Voxel map environment. More...

#include <env_map.h>

Inheritance diagram for MPL::env_map< Dim >:

Public Member Functions
	env_map (std::shared_ptr< MapUtil< Dim >> map_util)
	Constructor with map util as input.

bool	is_goal (const Waypoint< Dim > &state) const
	Check if state hit the goal region, use L-1 norm.

bool	is_free (const Vecf< Dim > &pt) const
	Check if a point is in free space.

bool	is_free (const Primitive< Dim > &pr) const
	Check if the primitive is in free space. More...

decimal_t	traverse_primitive (const Primitive< Dim > &pr) const
	Accumulate the cost along the primitive. More...

void	get_succ (const Waypoint< Dim > &curr, vec_E< Waypoint< Dim >> &succ, std::vector< decimal_t > &succ_cost, std::vector< int > &action_idx) const
	Get successor. More...

void	set_gradient_map (const vec_E< Vecf< Dim >> &map)
	Set gradient map.

void	set_gradient_weight (decimal_t w)
	Set gradient weight.

void	set_potential_map (const std::vector< int8_t > &map)
	Set potential map.

void	set_potential_weight (decimal_t w)
	Set potential weight.

void	set_prior_trajectory (const Trajectory< Dim > &traj)
	Set prior trajectory.

decimal_t	traverse_trajectory (const Trajectory< Dim > &traj) const
	traverse trajectory

void	info ()
	Print out params.

Public Member Functions inherited from MPL::env_base< Dim >
	env_base ()
	Simple constructor.

virtual decimal_t	get_heur (const Waypoint< Dim > &state) const
	Heuristic function. More...

virtual decimal_t	cal_heur (const Waypoint< Dim > &state, const Waypoint< Dim > &goal) const
	calculate the cost from state to goal

Veci< Dim >	round (const Vecf< Dim > &vec, decimal_t res) const
	Replace the original cast function.

std::string	to_string (const Veci< Dim > &vec) const
	Convert a vec to a string.

void	forward_action (const Waypoint< Dim > &curr, int action_id, Primitive< Dim > &pr) const
	Recover trajectory.

void	set_u (const vec_E< VecDf > &U)
	Set control input.

void	set_v_max (decimal_t v)
	Set max vel in each axis.

void	set_a_max (decimal_t a)
	Set max acc in each axis.

void	set_j_max (decimal_t j)
	Set max acc in each axis.

void	set_yaw_max (decimal_t yaw)
	Set max acc in each axis.

void	set_dt (decimal_t dt)
	Set dt for primitive.

void	set_tol_pos (decimal_t pos)
	Set distance tolerance for goal region.

void	set_tol_vel (decimal_t vel)
	Set velocity tolerance for goal region.

void	set_tol_acc (decimal_t acc)
	Set acceleration tolerance for goal region.

void	set_tol_yaw (decimal_t yaw)
	Set acceleration tolerance for goal region.

void	set_w (decimal_t w)
	set weight for cost in time, usually no need to change

void	set_wyaw (decimal_t wyaw)
	set weight for cost in yaw, usually no need to change

void	set_t_max (int t)
	Set max time.

bool	set_goal (const Waypoint< Dim > &state)
	Set goal state.

void	set_search_region (const std::vector< bool > &search_region)
	Set valid search region (tunnel constraint)

void	set_heur_ignore_dynamics (bool ignore)
	Set heur_ignore_dynamics.

virtual decimal_t	calculate_intrinsic_cost (const Primitive< Dim > &pr) const

decimal_t	get_dt () const
	Retrieve dt.

std::vector< bool >	get_search_region () const
	Get the valid region.

Protected Attributes
std::shared_ptr< MapUtil< Dim > >	map_util_
	Collision checking util.

std::vector< int8_t >	potential_map_
	Potential map, optional.

vec_E< Vecf< Dim > >	gradient_map_
	Gradient map, optional.

decimal_t	potential_weight_ {0.1}
	Weight of potential value.

decimal_t	gradient_weight_ {0.0}
	Weight of gradient value.

Additional Inherited Members
Public Attributes inherited from MPL::env_base< Dim >
bool	heur_ignore_dynamics_ {true}
	if enabled, ignore dynamics when calculate heuristic

decimal_t	w_ {10.0}
	weight of time cost

decimal_t	wyaw_ {1.0}
	weight of yaw

decimal_t	tol_pos_ {0.5}
	tolerance of position for goal region, 0.5 is the default

decimal_t	tol_vel_ {-1.0}
	tolerance of velocity for goal region, 0 means no tolerance

decimal_t	tol_acc_ {-1.0}
	tolerance of acceleration for goal region, 0 means no tolerance

decimal_t	tol_yaw_ {-1.0}
	tolerance of yaw for goal region, 0 means no tolerance

decimal_t	v_max_ {-1.0}
	max velocity

decimal_t	a_max_ {-1.0}
	max acceleration

decimal_t	j_max_ {-1.0}
	max jerk

decimal_t	yaw_max_ {-1.0}
	max yaw

decimal_t	t_max_ {std::numeric_limits<decimal_t>::infinity()}
	max time

decimal_t	dt_ {1.0}
	duration of primitive

vec_E< VecDf >	U_
	Array of constant control input.

Waypoint< Dim >	goal_node_
	Goal node.

vec_E< std::pair< Waypoint< Dim >, decimal_t > >	prior_traj_
	Prior trajectory.

std::vector< bool >	search_region_
	Valid search region (tunnel constraint)

vec_Vecf< Dim >	expanded_nodes_
	expanded nodes for debug

vec_E< Primitive< Dim > >	expanded_edges_
	expanded edges for debug

Detailed Description

template<int Dim>
class MPL::env_map< Dim >

Voxel map environment.

Member Function Documentation

◆ get_succ()

template<int Dim>

void MPL::env_map< Dim >::get_succ	(	const Waypoint< Dim > &	curr,
		vec_E< Waypoint< Dim >> &	succ,
		std::vector< decimal_t > &	succ_cost,
		std::vector< int > &	action_idx
	)		const

inlinevirtual

Get successor.

Parameters

curr	The node to expand
succ	The array stores valid successors
succ_cost	The array stores cost along valid edges
action_idx	The array stores corresponding idx of control input for each successor

When goal is outside, extra step is needed for finding optimal trajectory. Only return the primitive satisfies valid dynamic constriants (include the one hits obstacles).

Reimplemented from MPL::env_base< Dim >.

◆ is_free()

template<int Dim>

bool MPL::env_map< Dim >::is_free ( const Primitive< Dim > & pr ) const

inlinevirtual

Check if the primitive is in free space.

Sample points along the primitive, and check each point for collision; the number of sampling is calculated based on the maximum velocity and resolution of the map.

Reimplemented from MPL::env_base< Dim >.

◆ traverse_primitive()

template<int Dim>

decimal_t MPL::env_map< Dim >::traverse_primitive ( const Primitive< Dim > & pr ) const

inline

Accumulate the cost along the primitive.

Sample points along the primitive, and sum up the cost of each point; number of sampling is calculated based on the maximum velocity and resolution of the map.

If the potential map has been set, it also uses the potential values; otherwise, the accumulated value will be zero for collision-free primitive and infinity for others.

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

include/mpl_planner/env/env_map.h

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

template<int Dim> class MPL::env_map< Dim >

Member Function Documentation

◆ get_succ()

◆ is_free()

◆ traverse_primitive()

template<int Dim>
class MPL::env_map< Dim >