#include <PreComputedMotions.hpp>

Collaboration diagram for ugv_nav4d::PreComputedMotions:

Public Member Functions
	PreComputedMotions (const sbpl_spline_primitives::SplinePrimitivesConfig &primitiveConfig, const Mobility &mobilityConfig)

void	readMotionPrimitives (const sbpl_spline_primitives::SbplSplineMotionPrimitives &primGen, const Mobility &mobilityConfig, double obstGridResolution, double travGridResolution)

void	computeMotions (double obstGridResolution, double travGridResolution)

void	setMotionForTheta (const Motion &motion, const DiscreteTheta &theta)

void	preComputeCost (Motion &motion)

const std::vector< Motion > &	getMotionForStartTheta (const DiscreteTheta &theta) const

const Motion &	getMotion (std::size_t id) const

const sbpl_spline_primitives::SbplSplineMotionPrimitives &	getPrimitives () const

Static Public Member Functions
static double	calculateCurvatureFromRadius (const double r)

Constructor & Destructor Documentation

◆ PreComputedMotions()

ugv_nav4d::PreComputedMotions::PreComputedMotions	(	const sbpl_spline_primitives::SplinePrimitivesConfig &	primitiveConfig,
		const Mobility &	mobilityConfig
	)

Initialize using spline based primitives.

Parameters

mobilityConfig Will be used to configure and filter the splines. mobilityConfig.mMinTurningRadius will be used to filter the splines and remove all splines with a smaller turning radius.

Member Function Documentation

◆ calculateCurvatureFromRadius()

double ugv_nav4d::PreComputedMotions::calculateCurvatureFromRadius ( const double r )

static

Calculate the curvature of a circle based on the radius of the circle

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◆ computeMotions()

void ugv_nav4d::PreComputedMotions::computeMotions	(	double	obstGridResolution,
		double	travGridResolution
	)

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◆ getMotion()

const Motion & ugv_nav4d::PreComputedMotions::getMotion ( std::size_t id ) const

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◆ getMotionForStartTheta()

const std::vector< Motion > & ugv_nav4d::PreComputedMotions::getMotionForStartTheta ( const DiscreteTheta & theta ) const

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◆ getPrimitives()

const SbplSplineMotionPrimitives & ugv_nav4d::PreComputedMotions::getPrimitives ( ) const

◆ preComputeCost()

void ugv_nav4d::PreComputedMotions::preComputeCost ( Motion & motion )

◆ readMotionPrimitives()

void ugv_nav4d::PreComputedMotions::readMotionPrimitives	(	const sbpl_spline_primitives::SbplSplineMotionPrimitives &	primGen,
		const Mobility &	mobilityConfig,
		double	obstGridResolution,
		double	travGridResolution
	)