ArPathPlanningTask Class Reference

#include <ArPathPlanningTask.h>

Inheritance diagram for ArPathPlanningTask:

List of all members.

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Detailed Description

Task that performs path planning and path following in a seperate asynchronous thread.

The path planning task uses a grid based search to compute the shortest and safe path from the present robot pose to any reachable point in the given robot enviroment map. It then enables an action that follows the planned path, all the while using the dynamic window method to avoid unmapped obstacles in its path. The path planning thread requires fairly accurate robot location. Hence a localization task (ArLocalizationTask or ArSonarLocalizationTask) must also be run concurrently with the path planning task.

See PathPlanning for an overview of path planning and following in ARNL.

Note:

ArPathPlanningTask::ArPathPlanningTask will start the new thread automatically when an object is created, so you must not call ArASyncTask::runAsync() on an ArPathPlanningTask object.

Examples:

guiServer.cpp, and justPathPlanningGuiServer.cpp.

Public Types
enum	PathPlanningState {   NOT_INITIALIZED, PLANNING_PATH, MOVING_TO_GOAL, REACHED_GOAL,   FAILED_PLAN, FAILED_MOVE, ABORTED_PATHPLAN, INVALID }
	State of the path plan (accessible using getState()). More...
enum	LocalPlanningState {   NO_LOCAL_PLAN, GOAL_OCCUPIED, NO_MOVE, OBSTACLE_TOO_CLOSE,   COMPLETELY_BLOCKED, GOT_PLAN_AND_VEL_HEADING, GOT_PLAN_AND_VELS }
	State of the local motion plan. More...
enum	RangeType { NEITHER, CURRENT, CUMULATIVE, BOTH }
	How to incorporate the range device data. More...
Public Member Functions
	ArPathPlanningTask (ArRobot *robot, ArSick *laser, ArRangeDevice *sonar, ArMap *m)
	ArPathPlanningTask (ArRobot *robot, ArRangeDevice *sonar, ArMap *map)
	~ArPathPlanningTask (void)
	Base destructor.
bool	pathPlanToPose (ArPose goal, bool headingFlag, bool printFlag=true)
	Set a new destination pose for the path planning task thread to plan to.
bool	pathPlanToGoal (const char *goalname, bool strictGoalTypeMatching=true)
	Set a new goal (from the map) for the path planning task thread to plan to.
ArActionPlanAndMoveToGoal *	getPathPlanAction (void)
	Gets just the path planning/following action object.
ArActionGroup *	getPathPlanActionGroup (void)
	Gets the path planning action/following group (move, stall recovery etc).
void	setPathPlanActionGroup (ArActionGroup *group, bool takeOwnershipOfGroup=false)
	Sets the path planning action/following group.
bool	loadParamFile (const char *file)
	Load the path planning params from config file.
double	getSafeCollisionRange (void)
	Gets the minimum distance it must look for the speed at which it is going (mostly internal use).
bool	saveParams (char *filename)
	Saves the default params to the filename.
void	addGoalDoneCB (ArFunctor1< ArPose > *functor)
	Adds a callback which will be called when goal reached.
void	remGoalDoneCB (ArFunctor1< ArPose > *functor)
	Removes a callback which used to be called when goal reached.
void	addGoalFailedCB (ArFunctor1< ArPose > *functor)
	Adds a callback which will be called when goal failed.
void	remGoalFailedCB (ArFunctor1< ArPose > *functor)
	Removes a callback which used to be called when goal failed.
void	addGoalInterruptedCB (ArFunctor1< ArPose > *functor)
	Adds a callback which will be called when goal is interrupted.
void	remGoalInterruptedCB (ArFunctor1< ArPose > *functor)
	Removes a callback which used to be called when goal is interrupted.
void	addNewGoalCB (ArFunctor1< ArPose > *functor)
	Adds a callback which will be called when there is a new goal.
void	remNewGoalCB (ArFunctor1< ArPose > *functor)
	Removes a callback which used to be called when there is a new goal.
void	addGoalFinishedCB (ArFunctor *functor)
	Adds a callback for when the goal is done, failed, or intterupted.
