta::findTrajectoryOutOfObstacle
std::shared_ptr< trajectory_follower::SubTrajectory > findTrajectoryOutOfObstacle(const Eigen::Vector3d &start, double theta, const Eigen::Affine3d &ground2Body)
Definition: EnvironmentXYZTheta.cpp:1264
+
ugv_nav4d::EnvironmentXYZTheta::getTrajectory
void getTrajectory(const std::vector< int > &stateIDPath, std::vector< trajectory_follower::SubTrajectory > &result, bool setZToZero, const Eigen::Vector3d &startPos, const Eigen::Vector3d &goalPos, const double &goalHeading, const Eigen::Affine3d &plan2Body=Eigen::Affine3d::Identity())
Definition: EnvironmentXYZTheta.cpp:952
+
ugv_nav4d::EnvironmentXYZTheta::findTrajectoryOutOfObstacle
std::shared_ptr< trajectory_follower::SubTrajectory > findTrajectoryOutOfObstacle(const Eigen::Vector3d &start, double theta, const Eigen::Affine3d &ground2Body)
Definition: EnvironmentXYZTheta.cpp:1267
ugv_nav4d::EnvironmentXYZTheta::InitializeMDPCfg
virtual bool InitializeMDPCfg(MDPConfig *MDPCfg)
Definition: EnvironmentXYZTheta.cpp:516
ugv_nav4d::EnvironmentXYZTheta::EnvironmentXYZTheta
EnvironmentXYZTheta(std::shared_ptr< MLGrid > mlsGrid, const traversability_generator3d::TraversabilityConfig &travConf, const sbpl_spline_primitives::SplinePrimitivesConfig &primitiveConfig, const Mobility &mobilityConfig)
Definition: EnvironmentXYZTheta.cpp:30
ugv_nav4d::EnvironmentXYZTheta::GetSuccs
virtual void GetSuccs(int SourceStateID, std::vector< int > *SuccIDV, std::vector< int > *CostV, std::vector< size_t > &motionIdV)
@@ -315,9 +314,9 @@
ugv_nav4d::EnvironmentXYZTheta::obstacleCheck
bool obstacleCheck(const maps::grid::Vector3d &pos, double theta, const ObstacleMapGenerator3D &obsGen, const traversability_generator3d::TraversabilityConfig &travConf, const sbpl_spline_primitives::SplinePrimitivesConfig &splineConf, const std::string &nodeName="node")
Definition: EnvironmentXYZTheta.cpp:160
ugv_nav4d::EnvironmentXYZTheta::getMotion
const Motion & getMotion(const int fromStateID, const int toStateID)
Definition: EnvironmentXYZTheta.cpp:406
ugv_nav4d::EnvironmentXYZTheta::MLGrid
traversability_generator3d::TraversabilityGenerator3d::MLGrid MLGrid
Definition: EnvironmentXYZTheta.hpp:27
-
ugv_nav4d::EnvironmentXYZTheta::getMlsMap
const MLGrid & getMlsMap() const
Definition: EnvironmentXYZTheta.cpp:1153
+
ugv_nav4d::EnvironmentXYZTheta::getMlsMap
const MLGrid & getMlsMap() const
Definition: EnvironmentXYZTheta.cpp:1156
ugv_nav4d::EnvironmentXYZTheta::createNewStateFromPose
ThetaNode * createNewStateFromPose(const std::string &name, const Eigen::Vector3d &pos, double theta, ugv_nav4d::EnvironmentXYZTheta::XYZNode **xyzBackNode)
Definition: EnvironmentXYZTheta.cpp:130
-
ugv_nav4d::EnvironmentXYZTheta::getObstacleGen
traversability_generator3d::TraversabilityGenerator3d & getObstacleGen()
Definition: EnvironmentXYZTheta.cpp:1227
+
ugv_nav4d::EnvironmentXYZTheta::getObstacleGen
traversability_generator3d::TraversabilityGenerator3d & getObstacleGen()
Definition: EnvironmentXYZTheta.cpp:1230
ugv_nav4d::EnvironmentXYZTheta::goalXYZNode
XYZNode * goalXYZNode
Definition: EnvironmentXYZTheta.hpp:104
ugv_nav4d::EnvironmentXYZTheta::createNewState
ThetaNode * createNewState(const DiscreteTheta &curTheta, EnvironmentXYZTheta::XYZNode *curNode)
