Detailed Description

Definition at line 36 of file pathTool.hpp.

Public Member Functions
	PathTool ()
	Default constructor to use tools separatly.
	PathTool (jafar::lgl::NavPath &, PATH_TRANSFORMATION, jafar::lgl::NavGraph *ng_=NULL)
	One Shot constructor to apply a path transformation on a given path.
	~PathTool ()
	Destructor.
bool	applyTool (const jafar::lgl::NavPath &src, jafar::lgl::NavPath &out, PATH_TRANSFORMATION patid)
	Generic Tool to make easy generic calls.
bool	twoPoints (const jafar::lgl::NavPath &src, jafar::lgl::NavPath &out)
	Two points transformation.
bool	subSample (const jafar::lgl::NavPath &src, jafar::lgl::NavPath &out, double subsamp)
	Path subsampling.
bool	cropPath (double vent, double vproba, jafar::lgl::NavPath &navpath)
	Crop a path using multiple parameters.
bool	cropPath (const jafar::lgl::NavPath &srcPath, jafar::lgl::NavPath &outPath)
	Crop a path using internal parameters and working on a path copy.
bool	twoPointsFromCurve (const jafar::lgl::NavPath &src, jafar::lgl::NavPath &out)
	Two points transformation The two points are chosen by comparing the distance between the straight track from the goal and the real track distance for each way point in the path.
bool	cropDistance (const jafar::lgl::NavPath &src, jafar::lgl::NavPath &out, double cropDistance)
	Two points transformation.
bool	pathInterpolation (const jafar::lgl::NavPath &src, jafar::lgl::NavPath &out, double smallestInterval, int masterP1, int masterP2)
	Path interpolation.
bool	pathSafeSampling (const jafar::lgl::NavPath &src, jafar::lgl::NavPath &out)
	Get only important points for trajectory.
bool	pathSmartSampling (const jafar::lgl::NavPath &src, jafar::lgl::NavPath &out)
	Get important and mandatory points for trajectory.
double	navLocToMeters (int a)
	Transformation integer location to double map coordinates.
double	navLocDistance (const jafar::lgl::NavLocation &A, const jafar::lgl::NavLocation &B)
	Returns the meter distance between two navigation positions (in meters)
double	shortestAxisDistance (const jafar::lgl::NavLocation &A, const jafar::lgl::NavLocation &B)
	Returns the shortest distance to respective axis between two navigation positions (in meters)
double	getOrthogonalHeight (const jafar::lgl::NavLocation &A, const jafar::lgl::NavLocation &B, const jafar::lgl::NavLocation &C)
	Return the othogonal distance of C to segment AB.
bool	surroundingsDanger (const jafar::lgl::NavLocation &A, float &fodist)
	Return true if obstacles are close.
void	setMaxWayPts (int n)
	Set the max number of way points.
void	setPathMaxEntropy (double pme)
	Set the maximum binary (free-obst) entropy allowed for a path.
void	setPathMaxProba (double pmp)
	Set the maximum obstacle probability allowed for a path.
void	setScale (double cellres)
	Set the cell resolution.
void	setGeoXRoot (double gxroot)
	Set the map geo-X coordinate origin.
void	setGeoYRoot (double gyroot)
	Set the map geo-Y coordinate origin.
void	setSubSampler (double setsb)
	Changes the subsampling factor.
void	setPathMaxDistance (double pmd)
	Set the path maximum distance.
void	setPathMaxStepDistance (double pmd)
	Set the path step maximum distance.
void	setPathMaxDevDistance (double pmd)
	Set the path maximum deviation distance.
void	setSensorRadius (double ssd)
	set the sensor radius parameter
void	setInterpolationStartPointIdx (int)
	Set the first point index for interpolation.
void	setInterpolationStopPointIdx (int)
	Set the last point index for interpolation.
void	setInterpolationDistance (double)
	Set the interpolation distance.
void	setNavGraph (jafar::lgl::NavGraph *ng)
	Tell which navigation graph to use.
double	getPathMaxEntropy ()
	Return the pathMaxEntropy.
double	getPathMaxProba ()
	Return the pathMaxProba.
double	getSubSampler ()
	Return the subsampler.
double	getPathMaxDistance ()
	Get the path maximum distance in meter.
double	getPathMaxStepDistance ()
	Get the path maximum distance in meter.
double	getPathMaxDevDistance ()
	Get the path maximum deviation distance in meter.
double	getSensorRadius ()
	Get the sensor radius parameter.
double	getScale ()
	Returns cell scale.
double	getGeoXRoot ()
	Return the geoX coordinate.
double	getGeoYRoot ()
	Return the geoY coordinate.
int	getInterpolationStartPointIdx ()
	Get the last point index for interpolation.
int	getInterpolationStopPointIdx ()
	Get the last point index for interpolation.
Private Attributes
double	subsampler
	Subsampling parameter in meters.
int	maxwaypts
	Indicate how many way points the output path can contain.
double	pathMaxEntropy
	Limit on binary entropy (free-obstacle knowledge)
double	pathMaxProba
	Limit on obstacle probability - path safety.
double	cellScale
	For calculation in meter we need this resolution factor.
double	geoXRoot
	For location map-registration we need the zero-ref X coordinate.
double	geoYRoot
	For location map-registration we need the zero-ref Y coordinate.
double	pathMaxDistance
	Maximum distance (m) used for PATH_DISTANCE_LIMIT filter.
double	pathMaxStepDistance
	Maximum distance (m) between allowed between waypoints.
double	pathMaxDevDistance
	Maximum deviation distance (m) allowed on a portion of a path.
double	sensorRadius
	Sensor radius we are working with.
int	interpolationStartPointIdx
	First master point index where to start path interpolation.
int	interpolationStopPointIdx
	Second master point index where to stop path interpolation.
double	interpolationDistance
	Interpolation distance.
jafar::lgl::NavGraph *	navgraph
	NavGraph used to make some topological calculations.

