jafar::rednav::Navigator Class Reference

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Detailed Description

Definition at line 27 of file navigator.hpp.

List of all members.

Public Member Functions
	Navigator ()
	Default constructor.
	Navigator (const std::string &filepath)
	Constructor able to load a static map file.
	Navigator (double *bufferedData, int xsize_, int ysize_, int zsize_, double xMapOrigin_, double yMapOrigin_, double zMapOrigin_, double pixelScale_)
	Constructor with the map as input.
	~Navigator ()
	Destructor.
bool	isUp ()
	Returns true if the navigator objects are up to run.
bool	savePath (const std::string &outfile, jafar::lgl::NavPath &savingpath)
	Saving a path into a file.
bool	saveData (const std::string &outfile, const std::string &toutfile, const std::string &quadTreeFile)
	Save geodata and quadtree.
bool	saveGeodata (const std::string &outfile)
	Saving the geodata only.
bool	fastFindPath (const jafar::lgl::NavLocation &locstart, const jafar::lgl::NavLocation &locend, jafar::lgl::NavPath &navpath)
	Find a nominal path the fast way - used when no cooperation needed.
bool	findPath (const jafar::lgl::NavLocation &locstart, const jafar::lgl::NavLocation &locend, jafar::lgl::NavPath &navpath)
	Find a nominal path.
bool	findPath (const jafar::lgl::NavLocation &locstart, const jafar::lgl::NavLocation &locend, jafar::lgl::NavPath &navpath, double &pathCost)
	Find a nominal path and get its associated cost.
bool	findPathOnUtility (const jafar::lgl::NavLocation &locstart, const jafar::lgl::NavLocation &locend, jafar::lgl::NavPath &navpath, double authDist=0.0)
	Find a nominal path.
bool	updateMap (double *bufferedData, int xsize_, int ysize_)
	Update map and recreate quadtree and navigation graph accordingly.
bool	updateMap (jafar::lgl::GeoData *inputGData)
	Update map and recreate quadtree and navigation graph accordingly from another geodata.
void	printInfo ()
	Prints information about everything - map, graph, path tool...
jafar::lgl::GeoData *	getNavMap ()
	Returns navigation geodata.
jafar::lgl::NavGraph::NavGraphContainer *	getGraph ()
	Return the boost navGraph container.
jafar::lgl::Decomp *	getDecomposition ()
	Return the quadtree decomposition container.
std::list < jafar::lgl::NavGraph::frontierPoint >	getNavGraphFrontiers ()
	Returns the list of frontier's points between the known and unknown terrains.
bool	getIsDrawingNSU ()
	Return if isDrawingNSU is true or not.
bool	setMapOrigin (double xMapOrigin_, double yMapOrigin_, double zMapOrigin_, double pixelScale_)
	Setting map origin and resolution.
void	setMapSize (int xsize_, int ysize_, int zsize_)
	Set the map size.
void	setGoal (const jafar::lgl::NavLocation &A)
	Setting the goal thanks to a graph location.
void	setGoal (int x, int y, int z)
	Setting the goal through the position manager frame.
void	setGoal (double x, double y, double z)
	Setting the goal through the ENU(utm) frame.
void	setStart (const jafar::lgl::NavLocation &A)
	Setting the start thanks to a graph location.
void	setStart (int x, int y, int z)
	Setting the start through the position manager frame.
void	setStart (double x, double y, double z)
	Setting the start through the ENU(utm) frame.
void	setPathCropers (double pce, double pcp)
	Setting max entropy and obstacle proba (safety)
void	setMaxWayPts (int maxwpts)
	Set the maximum of way points we want in a path.
void	setSigmaFactor (double sig_)
	Set the sigma factor used for decomposition.
void	setProbabilityLag (double probaLag_)
	Set the probability lag used for decomposition.
void	setPathToolPathMaxDistance (double pmd)
	Changes the subsampling rate of the internal path tool.
void	setPathToolSubSampler (double setsbs)
	Changes the subsampling rate of the internal path tool.
void	setPathToolInterpolationDist (double)
	Set the distance to respect between interpolated points.
void	setPathToolInterpolationIndexStart (int)
	Set the index of the path-point the interpolation must start.
void	setPathToolInterpolationIndexStop (int)
	Set the index of the path-point the interpolation must stop.
void	setIsDrawingNSU (bool B)
	Set isDrawingNSU parameter.
void	setPathMaxStepDistance (double pmsd)
	Set the max distance at which we retain a point in the safe sampling filter.
bool	findUtilityStartFromFrontiers (jafar::lgl::NavLocation &autoStart)
	Finds which point of the frontier as the greatest utility.
bool	doCalculateNavigationUtility ()
	Update navigation utility using the sensor information gain according to the a priori map.
bool	cropPath (double vent, double vproba, jafar::lgl::NavPath &navpath)
	Crop a path using multiple parameters.
bool	applyTool (jafar::lgl::NavPath &srcPath, jafar::lgl::NavPath &outPath, PATH_TRANSFORMATION)
	Generic call to apply existing tools.
Public Attributes
SensorModel *	sensor
	Sensor model of the vehicule navigating.
Private Attributes
int	xsize
	Map x size.
int	ysize
	Map y size.
int	zsize
	Map y size.
double	xMapOrigin
	Map X Origin in the ENU utm frame.
double	yMapOrigin
	Map Y Origin in the ENU utm frame.
double	zMapOrigin
	Map Z Origin in the ENU utm frame.
double	pixelScale
	Map pixels scale number of meter(s) for one pixel.
int	startx
	X Start coordinates in the position manager frame.
int	starty
	Y Start coordinates in the position manager frame.
int	startz
	Z Start coordinates in the position manager frame.
double	startutmx
	X Start coordinates in the ENU UTM Frame.
double	startutmy
	Y Start coordinates in the ENU UTM Frame.
double	startutmz
	Z Start coordinates in the ENU UTM Frame.
int	goalx
	X Goal coordinates in the position manager frame.
int	goaly
	Y Goal coordinates in the position manager frame.
int	goalz
	Z Goal coordinates in the position manager frame.
double	goalutmx
	X Goal coordinates in the ENU UTM Frame.
double	goalutmy
	Y Goal coordinates in the ENU UTM Frame.
double	goalutmz
	Z Goal coordinates in the ENU UTM Frame.
jafar::lgl::GeoData *	navMap
	Navigation Map.
jafar::lgl::Quadtree< double, jafar::lgl::GeoData > *	navQuadtree
	Map quad decomposition.
jafar::lgl::NavGraph *	navGraph
	Navigation LGL graph.
PathTool *	multiTool
	Tools for path manipulations.
bool	isDrawingNSU
	Enable/Disable the drawing of the navigation success utility Will set the geodata if true.