Definition: EnvironmentXYZTheta.cpp:528
ugv_nav4d::EnvironmentXYZTheta::getStatePosition
maps::grid::Vector3d getStatePosition(const int stateID) const
Definition: EnvironmentXYZTheta.cpp:397
diff --git a/PlannerGui_8h_source.html b/PlannerGui_8h_source.html index da08aca..1f3c1e1 100644 --- a/PlannerGui_8h_source.html +++ b/PlannerGui_8h_source.html @@ -159,15 +159,17 @@
113  traversability_generator3d::TraversabilityConfig travConfig;
114  ugv_nav4d::PlannerConfig plannerConfig;
115  std::shared_ptr<ugv_nav4d::Planner> planner; //is pointer cause of lazy init
-
116  std::vector<trajectory_follower::SubTrajectory> path;
-
117 };
+
116  std::vector<trajectory_follower::SubTrajectory> path;
+
117  std::vector<trajectory_follower::SubTrajectory> beautifiedPath;
+
118 
+
119 };
PlannerGui
Definition: PlannerGui.h:32
-
PlannerGui::show
void show()
Definition: PlannerGui.cpp:485
+
PlannerGui::show
void show()
Definition: PlannerGui.cpp:490
PlannerGui::PlannerGui
PlannerGui(int argc, char **argv)
Definition: PlannerGui.cpp:54
PlannerGui::plannerDone
void plannerDone()
-
PlannerGui::plannerIsDone
void plannerIsDone()
Definition: PlannerGui.cpp:605
-
PlannerGui::plan
void plan(const base::Pose &start, const base::Pose &goal)
Definition: PlannerGui.cpp:638
-
PlannerGui::picked
void picked(float x, float y, float z, int buttonMask, int modifierMask)
Definition: PlannerGui.cpp:443
+
PlannerGui::plannerIsDone
void plannerIsDone()
Definition: PlannerGui.cpp:610
+
PlannerGui::plan
void plan(const base::Pose &start, const base::Pose &goal)
Definition: PlannerGui.cpp:646
+
PlannerGui::picked
void picked(float x, float y, float z, int buttonMask, int modifierMask)
Definition: PlannerGui.cpp:448
vizkit3d
Definition: PlannerGui.h:27
ugv_nav4d::Mobility
Definition: Mobility.hpp:12
ugv_nav4d::PlannerConfig
Definition: PlannerConfig.hpp:8
diff --git a/Planner_8hpp_source.html b/Planner_8hpp_source.html index 58dd965..955e55b 100644 --- a/Planner_8hpp_source.html +++ b/Planner_8hpp_source.html @@ -132,29 +132,28 @@
89 
90  std::vector<Motion> getMotions() const;
91 
-
125  PLANNING_RESULT plan(const base::Time& maxTime, const base::samples::RigidBodyState& start_pose,
-
126  const base::samples::RigidBodyState& end_pose,
-
127  std::vector<trajectory_follower::SubTrajectory>& resultTrajectory3D, bool dumpOnError = false,
-
128  bool dumpOnSuccess = false);
-
129 
-
130  void setTravConfig(const traversability_generator3d::TraversabilityConfig& config);
-
131 
-
132  void setPlannerConfig(const PlannerConfig& config);
-
133 
-
134  const maps::grid::TraversabilityMap3d<traversability_generator3d::TravGenNode*> &getTraversabilityMap() const;
-
135 
-
136  const maps::grid::TraversabilityMap3d<traversability_generator3d::TravGenNode*> &getObstacleMap() const;
-
137 
-
138  std::shared_ptr<trajectory_follower::SubTrajectory> findTrajectoryOutOfObstacle(const Eigen::Vector3d& start, double theta,
-
139  const Eigen::Affine3d& ground2Body);
-
140 
-
141  private:
-
142  bool calculateGoal(const Eigen::Vector3d& start_translation, Eigen::Vector3d& goal_translation, const double yaw) noexcept;
-
143  bool tryGoal(const Eigen::Vector3d& translation, const double yaw) noexcept;
