nav2_smac_planner::LatticeMotionTable Struct Reference

A table of motion primitives and related functions. More...

#include <nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp>

Collaboration diagram for nav2_smac_planner::LatticeMotionTable:

Public Member Functions
	LatticeMotionTable ()
	A constructor for nav2_smac_planner::LatticeMotionTable.
void	initMotionModel (unsigned int &size_x_in, SearchInfo &search_info)
	Initializing state lattice planner's motion model. More...
MotionPrimitivePtrs	getMotionPrimitives (const NodeLattice *node, unsigned int &direction_change_index)
	Get projections of motion models. More...
unsigned int	getClosestAngularBin (const double &theta)
	Get the angular bin to use from a raw orientation. More...
float &	getAngleFromBin (const unsigned int &bin_idx)
	Get the raw orientation from an angular bin. More...
double	getAngle (const double &theta)
	Get the angular bin to use from a raw orientation. More...

Static Public Member Functions
static LatticeMetadata	getLatticeMetadata (const std::string &lattice_filepath)
	Get file metadata needed. More...

Public Attributes
unsigned int	size_x
unsigned int	num_angle_quantization
float	change_penalty
float	non_straight_penalty
float	cost_penalty
float	reverse_penalty
float	travel_distance_reward
float	rotation_penalty
float	min_turning_radius
bool	allow_reverse_expansion
std::vector< std::vector< MotionPrimitive > >	motion_primitives
ompl::base::StateSpacePtr	state_space
std::vector< TrigValues >	trig_values
std::string	current_lattice_filepath
LatticeMetadata	lattice_metadata
MotionModel	motion_model = MotionModel::UNKNOWN

Detailed Description

A table of motion primitives and related functions.

Definition at line 51 of file node_lattice.hpp.

Member Function Documentation

getAngle()

double nav2_smac_planner::LatticeMotionTable::getAngle

(

const double &

theta

)

Get the angular bin to use from a raw orientation.

Parameters

theta

Angle in radians

Returns

bin index of closest angle to request

Definition at line 183 of file node_lattice.cpp.

getAngleFromBin()

float & nav2_smac_planner::LatticeMotionTable::getAngleFromBin

(

const unsigned int &

bin_idx

)

Get the raw orientation from an angular bin.

Parameters

bin_idx

Index of the bin

Returns

Raw orientation in radians

Definition at line 178 of file node_lattice.cpp.

Referenced by nav2_smac_planner::NodeLattice::getDistanceHeuristic(), and nav2_smac_planner::NodeLattice::isNodeValid().

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getClosestAngularBin()

unsigned int nav2_smac_planner::LatticeMotionTable::getClosestAngularBin

(

const double &

theta

)

Get the angular bin to use from a raw orientation.

Parameters

theta

Angle in radians

Returns

bin index of closest angle to request

Definition at line 163 of file node_lattice.cpp.

getLatticeMetadata()

LatticeMetadata nav2_smac_planner::LatticeMotionTable::getLatticeMetadata ( const std::string &  lattice_filepath )

static

Get file metadata needed.

Parameters

lattice_filepath

Filepath to the lattice file

Returns

A set of metadata containing the number of angular bins and the global coordinates minimum turning radius of the primitives for use in analytic expansion and heuristic calculation.

Definition at line 149 of file node_lattice.cpp.

Referenced by nav2_smac_planner::SmacPlannerLattice::configure(), and nav2_smac_planner::SmacPlannerLattice::dynamicParametersCallback().

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getMotionPrimitives()

MotionPrimitivePtrs nav2_smac_planner::LatticeMotionTable::getMotionPrimitives	(	const NodeLattice *	node,
		unsigned int &	direction_change_index
	)

Get projections of motion models.

Parameters

node	Ptr to NodeLattice
Reference	direction change index

Returns

A set of motion poses

Definition at line 117 of file node_lattice.cpp.

Referenced by nav2_smac_planner::NodeLattice::getNeighbors().

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initMotionModel()

void nav2_smac_planner::LatticeMotionTable::initMotionModel	(	unsigned int &	size_x_in,
		SearchInfo &	search_info
	)

Initializing state lattice planner's motion model.

Parameters

size_x_in	Size of costmap in X
search_info	Parameters for searching

Definition at line 48 of file node_lattice.cpp.

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

• nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp
• nav2_smac_planner/src/node_lattice.cpp