void	remGoalFinishedCB (ArFunctor *functor)
	Removes a callback for when the goal is done, failed, or intterupted.
void	trackingFailed (int failedTimes)
	If localization fails, then call this to alert path planning.
void	cancelPathPlan (void)
	Cancel any current path following.
void	setVerboseFlag (bool f)
	Set the verbose flag.
ArPose	getCurrentGoal ()
	Get the current goal of the path plan.
bool	getInitializedFlag (void)
	Get the value of path plan initialized flag.
bool	getVerboseFlag (void)
	Get the verbose flag. (debugging only).
PathPlanningState	getState (void)
	Gets the state of path planning.
void	getFailureString (char *str, size_t len)
	Gets a textual description of failure or current planning status.
void	getStatusString (char *str, size_t len)
	Gets a textual description of failure or current planning status.
std::list< ArPose >	getCurrentPath (ArPose from, bool local=false)
	Gets the list of path points as poses.
ArMap *	getAriaMap (void)
	Gets the Aria map used in the path planning.
void	goalFailed (ArPose goal, const char *failureString="Failed going to goal", PathPlanningState state=FAILED_MOVE)
double	getLastMoveTime (void)
	Get the time robot was not moving.
double	getLastLinearMoveTime (void)
	Get the time robot was not moving.
void	setLastMoveTime (double t)
	Set the time the robot was not moving.
void	setLastLinearMoveTime (double t)
	Set the time the robot was not moving.
double	computeProgress (ArPose robotPose)
	Compute the progress from start to present pose.
double	estimateTimeToGoal (ArPose robotPose)
	Estimates an approximate time to goal in seconds..
double	estimateDistanceToGoal (ArPose robotPose)
	Estimates an approximate distance to goal in mm.
ArPathPlan::LocalPathState	getLocalPathState (void)
	Returns the last local path planning result.
ArPathPlan::SearchVelocityState	getDWAState (void)
	Returns the last velocity search state from the DWA.
double	getCost (void)
	Returns cost of the robots cell in the occupancy grid.
double	getUtil (void)
	Returns util of the robots cell in the occupancy grid.
std::list< ArPose >	getPathFromTo (ArPose from, ArPose to)
	Returns just the grid based search path from a point to another.
void	addStateChangeCB (ArFunctor *cb)
	Add a callback to be notified when planning state changes.
void	remStateChangeCB (ArFunctor *cb)
	Remove a callback to be notified when planning state changes.
std::list< ArPose > *	getObsListPtr (void)
	Get the pointer to the list of obstacle points used for path planning.
void	addBlockedPathCB (ArFunctor1< const std::list< ArPose > * > *cb)
	Add a callback function from the list to call when path blocked.
void	remBlockedPathCB (ArFunctor1< const std::list< ArPose > * > *cb)
	Remove a callback function from the list to call when path blocked.
void	invokeBlockedPathCB (void)
bool	getWaitingToFailFlag (void)
	Get the waiting to fail flag.
Accessors for current configuration values
These values are normally set via ArConfig (the "Path Planning" section) by loading a file or other means, or by calling the modifier functions below.
bool	getUseLaserFlag (void)
	Get the use laser flag.
bool	getUseSonarFlag (void)
	Get the use sonar flag.
bool	getMapChangedFlag (void)
	Gets the map changed flag to trigger reloading of map for path planning.
bool	getUseOneWaysFlag (void)
	Gets the use one way flag.
bool	getUseResistanceFlag (void)
	Gets the use resistance flag.
double	getMarkOldPathFactor (void)
	Gets the mark old path factor (mostly internal use).
short	getResistance (void)
	Gets the resistance for restrictive sectors (mostly internal use).
double	getMaxSpeed (void) const
	Gets the maximum speed for the robot.
double	getMaxRotSpeed (void) const
	Gets the maximum rotational speed for the robot.
double	getCollisionRange (void) const
	Gets the maximum obstacle range for collision avoidance.
double	getSlowSpeed (void) const