-
144 
-
145 };
-
146 
-
147 }
+
125  PLANNING_RESULT plan(const base::Time& maxTime, const base::samples::RigidBodyState& start_pose,
+
126  const base::samples::RigidBodyState& end_pose, std::vector<trajectory_follower::SubTrajectory>& resultTrajectory2D,
+
127  std::vector<trajectory_follower::SubTrajectory>& resultTrajectory3D, bool dumpOnError = false, bool dumpOnSuccess = false);
+
128 
+
129  void setTravConfig(const traversability_generator3d::TraversabilityConfig& config);
+
130 
+
131  void setPlannerConfig(const PlannerConfig& config);
+
132 
+
133  const maps::grid::TraversabilityMap3d<traversability_generator3d::TravGenNode*> &getTraversabilityMap() const;
+
134 
+
135  const maps::grid::TraversabilityMap3d<traversability_generator3d::TravGenNode*> &getObstacleMap() const;
+
136 
+
137  std::shared_ptr<trajectory_follower::SubTrajectory> findTrajectoryOutOfObstacle(const Eigen::Vector3d& start, double theta,
+
138  const Eigen::Affine3d& ground2Body);
+
139 
+
140  private:
+
141  bool calculateGoal(const Eigen::Vector3d& start_translation, Eigen::Vector3d& goal_translation, const double yaw) noexcept;
+
142  bool tryGoal(const Eigen::Vector3d& translation, const double yaw) noexcept;
+
143 
+
144 };
+
145 
+
146 }
EnvironmentXYZTheta.hpp
PlannerConfig.hpp
ugv_nav4d::EnvironmentXYZTheta
Definition: EnvironmentXYZTheta.hpp:25
@@ -167,13 +166,12 @@
ugv_nav4d::Planner::MLSBase
EnvironmentXYZTheta::MLGrid MLSBase
Definition: Planner.hpp:22
ugv_nav4d::Planner::enablePathStatistics
void enablePathStatistics(bool enable)
Definition: Planner.cpp:39
ugv_nav4d::Planner::updateMap
void updateMap(const MLSBase &mls)
Definition: Planner.hpp:67
-
ugv_nav4d::Planner::getTraversabilityMap
const maps::grid::TraversabilityMap3d< traversability_generator3d::TravGenNode * > & getTraversabilityMap() const
Definition: Planner.cpp:283
+
ugv_nav4d::Planner::getTraversabilityMap
const maps::grid::TraversabilityMap3d< traversability_generator3d::TravGenNode * > & getTraversabilityMap() const
Definition: Planner.cpp:286
ugv_nav4d::Planner::solutionIds
std::vector< int > solutionIds
Definition: Planner.hpp:30
-
ugv_nav4d::Planner::getObstacleMap
const maps::grid::TraversabilityMap3d< traversability_generator3d::TravGenNode * > & getObstacleMap() const
Definition: Planner.cpp:288
+
ugv_nav4d::Planner::getObstacleMap
const maps::grid::TraversabilityMap3d< traversability_generator3d::TravGenNode * > & getObstacleMap() const
Definition: Planner.cpp:291
ugv_nav4d::Planner::env
std::shared_ptr< EnvironmentXYZTheta > env
Definition: Planner.hpp:23
ugv_nav4d::Planner::previousStartPositions
std::vector< Eigen::Vector3d > previousStartPositions
Definition: Planner.hpp:35
-
ugv_nav4d::Planner::plan
PLANNING_RESULT plan(const base::Time &maxTime, const base::samples::RigidBodyState &start_pose, const base::samples::RigidBodyState &end_pose, std::vector< trajectory_follower::SubTrajectory > &resultTrajectory3D, bool dumpOnError=false, bool dumpOnSuccess=false)
Definition: Planner.cpp:135
-
ugv_nav4d::Planner::getMotions
std::vector< Motion > getMotions() const
Definition: Planner.cpp:278
+
ugv_nav4d::Planner::getMotions
std::vector< Motion > getMotions() const
