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Public Member Functions

mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid Class Reference


Detailed Description

An internal class for storing the collision grid.

Definition at line 184 of file CParameterizedTrajectoryGenerator.h.

#include <mrpt/reactivenav/CParameterizedTrajectoryGenerator.h>

Inheritance diagram for mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid:
Inheritance graph
[legend]

List of all members.

Public Member Functions

 CColisionGrid (float x_min, float x_max, float y_min, float y_max, float resolution)
virtual ~CColisionGrid ()
bool saveToFile (mrpt::utils::CStream *fil)
 Save to file, true = OK.
bool loadFromFile (mrpt::utils::CStream *fil)
 Load from file, true = OK.
const TCollisionCellgetTPObstacle (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.
void 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:

Constructor & Destructor Documentation

mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::CColisionGrid ( float  x_min,
float  x_max,
float  y_min,
float  y_max,
float  resolution 
) [inline]

Definition at line 187 of file CParameterizedTrajectoryGenerator.h.

virtual mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::~CColisionGrid (  )  [inline, virtual]

Definition at line 191 of file CParameterizedTrajectoryGenerator.h.


Member Function Documentation

const TCollisionCell& mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::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 mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::loadFromFile ( mrpt::utils::CStream fil  ) 

Load from file, true = OK.

bool mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::saveToFile ( mrpt::utils::CStream fil  ) 

Save to file, true = OK.

void mrpt::reactivenav::CParameterizedTrajectoryGenerator::CColisionGrid::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 (alfa discreet value)
d The distance (in TP-Space, range 0..1) to collision.



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