	Gets the slow speed.
double	getFastSpeed (void) const
	Gets the fast speed.
double	getSideClearanceAtSlowSpeed (void) const
	Gets the side clearance at slow speed.
double	getSideClearanceAtFastSpeed (void) const
	Gets the side clearance at fast speed.
double	getFrontClearance (void) const
	Gets the front clearance.
double	getFrontPaddingAtSlowSpeed (void) const
	Gets the front padding at slow speed.
double	getFrontPaddingAtFastSpeed (void) const
	Gets the front padding at high speed.
double	getSuperMaxTransDecel (void) const
	Gets the decel allowed when there is still +ve clearance + padding.
double	getEmergencyMaxTransDecel (void) const
	Gets the emergency max decel allowed for collision avoidance.
double	getWidth (void) const
	Gets the robot width.
double	getLength (void) const
	Gets the robot length.
double	getPlanMapResolution (void) const
	Gets the path planning map resolution.
double	getPlanFreeSpace (void) const
	Gets the distance from the side of the robot to obstacles to plan with.
double	getHeadingWt (void) const
	Gets the heading weight.
double	getDistanceWt (void) const
	Gets the distance weight.
double	getVelocityWt (void) const
	Gets the velocity weight.
int	getLinVelIncrements (void) const
	Gets the linear velocity increments.
int	getRotVelIncrements (void) const
	Gets the rotational velocity increments.
int	getSmoothSize (void) const
	Gets the smoothing window size.
double	getObsThreshold (void) const
	Gets the obstacle threshold.
double	getMaxExpansionFactor (void) const
	Gets the maximum expansion factor when local planning fails.
bool	getUseCollisionRangeForPlanningFlag (void) const
	Gets the flag which decides if collision range is used for planning.
double	getGoalDistanceTolerance (void) const
	Gets the distance tolerance to goal in mm.
double	getGoalAngleTolerance (void) const
	Gets the angle tolerance to goal in mm.
double	getGoalSpeed (void) const
	Gets the speed for end move.
double	getGoalRotSpeed (void) const
	Gets the rotational speed for end move.
double	getGoalTransAccel (void) const
	Gets the accel for end move.
double	getGoalRotAccel (void) const
	Gets the rotational accel for end move.
double	getGoalTransDecel (void) const
	Gets the decel for end move.
double	getGoalRotDecel (void) const
	Gets the rotational decel for end move.
double	getGoalSwitchTime (void) const
	Gets the time to allow for slowing down.
bool	getGoalUseEncoderFlag (void) const
	Gets the use encoder pose for end move.
double	getHeadingRotSpeed (void) const
	Gets the rotational speed for end move.
double	getHeadingRotAccel (void) const
	Gets the rotational accel for end move.
double	getHeadingRotDecel (void) const
	Gets the rotational decel for end move.
int	getSecsToFail (void) const
	Gets the secs for local path search to fail in.
double	getAlignAngle (void) const
	Gets the min angle to local dest to go to align mode.
double	getAlignSpeed (void) const
	Gets the max speed at which to go to align mode.
int	getSplineDegree (void) const
	Gets the degree of the spline.
int	getNumSplinePoints (void) const
	Gets the increments in path to set control points.
bool	getPlanEverytimeFlag (void) const
	Gets the use encoder pose for end move.
bool	getClearOnFailFlag (void) const
	Get the clear on fail flag.
bool	getUseEStopFlag (void) const
	Gets use emergency stop if collision imminent flag.
Modifiers for configuration values.
Normally these values are automatically set via ArConfig (e.g. by loading them from a file or other source) in the "Path Planning" section, and these methods would only be used internally by ARNL to set stored values from ArConfig.
void	setUseLaserFlag (bool f)
	Sets the use laser flag.
void	setUseSonarFlag (bool f)
	Sets the use sonar flag.
void	setMapChangedFlag (bool f)
	Sets the map changed flag to trigger reloading of map for path planning.
void	setUseOneWaysFlag (bool f)
	Sets the use one way flag.
