mrpt.pymrpt.mrpt.nav
index
(built-in)

Bindings for mrpt::nav namespace

 
Classes
       
mrpt.pymrpt.mrpt.config.CLoadableOptions(pybind11_builtins.pybind11_object)
CParameterizedTrajectoryGenerator(mrpt.pymrpt.mrpt.serialization.CSerializable, mrpt.pymrpt.mrpt.config.CLoadableOptions)
CPTG_RobotShape_Circular
CPTG_Holo_Blend
CPTG_RobotShape_Polygonal
CPTG_DiffDrive_CollisionGridBased
CPTG_DiffDrive_C
CPTG_DiffDrive_CC
CPTG_DiffDrive_CCS
CPTG_DiffDrive_CS
CPTG_DiffDrive_alpha
mrpt.pymrpt.mrpt.graphs.CDirectedTree_mrpt_nav_TMoveEdgeSE2_TP_t(pybind11_builtins.pybind11_object)
TMoveTree_mrpt_nav_TNodeSE2_TP_mrpt_nav_TMoveEdgeSE2_TP_mrpt_containers_map_traits_map_as_vector_t
mrpt.pymrpt.mrpt.rtti.CObject(pybind11_builtins.pybind11_object)
CMultiObjectiveMotionOptimizerBase
CMultiObjMotionOpt_Scalarization
mrpt.pymrpt.mrpt.serialization.CSerializable(mrpt.pymrpt.mrpt.rtti.CObject)
CAbstractHolonomicReactiveMethod
CHolonomicFullEval
CHolonomicND
CHolonomicVFF
CHolonomicLogFileRecord
CLogFileRecord_FullEval
CLogFileRecord_ND
CLogFileRecord_VFF
CLogFileRecord
CParameterizedTrajectoryGenerator(mrpt.pymrpt.mrpt.serialization.CSerializable, mrpt.pymrpt.mrpt.config.CLoadableOptions)
CPTG_RobotShape_Circular
CPTG_Holo_Blend
CPTG_RobotShape_Polygonal
CPTG_DiffDrive_CollisionGridBased
CPTG_DiffDrive_C
CPTG_DiffDrive_CC
CPTG_DiffDrive_CCS
CPTG_DiffDrive_CS
CPTG_DiffDrive_alpha
pybind11_builtins.pybind11_object(builtins.object)
CAbstractNavigator
CNavigatorManualSequence
CWaypointsNavigator
CAbstractPTGBasedReactive
CReactiveNavigationSystem
CReactiveNavigationSystem3D
CRobot2NavInterface
CRobot2NavInterfaceForSimulator_DiffDriven
CRobot2NavInterfaceForSimulator_Holo
ClearanceDiagram
PTG_collision_behavior_t
PlannerSimple2D
PlannerTPS_VirtualBase
PlannerRRT_SE2_TPS
PoseDistanceMetric_mrpt_nav_TNodeSE2_TP_t
PoseDistanceMetric_mrpt_nav_TNodeSE2_t
RRTAlgorithmParams
RRTEndCriteria
TCPoint
TCandidateMovementPTG
TMoveEdgeSE2_TP
TNodeSE2
TNodeSE2_TP
TPlannerInputTempl_mrpt_math_TPose2D_mrpt_math_TPose2D_t
TPlannerResultTempl_mrpt_nav_TMoveTree_mrpt_nav_TNodeSE2_TP_mrpt_nav_TMoveEdgeSE2_TP_t
TRobotShape
TWaypoint
TWaypointStatus
TWaypointSequence
TWaypointStatusSequence
TWaypointsRenderingParams

 
class CAbstractHolonomicReactiveMethod(mrpt.pymrpt.mrpt.serialization.CSerializable)
    A base class for holonomic reactive navigation methods.
 
 
CHolonomicVFF,CHolonomicND,CHolonomicFullEvalCReactiveNavigationSystem
 
 
Method resolution order:
CAbstractHolonomicReactiveMethod
mrpt.pymrpt.mrpt.serialization.CSerializable
mrpt.pymrpt.mrpt.rtti.CObject
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
GetRuntimeClass(...)
GetRuntimeClass(self: mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod) -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
 
C++: mrpt::nav::CAbstractHolonomicReactiveMethod::GetRuntimeClass() const --> const struct mrpt::rtti::TRuntimeClassId *
__init__(...)
__init__(*args, **kwargs)
Overloaded function.
 