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Member Function Documentation

bool jafar::rednav::Navigator::cropPath	(	double	vent,
		double	vproba,
		jafar::lgl::NavPath &	navpath
	)

Crop a path using multiple parameters.

Parameters:

vent	Maximum admissible entropy value for YES-NO traversability
vproba	Maximum admissible obstacle probability

Returns:

true if a crop was done else false.

bool jafar::rednav::Navigator::findUtilityStartFromFrontiers

(

jafar::lgl::NavLocation &

autoStart

)

Finds which point of the frontier as the greatest utility.

Parameters:

autoStart

Navigation location that will be set.

Returns:

false if no utility could be calculated or if there is no frontier at all.

void jafar::rednav::Navigator::printInfo

(

)

Prints information about everything - map, graph, path tool...

bool jafar::rednav::Navigator::saveData	(	const std::string &	outfile,
		const std::string &	toutfile,
		const std::string &	quadTreeFile
	)

Save geodata and quadtree.

Parameters:

outfile	filepath for geodata geotiff saving.
toutfile	filepath for traversability map PNM-image saving.
quadTreeFile	filepath for the quadtree gnuplot output.

void jafar::rednav::Navigator::setIsDrawingNSU

(

bool

B

)

Set isDrawingNSU parameter.

See also:

isDrawingNSU

void jafar::rednav::Navigator::setMaxWayPts

(

int

maxwpts

)

Set the maximum of way points we want in a path.

Parameters:

maxwpts

Maximum number of waypoints. 0 means theres no limit.

void jafar::rednav::Navigator::setPathToolInterpolationDist

(

double

)

Set the distance to respect between interpolated points.

bool jafar::rednav::Navigator::updateMap

(

jafar::lgl::GeoData *

inputGData

)

Update map and recreate quadtree and navigation graph accordingly from another geodata.

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Member Data Documentation

bool jafar::rednav::Navigator::isDrawingNSU [private]

Enable/Disable the drawing of the navigation success utility Will set the geodata if true.

It takes some processing time.

-false- by default

Definition at line 85 of file navigator.hpp.

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

• modules/rednav/include/rednav/navigator.hpp