Member Function Documentation

bool jafar::rednav::PathTool::applyTool	(	const jafar::lgl::NavPath &	src,
		jafar::lgl::NavPath &	out,
		PATH_TRANSFORMATION	patid
	)

Generic Tool to make easy generic calls.

If you use this function, the filters will be called with the default values held by the intern parameters. Nevertheless they can be changed thanks to their respective setters.

Parameters:

src	Original path
out	Resulting path
patid	Path transformation identification

bool jafar::rednav::PathTool::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.

double jafar::rednav::PathTool::getOrthogonalHeight	(	const jafar::lgl::NavLocation &	A,
		const jafar::lgl::NavLocation &	B,
		const jafar::lgl::NavLocation &	C
	)

Return the othogonal distance of C to segment AB.

double jafar::rednav::PathTool::getPathMaxDevDistance ( )

Get the path maximum deviation distance in meter.

See also:: pathMaxDevDistance

double jafar::rednav::PathTool::getPathMaxDistance ( )

Get the path maximum distance in meter.

See also:: pathMaxDistance

double jafar::rednav::PathTool::getPathMaxStepDistance ( )

Get the path maximum distance in meter.

See also:: pathMaxDistance

double jafar::rednav::PathTool::getSensorRadius ( )

Get the sensor radius parameter.

See also:: sensorRadius

double jafar::rednav::PathTool::navLocToMeters ( int a )

Transformation integer location to double map coordinates.

Here we do not register the coordinates. So they can only be used for relative calculations like distances.

bool jafar::rednav::PathTool::pathInterpolation	(	const jafar::lgl::NavPath &	src,
		jafar::lgl::NavPath &	out,
		double	smallestInterval,
		int	masterP1,
		int	masterP2
	)

Path interpolation.