1. __init__(self: mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod, defaultCfgSectionName: str) -> None
 
2. __init__(self: mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod, arg0: mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod) -> None
assign(...)
assign(self: mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod, : mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod) -> mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod
 
C++: mrpt::nav::CAbstractHolonomicReactiveMethod::operator=(const class mrpt::nav::CAbstractHolonomicReactiveMethod &) --> class mrpt::nav::CAbstractHolonomicReactiveMethod &
enableApproachTargetSlowDown(...)
enableApproachTargetSlowDown(self: mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod, enable: bool) -> None
 
C++: mrpt::nav::CAbstractHolonomicReactiveMethod::enableApproachTargetSlowDown(bool) --> void
getAssociatedPTG(...)
getAssociatedPTG(self: mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod) -> mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator
 
Returns the pointer set by setAssociatedPTG() 
 
C++: mrpt::nav::CAbstractHolonomicReactiveMethod::getAssociatedPTG() const --> class mrpt::nav::CParameterizedTrajectoryGenerator *
getConfigFileSectionName(...)
getConfigFileSectionName(self: mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod) -> str
 
Gets the name of the section used in initialize() 
 
C++: mrpt::nav::CAbstractHolonomicReactiveMethod::getConfigFileSectionName() const --> std::string
getTargetApproachSlowDownDistance(...)
getTargetApproachSlowDownDistance(self: mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod) -> float
 
Returns the actual value of this parameter [m], as set via the children
 class options structure. 
 
 setTargetApproachSlowDownDistance() 
 
C++: mrpt::nav::CAbstractHolonomicReactiveMethod::getTargetApproachSlowDownDistance() const --> double
initialize(...)
initialize(self: mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod, c: mrpt.pymrpt.mrpt.config.CConfigFileBase) -> None
 
Initialize the parameters of the navigator, reading from the default
 section name (see derived classes) or the one set via
 setConfigFileSectionName() 
 
C++: mrpt::nav::CAbstractHolonomicReactiveMethod::initialize(const class mrpt::config::CConfigFileBase &) --> void
navigate(...)
navigate(self: mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod, ni: mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput, no: mrpt::nav::CAbstractHolonomicReactiveMethod::NavOutput) -> None
 
Invokes the holonomic navigation algorithm itself. See the description
 of the input/output structures for details on each parameter. 
 
C++: mrpt::nav::CAbstractHolonomicReactiveMethod::navigate(const struct mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput &, struct mrpt::nav::CAbstractHolonomicReactiveMethod::NavOutput &) --> void
saveConfigFile(...)
saveConfigFile(self: mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod, c: mrpt.pymrpt.mrpt.config.CConfigFileBase) -> None
 
saves all available parameters, in a forma loadable by `initialize()` 
 
C++: mrpt::nav::CAbstractHolonomicReactiveMethod::saveConfigFile(class mrpt::config::CConfigFileBase &) const --> void
setAssociatedPTG(...)
setAssociatedPTG(self: mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod, ptg: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> None
 
Optionally, sets the associated PTG, just in case a derived class
 requires this info (not required for methods where the robot kinematics
 are totally abstracted) 
 
C++: mrpt::nav::CAbstractHolonomicReactiveMethod::setAssociatedPTG(class mrpt::nav::CParameterizedTrajectoryGenerator *) --> void
setConfigFileSectionName(...)
setConfigFileSectionName(self: mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod, sectName: str) -> None
 
Defines the name of the section used in initialize() 
 
C++: mrpt::nav::CAbstractHolonomicReactiveMethod::setConfigFileSectionName(const std::string &) --> void
setTargetApproachSlowDownDistance(...)
setTargetApproachSlowDownDistance(self: mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod, dist: float) -> None
 
Sets the actual value of this parameter [m]. 
 
 getTargetApproachSlowDownDistance() 
 
C++: mrpt::nav::CAbstractHolonomicReactiveMethod::setTargetApproachSlowDownDistance(const double) --> void

Static methods defined here:
Factory(...) from builtins.PyCapsule
Factory(className: str) -> mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod
 
C++: mrpt::nav::CAbstractHolonomicReactiveMethod::Factory(const std::string &) --> class std::shared_ptr<class mrpt::nav::CAbstractHolonomicReactiveMethod>
GetRuntimeClassIdStatic(...) from builtins.PyCapsule
GetRuntimeClassIdStatic() -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
 
C++: mrpt::nav::CAbstractHolonomicReactiveMethod::GetRuntimeClassIdStatic() --> const struct mrpt::rtti::TRuntimeClassId &

Data and other attributes defined here:
NavInput = <class 'mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod.NavInput'>
Input parameters for CAbstractHolonomicReactiveMethod::navigate()
NavOutput = <class 'mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod.NavOutput'>
Output for CAbstractHolonomicReactiveMethod::navigate()

Methods inherited from mrpt.pymrpt.mrpt.rtti.CObject:
clone(...)
clone(self: mrpt.pymrpt.mrpt.rtti.CObject) -> mrpt.pymrpt.mrpt.rtti.CObject
 
Returns a deep copy (clone) of the object, indepently of its class. 
 
