MipAlgorithms::ObsAvoiAlgoSND Class Reference
[Obstacle avoidance]

provides a goal-based navigation with obstacle avoidance on laser scan More...

#include <ObsAvoiAlgoSND.h>

Inheritance diagram for MipAlgorithms::ObsAvoiAlgoSND:

List of all members.

Public Member Functions
Rays	_Filtering (Scan &scan)
void	_buildGapVector (Scan *pScan, Decimal fMaxRange)
void	_removeDuplicateGaps (Decimal fScanRes)
void	_findBestValley (Position distToGoal, Scan *pScan, Decimal fMaxRange)
void	_setObsAvoidDelta (Scan *pScan, Decimal safetyDist)
	ObsAvoiAlgoSND (ObsAvoiAlgoSNDParams inParams)
	Constructor.
void	step (ObsAvoiAlgoIn in, ObsAvoiAlgoOut &out)
	Execute a step of the algorithm.
void	getControl (ObsAvoiAlgoIn &in, ObsAvoiAlgoOut *out)
string	getObjectName () const
	Gets the name.
Public Attributes
ObsAvoiAlgoSNDVars	_var
ObsAvoiAlgoSNDParams	_par
stringstream	_ssdebug

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Detailed Description

provides a goal-based navigation with obstacle avoidance on laser scan

Author:

Joey Durham

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Constructor & Destructor Documentation

MipAlgorithms::ObsAvoiAlgoSND::ObsAvoiAlgoSND

(

ObsAvoiAlgoSNDParams

inParams

)

Constructor.

Parameters:

[in]

inParams

Algorithm parameters.

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Member Function Documentation

Rays MipAlgorithms::ObsAvoiAlgoSND::_Filtering

(

Scan &

scan

)

void MipAlgorithms::ObsAvoiAlgoSND::_buildGapVector	(	Scan *	pScan,
		Decimal	fMaxRange
	)

void MipAlgorithms::ObsAvoiAlgoSND::_removeDuplicateGaps

(

Decimal

fScanRes

)

void MipAlgorithms::ObsAvoiAlgoSND::_findBestValley	(	Position	distToGoal,
		Scan *	pScan,
		Decimal	fMaxRange
	)

void MipAlgorithms::ObsAvoiAlgoSND::_setObsAvoidDelta	(	Scan *	pScan,
		Decimal	safetyDist
	)

void MipAlgorithms::ObsAvoiAlgoSND::step	(	ObsAvoiAlgoIn	in,
		ObsAvoiAlgoOut &	out
	)

Execute a step of the algorithm.

Parameters:

[in]	in	Inputs of the algorithm.
[out]	&out	Inputs of the algorithm.

void MipAlgorithms::ObsAvoiAlgoSND::getControl	(	ObsAvoiAlgoIn &	in,
		ObsAvoiAlgoOut *	out
	)			[inline, virtual]

retrieve control commands computed by the algorithm

Parameters:

[in]	in	input object
[out]	out	pointer to output object

Reimplemented from MipAlgorithms::ObsAvoiAlgo.

string MipAlgorithms::ObsAvoiAlgoSND::getObjectName

(

)

const [inline, virtual]

Gets the name.

Implements MIPObject.

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Member Data Documentation

ObsAvoiAlgoSNDVars MipAlgorithms::ObsAvoiAlgoSND::_var

ObsAvoiAlgoSNDParams MipAlgorithms::ObsAvoiAlgoSND::_par

stringstream MipAlgorithms::ObsAvoiAlgoSND::_ssdebug

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

• algorithms/ObsAvoiAlgo/ObsAvoiAlgoSND.h
• algorithms/ObsAvoiAlgo/ObsAvoiAlgoSND.cpp