9 #ifndef CReactiveNavigationSystem_H
10 #define CReactiveNavigationSystem_H
52 bool enableConsoleOutput =
true,
53 bool enableLogFile =
false);
95 std::vector<CParameterizedTrajectoryGenerator*>
PTGs;
99 virtual void STEP1_CollisionGridsBuilder();
102 virtual bool STEP2_SenseObstacles();
105 virtual void STEP3_WSpaceToTPSpace(
const size_t ptg_idx,std::vector<float> &out_TPObstacles);
108 virtual void loggingGetWSObstaclesAndShape(
CLogFileRecord &out_log);
std::vector< CParameterizedTrajectoryGenerator * > PTGs
The set of transformations to be used:
mrpt::maps::CSimplePointsMap m_WS_Obstacles
The obstacle points, as seen from the local robot frame.
#define MRPT_MAKE_ALIGNED_OPERATOR_NEW
A wrapper of a TPolygon2D class, implementing CSerializable.
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans. ...
virtual size_t getPTG_count() const
Returns the number of different PTGs that have been setup.
A class for storing, saving and loading a reactive navigation log record for the CReactiveNavigationS...
This class allows loading and storing values and vectors of different types from a configuration text...
This is the base class for any user-defined PTG.
Base class for reactive navigator systems based on TP-Space, with an arbitrary holonomic reactive met...
virtual CParameterizedTrajectoryGenerator * getPTG(size_t i)
Gets the i'th PTG.
math::CPolygon m_robotShape
The robot 2D shape model.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
The pure virtual class that a user of CAbstractReactiveNavigationSystem-derived classes must implemen...
See base class CAbstractPTGBasedReactive for a description and instructions of use.