Definition: Planner.cpp:281
ugv_nav4d::Planner::PLANNING_RESULT
PLANNING_RESULT
Definition: Planner.hpp:38
ugv_nav4d::Planner::INTERNAL_ERROR
@ INTERNAL_ERROR
Definition: Planner.hpp:43
ugv_nav4d::Planner::NO_MAP
@ NO_MAP
Definition: Planner.hpp:42
@@ -181,16 +179,17 @@
ugv_nav4d::Planner::FOUND_SOLUTION
@ FOUND_SOLUTION
Definition: Planner.hpp:44
ugv_nav4d::Planner::GOAL_INVALID
@ GOAL_INVALID
Definition: Planner.hpp:39
ugv_nav4d::Planner::NO_SOLUTION
@ NO_SOLUTION
Definition: Planner.hpp:41
-
ugv_nav4d::Planner::setTravConfig
void setTravConfig(const traversability_generator3d::TraversabilityConfig &config)
Definition: Planner.cpp:310
+
ugv_nav4d::Planner::setTravConfig
void setTravConfig(const traversability_generator3d::TraversabilityConfig &config)
Definition: Planner.cpp:313
ugv_nav4d::Planner::plannerConfig
PlannerConfig plannerConfig
Definition: Planner.hpp:29
-
ugv_nav4d::Planner::findTrajectoryOutOfObstacle
std::shared_ptr< trajectory_follower::SubTrajectory > findTrajectoryOutOfObstacle(const Eigen::Vector3d &start, double theta, const Eigen::Affine3d &ground2Body)
Definition: Planner.cpp:293
+
ugv_nav4d::Planner::findTrajectoryOutOfObstacle
std::shared_ptr< trajectory_follower::SubTrajectory > findTrajectoryOutOfObstacle(const Eigen::Vector3d &start, double theta, const Eigen::Affine3d &ground2Body)
Definition: Planner.cpp:296
ugv_nav4d::Planner::travMapCallback
std::function< void()> travMapCallback
Definition: Planner.hpp:32
ugv_nav4d::Planner::Planner
Planner(const sbpl_spline_primitives::SplinePrimitivesConfig &primitiveConfig, const traversability_generator3d::TraversabilityConfig &traversabilityConfig, const Mobility &mobility, const PlannerConfig &plannerConfig)
Definition: Planner.cpp:21
ugv_nav4d::Planner::setTravMapCallback
void setTravMapCallback(const std::function< void()> &callback)
Definition: Planner.cpp:45
ugv_nav4d::Planner::setInitialPatch
void setInitialPatch(const Eigen::Affine3d &body2Mls, double patchRadius)
Definition: Planner.cpp:30
+
ugv_nav4d::Planner::plan
PLANNING_RESULT plan(const base::Time &maxTime, const base::samples::RigidBodyState &start_pose, const base::samples::RigidBodyState &end_pose, std::vector< trajectory_follower::SubTrajectory > &resultTrajectory2D, std::vector< trajectory_follower::SubTrajectory > &resultTrajectory3D, bool dumpOnError=false, bool dumpOnSuccess=false)
Definition: Planner.cpp:135
ugv_nav4d::Planner::updateMap
void updateMap(const maps::grid::MLSMap< SurfacePatch > &mls)
Definition: Planner.hpp:53
ugv_nav4d::Planner::splinePrimitiveConfig
const sbpl_spline_primitives::SplinePrimitivesConfig splinePrimitiveConfig
Definition: Planner.hpp:26
-
ugv_nav4d::Planner::setPlannerConfig
void setPlannerConfig(const PlannerConfig &config)
Definition: Planner.cpp:322
+
ugv_nav4d::Planner::setPlannerConfig
void setPlannerConfig(const PlannerConfig &config)
Definition: Planner.cpp:325
ugv_nav4d
Definition: Dijkstra.cpp:8
ugv_nav4d::Mobility
Definition: Mobility.hpp:12
ugv_nav4d::PlannerConfig
Definition: PlannerConfig.hpp:8
diff --git a/classDiscreteTheta.html b/classDiscreteTheta.html index bead927..a7c9c6a 100644 --- a/classDiscreteTheta.html +++ b/classDiscreteTheta.html @@ -266,7 +266,7 @@

