jafar::p3d::P3d Class Reference

the class P3D is the main class of the module. More...

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Detailed Description

the class P3D is the main class of the module.

It permits to call the different algorithm of calife-p3d. Other class are useful but don't need to be used in classic use.

Definition at line 295 of file P3d.hpp.

#include <P3d.hpp>

List of all members.

Public Member Functions
	P3d (jafar::p3d::P3D_algo p3d_algo)
	< algorithm used by P3d::plan
	~P3d ()
	The destructor.
jafar::p3d::P3DRobotConfig *	placeRobot (double x, double y, double theta)
	the method placeRobot compute the configuration of the robot in some place (represented by 2D coords).
int	plan (jafar::geom::T3D &m2o, jafar::geom::T3D &g2o)
	the method plan compute a decision from p3d to reach the goal from some depart position.
bool	check_trajectory (jafar::geom::T3D &m2o, double alpha)
	the method check_trajectory compute if the trajectory is feasable or not.
int	aco (jafar::geom::T3D &mainToOrigin, double alpha, double v, double left_alpha, double right_alpha)
	This method calls the ACO behaviour, aka try to limit speed considering the env.
int	evo (jafar::geom::T3D &mainToOrigin, double alpha, double v)
	This method calls the EVO behaviour, aka try to avoid obstacle.
jafar::p3d::P3D_MAP &	map ()
const jafar::p3d::P3D_MAP &	map () const
jafar::p3d::P3DPlanner &	planner ()
const jafar::p3d::P3DPlanner &	planner () const
jafar::p3d::P3DPlanSolution &	solution ()
const jafar::p3d::P3DPlanSolution &	solution () const
Static Public Attributes
static std::string	conffile
	the configuration file used to configure the p3d algorithm
Private Attributes
jafar::p3d::P3DPlanner	_planner
	the internal planner
jafar::p3d::P3D_MAP	_map
	the internal map
jafar::p3d::P3DPlanSolution	_sol
	the internal solution
jafar::p3d::P3D_algo	_algo

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Constructor & Destructor Documentation

jafar::p3d::P3d::P3d

(

jafar::p3d::P3D_algo

p3d_algo

)

< algorithm used by P3d::plan

The constructor. It constructs the different object using informations stored in a configuration file. The configuration file is pointer in conffile. Configuration example file can be found in doc subdirectory

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Member Function Documentation

int jafar::p3d::P3d::aco	(	jafar::geom::T3D &	mainToOrigin,
		double	alpha,
		double	v,
		double	left_alpha,
		double	right_alpha
	)

This method calls the ACO behaviour, aka try to limit speed considering the env.

Parameters:

mainToOrigin	represents the transformation between the global frame and the robot frame. alpha represents the desired alpha v represents the desired speed
left_alpha	represents the left limit in the tree discovery
right_alpha	represets the right limit in the tree discovery

Returns:

-1 in case of error

0 in case of no action to take (aka the trajectory directed by alpha at speed v is OK)

1 in case of action take (the solution is given in the P3DPlanSolution)

bool jafar::p3d::P3d::check_trajectory	(	jafar::geom::T3D &	m2o,
		double	alpha
	)

the method check_trajectory compute if the trajectory is feasable or not.

Parameters:

m2o	represents the transformation between the global frame and the robot frame.
alpha	represents the angle of the wheel for the trajectory we want to compute

Returns:

the traversability of the trajectory.

int jafar::p3d::P3d::evo	(	jafar::geom::T3D &	mainToOrigin,
		double	alpha,
		double	v
	)

This method calls the EVO behaviour, aka try to avoid obstacle.

Considering an alpha and v, we try to give a trajectory the nearest possible of alpha.

mainToOrigin represents the transformation between the global frame and the robot frame. alpha represents the desired alpha v represents the desired speed

Returns:

-1 in case of error

0 in case of no action to take (aka the trajectory directed by alpha at speed v is OK)

1 in case of action take (the solution is given in the P3DPlanSolution)

jafar::p3d::P3D_MAP& jafar::p3d::P3d::map

(

)

[inline]

Returns:

a ref to the internal map

Definition at line 406 of file P3d.hpp.

References _map.

const jafar::p3d::P3D_MAP& jafar::p3d::P3d::map

(

)

const [inline]

Returns:

a constant ref to the internal map

Definition at line 414 of file P3d.hpp.

References _map.

jafar::p3d::P3DRobotConfig* jafar::p3d::P3d::placeRobot	(	double	x,
		double	y,
		double	theta
	)

the method placeRobot compute the configuration of the robot in some place (represented by 2D coords).

Parameters:

x	represents the x coordonate of the robot in the 2D global frame
y	represents the y coordonate of the robot in the 2D global frame theta represents the angle with the absciss of the globale frame.

Returns:

0 in case of failure

a robot configuration otherwise (the configuration may be not acceptable).

int jafar::p3d::P3d::plan	(	jafar::geom::T3D &	m2o,
		jafar::geom::T3D &	g2o
	)

the method plan compute a decision from p3d to reach the goal from some depart position.

Parameters:

m2o	represents the transformation between the global frame and the robot frame.
g2o	represents the transformation between the global frame and the goal frame (for the goal frame, in fact, we are only interested in the position of the center of the frame)

XXX Confirm return value

Returns:

sol is modified

a value < 0 in case of failure

0 in case of success.

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

• modules/p3d/include/p3d/P3d.hpp