ugv_nav4d::Motion Class Reference

#include <PreComputedMotions.hpp>

Collaboration diagram for ugv_nav4d::Motion:

Public Types
enum	Type { MOV_FORWARD , MOV_BACKWARD , MOV_POINTTURN , MOV_LATERAL }

Public Member Functions
	Motion (unsigned int numAngles=0)

Static Public Member Functions
static int	calculateCost (double translationalDist, double angularDist, double translationVelocity, double angularVelocity, double costMultiplier)

Public Attributes
int	xDiff
int	yDiff
DiscreteTheta	endTheta
DiscreteTheta	startTheta
Type	type
std::vector< PoseWithCell >	intermediateStepsTravMap
std::vector< PoseWithCell >	intermediateStepsObstMap
std::vector< CellWithPoses >	fullSplineSamples
int	baseCost
int	costMultiplier
double	translationlDist
double	angularDist
size_t	id

Static Public Attributes
static double	costScaleFactor = 1000.0

Member Enumeration Documentation

Type

enum ugv_nav4d::Motion::Type

Enumerator
MOV_FORWARD
MOV_BACKWARD
MOV_POINTTURN
MOV_LATERAL

Constructor & Destructor Documentation

Motion()

ugv_nav4d::Motion::Motion ( unsigned int  numAngles = 0 )

inline

Member Function Documentation

calculateCost()

int ugv_nav4d::Motion::calculateCost ( double  translationalDist, double  angularDist, double  translationVelocity, double  angularVelocity, double  costMultiplier  )

static

Member Data Documentation

angularDist

double ugv_nav4d::Motion::angularDist

baseCost

int ugv_nav4d::Motion::baseCost

costMultiplier

int ugv_nav4d::Motion::costMultiplier

costScaleFactor

double ugv_nav4d::Motion::costScaleFactor = 1000.0

static

used to scale the costs because costs are int but real costs are most likely small doubles

endTheta

DiscreteTheta ugv_nav4d::Motion::endTheta

fullSplineSamples

std::vector<CellWithPoses> ugv_nav4d::Motion::fullSplineSamples

This vector contains a full resolution sample of the motion primitive, together with the cell the poses are supposed to be in. Poses are relative to (0/0), while the cellIndex is computed relative to the center of the start cell.

id

size_t ugv_nav4d::Motion::id

intermediateStepsObstMap

std::vector<PoseWithCell> ugv_nav4d::Motion::intermediateStepsObstMap

the intermediate poses are not discrete. They are relative to the starting cell. The Poses start from (0/0), while the cell idx is computed from the center of the start cell + pose

intermediateStepsTravMap

std::vector<PoseWithCell> ugv_nav4d::Motion::intermediateStepsTravMap

the intermediate poses are not discrete. They are relative to the starting cell. The Poses start from (0/0), while the cell idx is computed from the center of the start cell + pose

startTheta

DiscreteTheta ugv_nav4d::Motion::startTheta

translationlDist

double ugv_nav4d::Motion::translationlDist

type

Type ugv_nav4d::Motion::type

xDiff

int ugv_nav4d::Motion::xDiff

yDiff

int ugv_nav4d::Motion::yDiff

---

The documentation for this class was generated from the following files:

• src/PreComputedMotions.hpp
• src/PreComputedMotions.cpp