void	setUseResistanceFlag (bool f)
	Sets the use restrictive areas flag.
void	setMarkOldPathFactor (double f)
	Sets the mark old path factor.
void	setResistance (short f)
	Sets the reisistance.
void	setPlanDoneCallBack (ArFunctor *prcb)
	Sets the callback which will be called after planning and before action.
void	setPlanEverytimeFlag (bool f)
	Set the plan everytime flag.
void	setClearOnFailFlag (bool f)
	Set the clear on fail flag.
void	setUseEStopFlag (bool f)
	Set the emergency stop flag.
void	setUseCollisionRangeForPlanningFlag (bool f)
	Gets the flag which decides if collision range is used for planning.
void	setMaxSpeed (double f)
	Sets the maximum speed during path following.
void	setMaxRotSpeed (double f)
	Sets the maximum rotational speed during path following.
void	setCollisionRange (double f)
	Sets the maximum range for obstacles in sensor view.
void	setSlowSpeed (double f)
	Sets the slow speed for dynamic clearance computation.
void	setFastSpeed (double f)
	Sets the fast speed for dynamic clearance computation.
void	setSideClearanceAtSlowSpeed (double f)
	Sets the side clearance at slow speed.
void	setSideClearanceAtFastSpeed (double f)
	Sets the side clearance at fast speed.
void	setFrontClearance (double f)
	Sets the front clearance.
void	setFrontPaddingAtSlowSpeed (double f)
	Sets the front padding at slow speed.
void	setFrontPaddingAtFastSpeed (double f)
	Sets the front padding at fast speed.
void	setSuperMaxTransDecel (double f)
	Sets the deceleration to be used to avoid obstacles inside padding.
void	setEmergencyMaxTransDecel (double f)
	Set the deceleration to be used when obstacles inside clearance.
void	setWidth (double f)
	Sets the robot width used for path planning.
void	setLength (double f)
	Sets the robot length used for path planning.
void	setPlanMapResolution (double f)
	Sets the grid size for the path planning map.
void	setPlanFreeSpace (double f)
	Sets the distance from obstacles beyond which costs equal free space.
void	setHeadingWt (double f)
	Sets the heading weight for DWA.
void	setDistanceWt (double f)
	Sets the distance weight for DWA.
void	setVelocityWt (double f)
	Sets the velocity weight for DWA.
void	setLinVelIncrements (int f)
	Sets the linear velocity increments for the DWA table.
void	setRotVelIncrements (int f)
	Sets the rotational velocity increments for the DWA table.
void	setSmoothWinSize (int f)
	Sets the smooth windows size for the DWA.
void	setObsThreshold (double f)
	Sets the threshold above which a cell is considered an obstacle.
void	setMaxExpansionFactor (double f)
	Sets the factor to which the search will expand if it fails.
void	setGoalDistanceTolerance (double f)
	Sets the distance from goal within which end move will kick in.
void	setGoalAngleTolerance (double f)
	Sets the orientation from goal angle within which end move will kick in.
void	setGoalSpeed (double f)
	Sets the speed at which end move will be executed.
void	setGoalRotSpeed (double f)
	Sets the rotational speed at which end move will be executed.
void	setGoalTransAccel (double f)
	Sets the acceleration at which goal will be attempted.
void	setGoalRotAccel (double f)
	Sets the rotational acceleration at which goal will be attempted.
void	setGoalTransDecel (double f)
	Sets the deceleration at which goal will be attempted.
void	setGoalRotDecel (double f)
	Sets the rotational deceleration at which goal will be attempted.
void	setGoalSwitchTime (double f)
	Sets the extra time beyond computed slow down time to do the end move.
void	setGoalUseEncoderFlag (bool f)
	Sets the flag to allow encoder pose for the end move.
void	setHeadingRotSpeed (double f)
	Sets the rotation speed for the Aria heading command.
void	setHeadingRotAccel (double f)
	Sets the rotation accel for the Aria heading command.
void	setHeadingRotDecel (double f)
	Sets the rotation decel for the Aria heading command.
void	setSecsToFail (int f)
