IntegratedIGPlanner Class Reference

Implements an exploration algorithm directing the robot to the most informative path. More...

#include <IntegratedIGPlanner.h>

Inheritance diagram for IntegratedIGPlanner:

List of all members.

Public Member Functions
	IntegratedIGPlanner (const ConfigFile &config)
	Constructor.
virtual	~IntegratedIGPlanner ()
	Destructor.
Private Member Functions
void	execute ()
	virtual method for the thread main process.
float	IGutility (const gridMapInterface &omap, const binMap &esz)
matrix	jacobianHm (const pose &pos)
matrix	jacobianHv (const pose &pos, const pos3d &mark)
float	LOCutility (const point &oc, const binMap esz, visualMap &vmap, const Ematrix &P)
void	onStop ()
	this virtual method will be executed when the stop method is called
int	setup ()
	this virtual method will be executed when trying to start the thead, must return 0 if ok
Private Attributes
float	camrange
ClMutex	closing
bool	completedPath
float	cost_weight
bool	endPlanner
int	inflate_obstacles
float	localization_weight
std::vector< point >	path
float	replanning_period
bool	showPlanner
float	utility_radius
float	utility_weight
float	vmax

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Detailed Description

Implements an exploration algorithm directing the robot to the most informative path.

VAlue = IG + LOCALIZ - Cost

IG: is the expected number of visible cells from that frontier cell

LOCALIZ: Predicted localization level at the target point

Cost: is the length of the path to arrive to the cell

The target frontier cell that maximizes the value is chosen

Definition at line 41 of file IntegratedIGPlanner.h.

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

• include/architecture/planner/IntegratedIGPlanner.h
• src/architecture/planner/IntegratedIGPlanner.cpp