planPath.cpp File Reference

Contains the implementation of planPath functions. More...

#include "planPath.hpp"

Include dependency graph for planPath.cpp:

Classes
class	config_Params_planPath
	Class which reads and stores the configuration params related to planPath functions. More...

Namespaces
	student

Functions
void	print_path (Path path, config_Params_planPath config_params, bool global)
bool	student::getCurvature (int step, Path &path)
bool	student::sort_pair_mission2 (const std::pair< int, Polygon > &a, const std::pair< int, Polygon > &b)
std::vector< Polygon >	student::obstacleOffsetting (const std::vector< Polygon > ob, int offset_radius)
	Expand obstacles region to avoid collision. More...
Polygon	student::resizeBorders (const Polygon &borders, int resize)
	Resize the border for avoiding collision with border. More...
Polygon	student::sample_borders (Polygon &borders)
	Sample the borders with multiple points. More...
std::pair< double, double >	student::get_center (const Polygon &poly)
	get centroid of any polygon More...
bool	student::pointInsidePolygon (Polygon poly, Point pt)
	function to check if a given point is inside polygon More...
double	student::compute_angle_gate (Polygon borders, double gateX, double gateY)
	function to compute the gate angle More...
double	student::internal_angle (double angle1, double angle2)
double	student::get_angle (Pose first, Pose second, Pose third)
	function to compute the approach angle between two nodes More...
bool	student::check_collison_with_borders_and_obstacles (Path path, Polygon borders, Polygon sampled_borders, std::vector< Polygon > obstacle_list, std::vector< double > obs_radius, std::vector< Point > obs_center)
	function to check if the generated path is colliding with borders and obstacles More...
void	student::RRT_Star (const float x, const float y, const float theta, Path &path, std::vector< Point > &localGoals, const Polygon &borders, Polygon &sampled_borders, const std::vector< Polygon > &obstacle_list, std::vector< double > obs_radius, std::vector< Point > obs_center, config_Params_planPath config_params)
	implmentation of RRT Star function More...
void	student::RRT_Star_ompl (const float x, const float y, const float theta, Path &path, std::vector< Point > &localGoals, const Polygon &borders, Polygon &sampled_borders, const std::vector< Polygon > &obstacle_list, std::vector< double > obs_radius, std::vector< Point > obs_center, config_Params_planPath config_params)
	implmentation of RRT Star function using OMPL library More...
std::vector< Point >	student::compute_vicitim_mission2 (const float x, const float y, const float theta, const Polygon &borders, const std::vector< Polygon > &obstacle_list, std::pair< double, double > gateCenter, std::vector< std::pair< int, Polygon >> victim_list, config_Params_planPath config_params)
	implmentation of Mission targets for mision 2 More...
bool	student::planPath (const Polygon &borders, const std::vector< Polygon > &obstacle_list, const std::vector< std::pair< int, Polygon >> &victim_list, const Polygon &gate, const float x, const float y, const float theta, Path &path, const std::string &config_folder)
	Plan a safe and fast path in the arena. More...

Detailed Description

Contains the implementation of planPath functions.

Author

Aravind Swaminathan

Date

10-Jan-2020

Function Documentation

void print_path	(	Path	path,
		config_Params_planPath	config_params,
		bool	global
	)

Function to store the path information computed to a file. Save location hardcoded

Parameters

x	- Path struct

Returns

None