	Sets the no of seconds the local planning will keep retrying a fail.
void	setAlignAngle (double f)
	Sets the minimum angle from the path orientation to allow linear motion.
void	setAlignSpeed (double f)
	Sets the minimum speed at which align to path orient will take place.
void	setSplineDegree (int f)
	Sets the degree of the smoothing spline.
void	setNumSplinePoints (int f)
	Sets the distance between knot points on the path to smooth with.
void	setPlanParams (double robotWidth, double robotLength, double frontClearance, double sideClearance, double obsThreshold, double maxLinAcc, double maxRotAcc, double maxLinDec, double maxRotDec, double maxLinVel, double maxRotVel, double headingWt, double distanceWt, double velocityWt, double gridRes, int nli, int nri, int sws, double maxObsDistance, double goalDistTol, double goalAngTol, double PlanFreeSpace, int secsToFail, double alignAngle, double alignSpeed, int splineDegree, int numSplinePoints, double goalOccupiedFailDistance, double curvatureSpeedFactor, bool useCollisionRangeForPlanningFlag, double oneWayCost, double centerAwayCost, double localPathFailDistance, short resistance, double markOldPathFactor)
	Sets path plan parameters which affect obstacle avoidance & tracking (for internal use).
void	setMovementParams (double maxLinAcc, double maxRotAcc, double maxLinDec, double maxRotDec, double maxLinVel, double maxRotVel)
	Sets only the dynamic motion params (for internal use).
Modify the set of range devices used by ARNL.
void	addRangeDevice (ArRangeDevice *device, RangeType type)
	Adds a range sensing device.
void	addGlobalReplanningRangeDevice (ArRangeDevice *device, RangeType type)
	Adds a global range device.
void	remRangeDevice (const char *name, RangeType type)
	Remove a range device from the robot's list, by name.
void	remRangeDevice (ArRangeDevice *device, RangeType type)
	Remove a range device from the robot's list, by instance.
void	remGlobalReplanningRangeDevice (const char *name, RangeType type)
	Remove a global range device from the robot's list, by name.
void	remGlobalReplanningRangeDevice (ArRangeDevice *device, RangeType type)
	Remove a global range device from the robot's list, by instance.
std::list< ArRangeDevice * > *	getRangeDeviceList (void)
	Gets the range device list.
std::list< ArRangeDevice * > *	getCumRangeDeviceList (void)
	Gets the cumulative range device list.
std::list< ArRangeDevice * > *	getGlobalReplanningRangeDeviceList (void)
	Gets the global range device list.
std::list< ArRangeDevice * > *	getGlobalReplanningCumRangeDeviceList (void)
	Gets the global range device list.
void	clearRangeDevices (void)
	Clears the range devices.
void	clearGlobalReplanningRangeDevices (void)
	Clears the global range devices.
void	clearGlobalReplanningCumRangeDevices (unsigned int cyt)
	Clears the global cum range devices.
void	clearCumRangeDevices (unsigned int cyt)
	Clears the cumulative range devices.
ArNetworking callback methods
(used by server classes in ArServerClasses.cpp)
void	drawSearchRectangle (ArServerClient *client, ArNetPacket *packet)
	Draws the local search rectangle.
void	drawNewPoints (ArServerClient *client, ArNetPacket *packet)
	Draws the points seen by the sensor and not in the map.
void	drawGridPoints (ArServerClient *client, ArNetPacket *packet)
	Draws the local special points.
void	drawTangent (ArServerClient *client, ArNetPacket *packet)
	Draws the local special points.
void	drawPathPoints (ArServerClient *client, ArNetPacket *packet)
	Draws the local path points.
void	drawObsPoints (ArServerClient *client, ArNetPacket *packet)
	Draws the local obstacle points.
void	drawVelocityPath (ArServerClient *client, ArNetPacket *packet)
	Draws the display points.
void	drawRobotBounds (ArServerClient *client, ArNetPacket *packet)
	Draws the robot boundary.
Protected Member Functions
virtual void *	runThread (void *ptr)