- + diff --git a/classDiscreteTheta_a17f645ec5cc1055db635daa81ece0d56_icgraph.map b/classDiscreteTheta_a17f645ec5cc1055db635daa81ece0d56_icgraph.map index 50f117c..73a99f5 100644 --- a/classDiscreteTheta_a17f645ec5cc1055db635daa81ece0d56_icgraph.map +++ b/classDiscreteTheta_a17f645ec5cc1055db635daa81ece0d56_icgraph.map @@ -3,7 +3,7 @@ - + diff --git a/classDiscreteTheta_a17f645ec5cc1055db635daa81ece0d56_icgraph.md5 b/classDiscreteTheta_a17f645ec5cc1055db635daa81ece0d56_icgraph.md5 index 17d8de5..622ab4b 100644 --- a/classDiscreteTheta_a17f645ec5cc1055db635daa81ece0d56_icgraph.md5 +++ b/classDiscreteTheta_a17f645ec5cc1055db635daa81ece0d56_icgraph.md5 @@ -1 +1 @@ -a653dc46d300c2512388830bffe689a1 \ No newline at end of file +019dba8c76ea2d50ff05a55da6142624 \ No newline at end of file diff --git a/classugv__nav4d_1_1EnvironmentXYZTheta-members.html b/classugv__nav4d_1_1EnvironmentXYZTheta-members.html index 63a323b..9c849ea 100644 --- a/classugv__nav4d_1_1EnvironmentXYZTheta-members.html +++ b/classugv__nav4d_1_1EnvironmentXYZTheta-members.html @@ -74,7 +74,7 @@ getStatePosition(const int stateID) constugv_nav4d::EnvironmentXYZTheta GetSuccs(int SourceStateID, std::vector< int > *SuccIDV, std::vector< int > *CostV)ugv_nav4d::EnvironmentXYZThetavirtual GetSuccs(int SourceStateID, std::vector< int > *SuccIDV, std::vector< int > *CostV, std::vector< size_t > &motionIdV)ugv_nav4d::EnvironmentXYZThetavirtual - getTrajectory(const std::vector< int > &stateIDPath, std::vector< trajectory_follower::SubTrajectory > &result, const Eigen::Vector3d &startPos, const Eigen::Vector3d &goalPos, const double &goalHeading, const Eigen::Affine3d &plan2Body=Eigen::Affine3d::Identity())ugv_nav4d::EnvironmentXYZTheta + getTrajectory(const std::vector< int > &stateIDPath, std::vector< trajectory_follower::SubTrajectory > &result, bool setZToZero, const Eigen::Vector3d &startPos, const Eigen::Vector3d &goalPos, const double &goalHeading, const Eigen::Affine3d &plan2Body=Eigen::Affine3d::Identity())ugv_nav4d::EnvironmentXYZTheta getTraversabilityMap() constugv_nav4d::EnvironmentXYZTheta getTravGen()ugv_nav4d::EnvironmentXYZTheta goalThetaNodeugv_nav4d::EnvironmentXYZThetaprotected diff --git a/classugv__nav4d_1_1EnvironmentXYZTheta.html b/classugv__nav4d_1_1EnvironmentXYZTheta.html index 4b05ab8..a1e8a19 100644 --- a/classugv__nav4d_1_1EnvironmentXYZTheta.html +++ b/classugv__nav4d_1_1EnvironmentXYZTheta.html @@ -164,8 +164,8 @@   std::vector< Motion > getMotions (const std::vector< int > &stateIDPath)   -void getTrajectory (const std::vector< int > &stateIDPath, std::vector< trajectory_follower::SubTrajectory > &result, const Eigen::Vector3d &startPos, const Eigen::Vector3d &goalPos, const double &goalHeading, const Eigen::Affine3d &plan2Body=Eigen::Affine3d::Identity()) -  +void getTrajectory (const std::vector< int > &stateIDPath, std::vector< trajectory_follower::SubTrajectory > &result, bool setZToZero, const Eigen::Vector3d &startPos, const Eigen::Vector3d &goalPos, const double &goalHeading, const Eigen::Affine3d &plan2Body=Eigen::Affine3d::Identity()) +  const PreComputedMotions & getAvailableMotions () const   void clear () @@ -937,7 +937,7 @@