C++: mrpt::rtti::CObject::clone() const --> class mrpt::rtti::CObject *
duplicateGetSmartPtr(...)
duplicateGetSmartPtr(self: mrpt.pymrpt.mrpt.rtti.CObject) -> mrpt.pymrpt.mrpt.rtti.CObject
 
Makes a deep copy of the object and returns a smart pointer to it 
 
C++: mrpt::rtti::CObject::duplicateGetSmartPtr() const --> class std::shared_ptr<class mrpt::rtti::CObject>

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class CAbstractNavigator(pybind11_builtins.pybind11_object)
    This is the base class for any reactive/planned navigation system. See
derived classes.
 
How to use:
 - A class derived from `CRobot2NavInterface` with callbacks must be defined
by the user and provided to the constructor.
 - `navigationStep()` must be called periodically in order to effectively run
the navigation. This method will internally call the callbacks to gather
sensor data and robot positioning data.
 
It implements the following state machine (see
CAbstractNavigator::getCurrentState() ), taking into account the extensions
described in CWaypointsNavigator
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
CWaypointsNavigatorCReactiveNavigationSystemCRobot2NavInterface, all
children classes
 
 
Method resolution order:
CAbstractNavigator
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
__init__(...)
__init__(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator, robot_interface_impl: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface) -> None
cancel(...)
cancel(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator) -> None
 
Cancel current navegation. 
 
C++: mrpt::nav::CAbstractNavigator::cancel() --> void
enableRethrowNavExceptions(...)
enableRethrowNavExceptions(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator, enable: bool) -> None
 
By default, error exceptions on navigationStep() will dump an error
 message to the output logger interface. If rethrow is enabled
 (default=false), the error message will be reported as well, but
 exceptions will be re-thrown.
 
C++: mrpt::nav::CAbstractNavigator::enableRethrowNavExceptions(const bool) --> void
getCurrentState(...)
getCurrentState(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator) -> mrpt.pymrpt.mrpt.nav.CAbstractNavigator.TState
 
Returns the current navigator state. 
 
C++: mrpt::nav::CAbstractNavigator::getCurrentState() const --> enum mrpt::nav::CAbstractNavigator::TState
getDelaysTimeLogger(...)
getDelaysTimeLogger(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator) -> mrpt.pymrpt.mrpt.system.CTimeLogger
 
Gives access to a const-ref to the internal time logger used to estimate
 delays 
 
 getTimeLogger() in derived classes 
 
C++: mrpt::nav::CAbstractNavigator::getDelaysTimeLogger() const --> const class mrpt::system::CTimeLogger &
getErrorReason(...)
getErrorReason(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator) -> mrpt::nav::CAbstractNavigator::TErrorReason
 
In case of state=NAV_ERROR, this returns the reason for the error.
 Error state is reseted every time a new navigation starts with
 a call to navigate(), or when resetNavError() is called.
 
C++: mrpt::nav::CAbstractNavigator::getErrorReason() const --> const struct mrpt::nav::CAbstractNavigator::TErrorReason &
initialize(...)
initialize(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator) -> None
 
Must be called before any other navigation command 
 
C++: mrpt::nav::CAbstractNavigator::initialize() --> void
isRethrowNavExceptionsEnabled(...)
isRethrowNavExceptionsEnabled(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator) -> bool
 
C++: mrpt::nav::CAbstractNavigator::isRethrowNavExceptionsEnabled() const --> bool
loadConfigFile(...)
loadConfigFile(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator, c: mrpt.pymrpt.mrpt.config.CConfigFileBase) -> None
 
Loads all params from a file. To be called before initialize().
 Each derived class *MUST* load its own parameters, and then call *ITS
 PARENT'S* overriden method to ensure all params are loaded. 
 
C++: mrpt::nav::CAbstractNavigator::loadConfigFile(const class mrpt::config::CConfigFileBase &) --> void
navigationStep(...)
navigationStep(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator) -> None
 
This method must be called periodically in order to effectively run the
 navigation 
 
C++: mrpt::nav::CAbstractNavigator::navigationStep() --> void
resetNavError(...)
resetNavError(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator) -> None
 
Resets a `NAV_ERROR` state back to `IDLE` 
 
C++: mrpt::nav::CAbstractNavigator::resetNavError() --> void
resume(...)
resume(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator) -> None
 
Continues with suspended navigation. 
 suspend 
 
C++: mrpt::nav::CAbstractNavigator::resume() --> void
saveConfigFile(...)
saveConfigFile(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator, c: mrpt.pymrpt.mrpt.config.CConfigFileBase) -> None
 
Saves all current options to a config file.
 Each derived class *MUST* save its own parameters, and then call *ITS
 PARENT'S* overriden method to ensure all params are saved. 
 