	Function used to run the task as a thread.
void	robotCallBack (void)
	The sensor interpretation callback. Called every 100msec.
bool	configureLaser (void)
	Needed if the laser does not connect first.
bool	getActionFireFlag (void)
	Get the action fire flag.
bool	getGoalReachedFlag (void)
	Get the goal reached flag.
bool	getSensorSetFlag (void)
	Get the sensor set flag indicating new range data (set every 100ms).
bool	getPlanFailedFlag (void)
	Get the plan failed flag.
bool	getGoalAlteredFlag (void)
	Get the goal altered flag.
bool	getGoalSetFlag (void)
	Get the goal set flag.
bool	getGoalPlannedFlag (void)
	Get the goal planned flag.
bool	getGoalHeadingFlag (void)
	Get the goal heading flag.
bool	getReplanGlobalPathFlag (void)
	Get the path is blocked flag.
unsigned int	getLastPlanTime (void)
	Return time of last replanning.
void	setActionFireFlag (bool f)
	Set the goal set Flag.
void	setCurrentGoal (ArPose p)
	Set the current goal for path planning.
void	setSensorSetFlag (bool f)
	Set the value of flag indicating new sensor data.
void	setInitializedFlag (bool f)
	Set the value of initialized flag.
void	setGoalReachedFlag (bool f)
	Set the goal reached flag.
void	setPlanFailedFlag (bool f)
	Set the plan failed flag.
void	setGoalSetFlag (bool f)
	Set the goal set Flag.
void	setGoalPlannedFlag (bool f)
	Set the goal planned Flag.
void	setGoalHeadingFlag (bool f)
	Set the goal heading Flag.
void	setGoalAlteredFlag (bool f)
	Set the goal heading Flag.
void	setReplanGlobalPathFlag (bool f)
	Set the blocked path flag.
void	setWaitingToFailFlag (bool f)
	Set the waiting to failsecs flag.
void	setLastPlanTime (void)
	Set the time of last plan.
void	setState (PathPlanningState s, const char *failureString=NULL)
	Sets the state of path planning.
void	setProgressNow (double p)
	Sets the progress and time to now.
bool	planAndSetupAction (ArPose from, bool sensorSeesBlock=false)
	Set up the path planning stuff and follow.
LocalPlanningState	computeLocalMotion (ArPose robotPose, ArPose goalPose, double &linVel, double &rotVel, double &heading, double searchFactor, bool replan)
	Actually drives the robot along the planned path.
bool	clearMapAndObsList (double cd, ArPose rp)
	Wrapper to get to ArPathPlan to clear its obs point list and map.
void	clearRangeMap (void)
	Clears all transient readings.
bool	incorporateRangeIntoMap (ArRangeDevice *rangeDev, double rangeDist, ArPose robotPose, bool useSensorMap, bool notCumulative)
	Incorporates the sensor readings into the local map for obstacle avoid.
bool	incorporateGlobalReplanningRangeSensors (ArPose rp)
	Incorporate all the global range sensors.
bool	hasGlobalReplanningRangeSensors (void)
	Checks whether there are any global range sensors.
bool	pathEqualsStraightLine (void)
	Checks to see if path to goal is a straight line.
void	setVariableClearances (double lvel, double avel, double &front, double &side)
	Sets the clearances according to speed and return those vals.
void	fillLocalObstacleList (double lvel, double avel, ArPose robotPose)
	Fills the local obstacle list.
double	findDistanceToCollision (double lvel, double avel, ArPose robotPose)
	Find the closest obstacle within collision range.
void	goalDone (ArPose goal)
	What to do when goal is reached.
void	goalInterrupted (ArPose goal)
	What to do when goal was interrupted.
bool	reconfigurePathPlanning (void)
	Needed if the params are changed or loaded again.
void	setupPathPlanningParams (void)
	Setup the path planing params with the aria config thing.
void	mapChanged (void)
	Function for the things to do if map changes.
double	getMaxLinDecel (void)
	Get the linear deceleration.
ArPoseWithTime	getProgress (void)
	Get the progress with time.
void	doSanityCheck (double width, double length, double robotVel, double robotRotVel, double robotRotAccel, double robotRotDecel, double robotAccel, double robotDecel)
	Do a sane check on the param values.