- + @@ -1108,7 +1108,7 @@

- + @@ -1161,7 +1161,7 @@

- + @@ -1215,8 +1215,8 @@

-

◆ getTrajectory()

+ +

◆ getTrajectory()

@@ -1233,6 +1233,12 @@

std::vector< trajectory_follower::SubTrajectory > &  result, + + + + bool  + setZToZero, + @@ -1267,8 +1273,8 @@

Here is the call graph for this function:

-
- +
+ diff --git a/classugv__nav4d_1_1EnvironmentXYZTheta_a6dddb0bcc7fb30da66295b26b3a09779_icgraph.map b/classugv__nav4d_1_1EnvironmentXYZTheta_a6dddb0bcc7fb30da66295b26b3a09779_icgraph.map index 248d17e..63b5f3a 100644 --- a/classugv__nav4d_1_1EnvironmentXYZTheta_a6dddb0bcc7fb30da66295b26b3a09779_icgraph.map +++ b/classugv__nav4d_1_1EnvironmentXYZTheta_a6dddb0bcc7fb30da66295b26b3a09779_icgraph.map @@ -2,5 +2,5 @@ - + diff --git a/classugv__nav4d_1_1EnvironmentXYZTheta_a6dddb0bcc7fb30da66295b26b3a09779_icgraph.md5 b/classugv__nav4d_1_1EnvironmentXYZTheta_a6dddb0bcc7fb30da66295b26b3a09779_icgraph.md5 index 893775b..50962b7 100644 --- a/classugv__nav4d_1_1EnvironmentXYZTheta_a6dddb0bcc7fb30da66295b26b3a09779_icgraph.md5 +++ b/classugv__nav4d_1_1EnvironmentXYZTheta_a6dddb0bcc7fb30da66295b26b3a09779_icgraph.md5 @@ -1 +1 @@ -3a80c2dd511113201592a00d849515ba \ No newline at end of file +5915a149b3aad97469627c76756f9a77 \ No newline at end of file diff --git a/classugv__nav4d_1_1EnvironmentXYZTheta_a858dd8428ab48e6d31f6d8fbe11535e1_cgraph.map b/classugv__nav4d_1_1EnvironmentXYZTheta_ab054b616fdafb39010329cfbd62f1e0b_cgraph.map similarity index 100% rename from classugv__nav4d_1_1EnvironmentXYZTheta_a858dd8428ab48e6d31f6d8fbe11535e1_cgraph.map rename to classugv__nav4d_1_1EnvironmentXYZTheta_ab054b616fdafb39010329cfbd62f1e0b_cgraph.map diff --git a/classugv__nav4d_1_1EnvironmentXYZTheta_a858dd8428ab48e6d31f6d8fbe11535e1_cgraph.md5 b/classugv__nav4d_1_1EnvironmentXYZTheta_ab054b616fdafb39010329cfbd62f1e0b_cgraph.md5 similarity index 100% rename from classugv__nav4d_1_1EnvironmentXYZTheta_a858dd8428ab48e6d31f6d8fbe11535e1_cgraph.md5 rename to classugv__nav4d_1_1EnvironmentXYZTheta_ab054b616fdafb39010329cfbd62f1e0b_cgraph.md5 diff --git a/classugv__nav4d_1_1EnvironmentXYZTheta_a858dd8428ab48e6d31f6d8fbe11535e1_cgraph.png b/classugv__nav4d_1_1EnvironmentXYZTheta_ab054b616fdafb39010329cfbd62f1e0b_cgraph.png similarity index 100% rename from classugv__nav4d_1_1EnvironmentXYZTheta_a858dd8428ab48e6d31f6d8fbe11535e1_cgraph.png rename to classugv__nav4d_1_1EnvironmentXYZTheta_ab054b616fdafb39010329cfbd62f1e0b_cgraph.png diff --git a/classugv__nav4d_1_1EnvironmentXYZTheta_ae9c40da7aff8102dcd405d021dae49a5_icgraph.map b/classugv__nav4d_1_1EnvironmentXYZTheta_ae9c40da7aff8102dcd405d021dae49a5_icgraph.map index 92c7d7a..ed1cc16 100644 --- a/classugv__nav4d_1_1EnvironmentXYZTheta_ae9c40da7aff8102dcd405d021dae49a5_icgraph.map +++ b/classugv__nav4d_1_1EnvironmentXYZTheta_ae9c40da7aff8102dcd405d021dae49a5_icgraph.map @@ -1,5 +1,5 @@ - + diff --git a/classugv__nav4d_1_1EnvironmentXYZTheta_ae9c40da7aff8102dcd405d021dae49a5_icgraph.md5 b/classugv__nav4d_1_1EnvironmentXYZTheta_ae9c40da7aff8102dcd405d021dae49a5_icgraph.md5 index bfcca73..9458864 100644 --- a/classugv__nav4d_1_1EnvironmentXYZTheta_ae9c40da7aff8102dcd405d021dae49a5_icgraph.md5 +++ b/classugv__nav4d_1_1EnvironmentXYZTheta_ae9c40da7aff8102dcd405d021dae49a5_icgraph.md5 @@ -1 +1 @@ -04d87ea1ab792e7f5a1989fab9b68e71 \ No