Parameters:

src	original path
out	output path
smallestInterval	wished interval between each interpolation (default interpolationDistance)
masterP1	first index of the path from where interpolation is applied (default interpolationStartPointIdx)
masterP2	second index of the path at where interpolation is stopped (default interpolationStopPointIdx)

bool jafar::rednav::PathTool::pathSafeSampling	(	const jafar::lgl::NavPath &	src,
		jafar::lgl::NavPath &	out
	)

Get only important points for trajectory.

Important points are defined as points were the trajectory has a great change in heading.

bool jafar::rednav::PathTool::pathSmartSampling	(	const jafar::lgl::NavPath &	src,
		jafar::lgl::NavPath &	out
	)

Get important and mandatory points for trajectory.

It does as in pathSafeSampling and more by keeping points that are surounded by obstacles

void jafar::rednav::PathTool::setInterpolationDistance ( double )

Set the interpolation distance.

See also:: interpolationDistance

void jafar::rednav::PathTool::setInterpolationStartPointIdx ( int )

Set the first point index for interpolation.

See also:: interpolationStartPointIdx

void jafar::rednav::PathTool::setInterpolationStopPointIdx ( int )

Set the last point index for interpolation.

See also:: interpolationStopPointIdx

void jafar::rednav::PathTool::setPathMaxDevDistance ( double pmd )

Set the path maximum deviation distance.

Parameters:

pmd	New distance in meter

See also:: pathMaxDevDistance

void jafar::rednav::PathTool::setPathMaxDistance ( double pmd )

Set the path maximum distance.

Parameters:

pmd	New distance in meters

See also:: pathMaxDistance

void jafar::rednav::PathTool::setPathMaxEntropy ( double pme )

Set the maximum binary (free-obst) entropy allowed for a path.

See also:: pathMaxEntropy

void jafar::rednav::PathTool::setPathMaxProba ( double pmp )

Set the maximum obstacle probability allowed for a path.

See also:: pathMaxProba

void jafar::rednav::PathTool::setPathMaxStepDistance ( double pmd )

Set the path step maximum distance.

Parameters:

pmd	New distance in meter

See also:: pathMaxStepDistance

void jafar::rednav::PathTool::setScale ( double cellres )

Set the cell resolution.

Parameters:

cellres new cell resolution to set

void jafar::rednav::PathTool::setSensorRadius ( double ssd )

set the sensor radius parameter

See also:: sensorRadius

bool jafar::rednav::PathTool::surroundingsDanger	(	const jafar::lgl::NavLocation &	A,
		float &	fodist
	)

Return true if obstacles are close.

close means less than 3.0*pathMaxDevDistance

Parameters:

First Obstacle Distance

bool jafar::rednav::PathTool::twoPointsFromCurve	(	const jafar::lgl::NavPath &	src,
		jafar::lgl::NavPath &	out
	)

Two points transformation The two points are chosen by comparing the distance between the straight track from the goal and the real track distance for each way point in the path.

When at a certain waypoint the difference between these distances is superior to the sensor radius we choose this waypoint as the second point in the two points path.

Member Data Documentation

int jafar::rednav::PathTool::interpolationStartPointIdx [private]

First master point index where to start path interpolation.

See also:: pathInterpolation()

Definition at line 86 of file pathTool.hpp.

int jafar::rednav::PathTool::interpolationStopPointIdx [private]

Second master point index where to stop path interpolation.

See also:: pathInterpolation()

Definition at line 91 of file pathTool.hpp.

int jafar::rednav::PathTool::maxwaypts [private]

Indicate how many way points the output path can contain.

Only positive values. Zero means no filter on points number. 1 means only the first point after the start point so two real points.

Definition at line 54 of file pathTool.hpp.

double jafar::rednav::PathTool::subsampler [private]

Subsampling parameter in meters.

Only positive values. Zero means no subsampling. While using the subsampling filter paths are subsampled with regards to the distance 'subsampler' between points.

Definition at line 45 of file pathTool.hpp.

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

modules/rednav/include/rednav/pathTool.hpp

Detailed Description

Public Member Functions

Private Attributes

Member Function Documentation

Member Data Documentation