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Member Enumeration Documentation

enum ArPathPlanningTask::LocalPlanningState

State of the local motion plan. Enumeration values: NO_LOCAL_PLAN  Failed to plan a path to goal. GOAL_OCCUPIED  Goal is occupied. NO_MOVE  Failed to reach goal after plan obtained. OBSTACLE_TOO_CLOSE  Obstacle too close for move. COMPLETELY_BLOCKED  All directions blocked. GOT_PLAN_AND_VEL_HEADING  Plan obtained with heading and vel. GOT_PLAN_AND_VELS  Plan obtained with lin and ang velocities.

enum ArPathPlanningTask::PathPlanningState

State of the path plan (accessible using getState()). Enumeration values: NOT_INITIALIZED  Task not initialized. PLANNING_PATH  Planning the inital path. MOVING_TO_GOAL  Moving to the goal. REACHED_GOAL  Reached the goal. FAILED_PLAN  Failed to plan a path to goal. FAILED_MOVE  Failed to reach goal after plan obtained. ABORTED_PATHPLAN  Aborted plan before done. INVALID  Invalid state.

enum ArPathPlanningTask::RangeType

How to incorporate the range device data. Enumeration values: NEITHER  No current and no cumulative. CURRENT  Current buffer only. CUMULATIVE  Cumulative buffer only. BOTH  Both buffers.

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Constructor & Destructor Documentation

ArPathPlanningTask::ArPathPlanningTask (  ArRobot *  robot, ArSick *  laser, ArRangeDevice *  sonar, ArMap *  m )

Constructor for a robot with two typical range devices (SICK LRF and Sonar or other less accurate range device) and the map. Use addRangeDevice() to add additional range devices. Parameters are set to default values and state is initialized, then the path planning task thread is automatically started.

ArPathPlanningTask::ArPathPlanningTask (  ArRobot *  robot, ArRangeDevice *  sonar, ArMap *  map )

Constructor for a robot with just sonar (or other comparable range device) and map. Use addRangeDevice() to add additional range devices. Parameters are set to default values and state is initialized, then the path planning task thread is automatically started.

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Member Function Documentation

void ArPathPlanningTask::goalFailed (  ArPose  goal, const char *  failureString = "Failed going to goal", PathPlanningState  state = FAILED_MOVE )

What to do when goal cannot be reached. For internal use only.

void ArPathPlanningTask::invokeBlockedPathCB (  void   )

Invoke all the callbacks after a replan due to path block. For internal use only.

void ArPathPlanningTask::setMovementParams (  double  maxLinAcc, double  maxRotAcc, double  maxLinDec, double  maxRotDec, double  maxLinVel, double  maxRotVel )

Sets only the dynamic motion params (for internal use). For internal use only.

void ArPathPlanningTask::setPlanParams (  double  robotWidth, double  robotLength, double  frontClearance, double  sideClearance, double  obsThreshold, double  maxLinAcc, double  maxRotAcc, double  maxLinDec, double  maxRotDec, double  maxLinVel, double  maxRotVel, double  headingWt, double  distanceWt, double  velocityWt, double  gridRes, int  nli, int  nri, int  sws, double  maxObsDistance, double  goalDistTol, double  goalAngTol, double  PlanFreeSpace, int  secsToFail, double  alignAngle, double  alignSpeed, int  splineDegree, int  numSplinePoints, double  goalOccupiedFailDistance, double  curvatureSpeedFactor, bool  useCollisionRangeForPlanningFlag, double  oneWayCost, double  centerAwayCost, double  localPathFailDistance, short  resistance, double  markOldPathFactor )

Sets path plan parameters which affect obstacle avoidance & tracking (for internal use). For internal use only.

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