newline at end of file +24051225d5b0e4b40a5c8a1ce0461d7a \ No newline at end of file diff --git a/classugv__nav4d_1_1EnvironmentXYZTheta_afe5b560fb96c0528b4bd62d58d2a416b_icgraph.map b/classugv__nav4d_1_1EnvironmentXYZTheta_afe5b560fb96c0528b4bd62d58d2a416b_icgraph.map index acbb741..4de88a7 100644 --- a/classugv__nav4d_1_1EnvironmentXYZTheta_afe5b560fb96c0528b4bd62d58d2a416b_icgraph.map +++ b/classugv__nav4d_1_1EnvironmentXYZTheta_afe5b560fb96c0528b4bd62d58d2a416b_icgraph.map @@ -1,4 +1,4 @@ - + diff --git a/classugv__nav4d_1_1EnvironmentXYZTheta_afe5b560fb96c0528b4bd62d58d2a416b_icgraph.md5 b/classugv__nav4d_1_1EnvironmentXYZTheta_afe5b560fb96c0528b4bd62d58d2a416b_icgraph.md5 index 04bb219..19013dc 100644 --- a/classugv__nav4d_1_1EnvironmentXYZTheta_afe5b560fb96c0528b4bd62d58d2a416b_icgraph.md5 +++ b/classugv__nav4d_1_1EnvironmentXYZTheta_afe5b560fb96c0528b4bd62d58d2a416b_icgraph.md5 @@ -1 +1 @@ -763d759bc4df891ce3f4e94a499165af \ No newline at end of file +0a24631a61000f235f31ab44d117df3b \ No newline at end of file diff --git a/classugv__nav4d_1_1Planner-members.html b/classugv__nav4d_1_1Planner-members.html index 7244bf4..a4ce5e5 100644 --- a/classugv__nav4d_1_1Planner-members.html +++ b/classugv__nav4d_1_1Planner-members.html @@ -62,7 +62,7 @@ mobilityugv_nav4d::Plannerprotected NO_MAP enum valueugv_nav4d::Planner NO_SOLUTION enum valueugv_nav4d::Planner - plan(const base::Time &maxTime, const base::samples::RigidBodyState &start_pose, const base::samples::RigidBodyState &end_pose, std::vector< trajectory_follower::SubTrajectory > &resultTrajectory3D, bool dumpOnError=false, bool dumpOnSuccess=false)ugv_nav4d::Planner + plan(const base::Time &maxTime, const base::samples::RigidBodyState &start_pose, const base::samples::RigidBodyState &end_pose, std::vector< trajectory_follower::SubTrajectory > &resultTrajectory2D, std::vector< trajectory_follower::SubTrajectory > &resultTrajectory3D, bool dumpOnError=false, bool dumpOnSuccess=false)ugv_nav4d::Planner plannerugv_nav4d::Plannerprotected Planner(const sbpl_spline_primitives::SplinePrimitivesConfig &primitiveConfig, const traversability_generator3d::TraversabilityConfig &traversabilityConfig, const Mobility &mobility, const PlannerConfig &plannerConfig)ugv_nav4d::Planner plannerConfigugv_nav4d::Plannerprotected diff --git a/classugv__nav4d_1_1Planner.html b/classugv__nav4d_1_1Planner.html index e9bf6a7..657c703 100644 --- a/classugv__nav4d_1_1Planner.html +++ b/classugv__nav4d_1_1Planner.html @@ -97,8 +97,8 @@   std::vector< Motion > getMotions () const   -PLANNING_RESULT plan (const base::Time &maxTime, const base::samples::RigidBodyState &start_pose, const base::samples::RigidBodyState &end_pose, std::vector< trajectory_follower::SubTrajectory > &resultTrajectory3D, bool dumpOnError=false, bool dumpOnSuccess=false) -  +PLANNING_RESULT plan (const base::Time &maxTime, const base::samples::RigidBodyState &start_pose, const base::samples::RigidBodyState &end_pose, std::vector< trajectory_follower::SubTrajectory > &resultTrajectory2D, std::vector< trajectory_follower::SubTrajectory > &resultTrajectory3D, bool dumpOnError=false, bool dumpOnSuccess=false) +  void setTravConfig (const traversability_generator3d::TraversabilityConfig &config)   void setPlannerConfig (const PlannerConfig &config) @@ -342,8 +342,8 @@

