#include <PathStatistic.hpp>

Collaboration diagram for ugv_nav4d::PathStatistic:

Classes
class	Stats

Public Member Functions
	PathStatistic (const traversability_generator3d::TraversabilityConfig &config)

void	calculateStatistics (const std::vector< const traversability_generator3d::TravGenNode * > &path, const std::vector< base::Pose2D > &poses, const maps::grid::TraversabilityMap3d< traversability_generator3d::TravGenNode * > &trMap, const std::string &debugObstacleName=std::string())

bool	isPathFeasible (const std::vector< const traversability_generator3d::TravGenNode * > &path, const std::vector< base::Pose2D > &poses, const maps::grid::TraversabilityMap3d< traversability_generator3d::TravGenNode * > &trMap)

const Stats &	getRobotStats () const

const Stats &	getBoundaryStats () const

Protected Attributes
Stats	robotStats

Stats	boundaryStats

Detailed Description

Calculates statistics about different patches encountered while traversing a path. I.e. counts patchtes that the robot will traverase when following a path

Constructor & Destructor Documentation

◆ PathStatistic()

ugv_nav4d::PathStatistic::PathStatistic ( const traversability_generator3d::TraversabilityConfig & config )

Member Function Documentation

◆ calculateStatistics()

void ugv_nav4d::PathStatistic::calculateStatistics	(	const std::vector< const traversability_generator3d::TravGenNode * > &	path,
		const std::vector< base::Pose2D > &	poses,
		const maps::grid::TraversabilityMap3d< traversability_generator3d::TravGenNode * > &	trMap,
		const std::string &	debugObstacleName = `std::string()`
	)

Accumulates statistics about all patches that are inside a config.costFunctionDist wide corridor around path. This can be used to answer questions such as:

How many obstacles does the robot traverse when following this path
How many obstacles are close to the robot (but are not directly traversed) when following this path (boundaryStats.getNumObstacles())
How many frontiers does the robot traverse when following this path (robotStats.getNumFrontiers())
Is it safe to follow this path? (robotStats.getNumObstacles() == 0?)
What is the minimum distance to an obstacle on this path?
etc.

The statistics are used extensively during planning.

Parameters

path	List of patches that define the path.
poses	List of poses on the path. There should be one pose for each patch.
debugObstacleName	optional name of the debug drawing that should be used for this path

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◆ getBoundaryStats()

const Stats& ugv_nav4d::PathStatistic::getBoundaryStats ( ) const

inline

◆ getRobotStats()

const Stats& ugv_nav4d::PathStatistic::getRobotStats ( ) const

inline

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◆ isPathFeasible()

bool ugv_nav4d::PathStatistic::isPathFeasible	(	const std::vector< const traversability_generator3d::TravGenNode * > &	path,
		const std::vector< base::Pose2D > &	poses,
		const maps::grid::TraversabilityMap3d< traversability_generator3d::TravGenNode * > &	trMap
	)

Member Data Documentation

◆ boundaryStats

Stats ugv_nav4d::PathStatistic::boundaryStats

protected

Statistics about patches in the corridor outside the robot bounding box

◆ robotStats

Stats ugv_nav4d::PathStatistic::robotStats