nav2_smac_planner::HybridMotionTable Struct Reference

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

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

Public Member Functions
	HybridMotionTable ()
	A constructor for nav2_smac_planner::HybridMotionTable.
void	initDubin (unsigned int &size_x_in, unsigned int &size_y_in, unsigned int &angle_quantization_in, SearchInfo &search_info)
	Initializing using Dubin model. More...
void	initReedsShepp (unsigned int &size_x_in, unsigned int &size_y_in, unsigned int &angle_quantization_in, SearchInfo &search_info)
	Initializing using Reeds-Shepp model. More...
MotionPoses	getProjections (const NodeHybrid *node)
	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 angle scaled across bins from a raw orientation. More...

Public Attributes
MotionModel	motion_model = MotionModel::UNKNOWN
MotionPoses	projections
unsigned int	size_x
unsigned int	num_angle_quantization
float	num_angle_quantization_float
float	min_turning_radius
float	bin_size
float	change_penalty
float	non_straight_penalty
float	cost_penalty
float	reverse_penalty
float	travel_distance_reward
bool	downsample_obstacle_heuristic
bool	use_quadratic_cost_penalty
ompl::base::StateSpacePtr	state_space
std::vector< std::vector< double > >	delta_xs
std::vector< std::vector< double > >	delta_ys
std::vector< TrigValues >	trig_values
std::vector< float >	travel_costs

Detailed Description

A table of motion primitives and related functions.

Definition at line 57 of file node_hybrid.hpp.

Member Function Documentation

getAngle()

double nav2_smac_planner::HybridMotionTable::getAngle

(

const double &

theta

)

Get the angle scaled across bins from a raw orientation.

Parameters

theta

Angle in radians

Returns

angle scaled across bins

Definition at line 341 of file node_hybrid.cpp.

getAngleFromBin()

float nav2_smac_planner::HybridMotionTable::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 336 of file node_hybrid.cpp.

getClosestAngularBin()

unsigned int nav2_smac_planner::HybridMotionTable::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 330 of file node_hybrid.cpp.

getProjections()

MotionPoses nav2_smac_planner::HybridMotionTable::getProjections

(

const NodeHybrid *

node

)

Get projections of motion models.

Parameters

node	Ptr to NodeHybrid

Returns

A set of motion poses

Definition at line 301 of file node_hybrid.cpp.

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

Here is the caller graph for this function:

initDubin()

void nav2_smac_planner::HybridMotionTable::initDubin	(	unsigned int &	size_x_in,
		unsigned int &	size_y_in,
		unsigned int &	angle_quantization_in,
		SearchInfo &	search_info
	)

Initializing using Dubin model.

Parameters

size_x_in	Size of costmap in X
size_y_in	Size of costmap in Y
angle_quantization_in	Size of costmap in bin sizes
search_info	Parameters for searching

Definition at line 56 of file node_hybrid.cpp.

initReedsShepp()

void nav2_smac_planner::HybridMotionTable::initReedsShepp	(	unsigned int &	size_x_in,
		unsigned int &	size_y_in,
		unsigned int &	angle_quantization_in,
		SearchInfo &	search_info
	)

Initializing using Reeds-Shepp model.

Parameters

size_x_in	Size of costmap in X
size_y_in	Size of costmap in Y
angle_quantization_in	Size of costmap in bin sizes
search_info	Parameters for searching

Definition at line 183 of file node_hybrid.cpp.

---

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

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