-

◆ plan()

+ +

◆ plan()

@@ -366,6 +366,12 @@

const base::samples::RigidBodyState &  end_pose, + + + + std::vector< trajectory_follower::SubTrajectory > &  + resultTrajectory2D, + diff --git a/classugv__nav4d_1_1PreComputedMotions.html b/classugv__nav4d_1_1PreComputedMotions.html index 25b1784..fbc0d15 100644 --- a/classugv__nav4d_1_1PreComputedMotions.html +++ b/classugv__nav4d_1_1PreComputedMotions.html @@ -237,7 +237,7 @@

- +

diff --git a/classugv__nav4d_1_1PreComputedMotions_a76f5d501aa5bc8cf8c0adddc488bd0f9_icgraph.map b/classugv__nav4d_1_1PreComputedMotions_a76f5d501aa5bc8cf8c0adddc488bd0f9_icgraph.map index 25e7368..f0f094b 100644 --- a/classugv__nav4d_1_1PreComputedMotions_a76f5d501aa5bc8cf8c0adddc488bd0f9_icgraph.map +++ b/classugv__nav4d_1_1PreComputedMotions_a76f5d501aa5bc8cf8c0adddc488bd0f9_icgraph.map @@ -2,5 +2,5 @@ - + diff --git a/classugv__nav4d_1_1PreComputedMotions_a76f5d501aa5bc8cf8c0adddc488bd0f9_icgraph.md5 b/classugv__nav4d_1_1PreComputedMotions_a76f5d501aa5bc8cf8c0adddc488bd0f9_icgraph.md5 index 163b658..2c07d9a 100644 --- a/classugv__nav4d_1_1PreComputedMotions_a76f5d501aa5bc8cf8c0adddc488bd0f9_icgraph.md5 +++ b/classugv__nav4d_1_1PreComputedMotions_a76f5d501aa5bc8cf8c0adddc488bd0f9_icgraph.md5 @@ -1 +1 @@ -ccad0305bf50668b92ecab1dcb972136 \ No newline at end of file +5f0aabc8cd451aa49b1a218032dec3c8 \ No newline at end of file diff --git a/functions_func.html b/functions_func.html index 0c753e1..096968d 100644 --- a/functions_func.html +++ b/functions_func.html @@ -224,7 +224,7 @@

- g -

+

A 4D (X,Y,Z, Theta) Planner for Unmaned Ground Vehicles.

<figure> </figure>

Statement of need