C++: mrpt::nav::CAbstractNavigator::saveConfigFile(class mrpt::config::CConfigFileBase &) const --> void
suspend(...)
suspend(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator) -> None
 
Suspend current navegation. 
 resume 
 
C++: mrpt::nav::CAbstractNavigator::suspend() --> void

Data descriptors defined here:
m_navProfiler
params_abstract_navigator

Data and other attributes defined here:
ERR_CANNOT_REACH_TARGET = <TErrorCode.ERR_CANNOT_REACH_TARGET: 2>
ERR_EMERGENCY_STOP = <TErrorCode.ERR_EMERGENCY_STOP: 1>
ERR_NONE = <TErrorCode.ERR_NONE: 0>
ERR_OTHER = <TErrorCode.ERR_OTHER: 3>
IDLE = <TState.IDLE: 0>
NAVIGATING = <TState.NAVIGATING: 1>
NAV_ERROR = <TState.NAV_ERROR: 3>
SUSPENDED = <TState.SUSPENDED: 2>
TAbstractNavigatorParams = <class 'mrpt.pymrpt.mrpt.nav.CAbstractNavigator.TAbstractNavigatorParams'>
@}
TErrorCode = <class 'mrpt.pymrpt.mrpt.nav.CAbstractNavigator.TErrorCode'>
TErrorReason = <class 'mrpt.pymrpt.mrpt.nav.CAbstractNavigator.TErrorReason'>
TNavigationParams = <class 'mrpt.pymrpt.mrpt.nav.CAbstractNavigator.TNavigationParams'>
The struct for configuring navigation requests. Used in
CAbstractPTGBasedReactive::navigate()
TNavigationParamsBase = <class 'mrpt.pymrpt.mrpt.nav.CAbstractNavigator.TNavigationParamsBase'>
Base for all high-level navigation commands. See derived classes
TState = <class 'mrpt.pymrpt.mrpt.nav.CAbstractNavigator.TState'>
TargetInfo = <class 'mrpt.pymrpt.mrpt.nav.CAbstractNavigator.TargetInfo'>
Individual target info in CAbstractNavigator::TNavigationParamsBase and
derived classes

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class CAbstractPTGBasedReactive(CWaypointsNavigator)
    Base class for reactive navigator systems based on TP-Space, with an
arbitrary holonomic
reactive method running on it and any number of PTGs for transforming the
navigation space.
Both, the holonomic method and the PTGs can be customized by the apropriate
user derived classes.
 
How to use:
 - Instantiate a reactive navigation object (one of the derived classes of
this virtual class).
 - A class with callbacks must be defined by the user and provided to the
constructor (derived from CRobot2NavInterface)
 - loadConfigFile() must be called to set up the bunch of parameters from a
config file (could be a memory-based virtual config file).
 - navigationStep() must be called periodically in order to effectively run
the navigation. This method will internally call the callbacks to gather
sensor data and robot positioning data.
 
For working examples, refer to the source code of the apps:
 -
[ReactiveNavigationDemo](http://www.mrpt.org/list-of-mrpt-apps/application-reactivenavigationdemo/)
 -
[ReactiveNav3D-Demo](http://www.mrpt.org/list-of-mrpt-apps/application-reactivenav3d-demo/)
 
Publications:
 - See derived classes for papers on each specific method.
 
Available "variables" or "score names" for each motion candidate (these can
be used in runtime-compiled expressions
in the configuration files of motion deciders):
 
- `clearance`: Clearance (larger means larger distances to obstacles) for
the path from "current pose" up to "end of trajectory".
- `collision_free_distance`: Normalized [0,1] collision-free distance in
selected path. For NOP candidates, the traveled distances is substracted.
- `dist_eucl_final`: Euclidean distance (in the real-world WordSpace)
between "end of trajectory" and target.
- `eta`: Estimated Time of Arrival at "end of trajectory".
- `holo_stage_eval`: Final evaluation of the selected direction from inside
of the holonomic algorithm.
- `hysteresis`: Measure of similarity with previous command [0,1]
- `is_PTG_cont`: 1 (is "NOP" motion command), 0 otherwise
- `is_slowdown`: 1 if PTG returns true in
CParameterizedTrajectoryGenerator::supportSpeedAtTarget() for this step.
- `move_cur_d`: Normalized distance already traveled over the selected PTG.
Normally 0, unless in a "NOP motion".
- `move_k`: Motion candidate path 0-based index.
- `num_paths`: Number of paths in the PTG
- `original_col_free_dist`: Only for "NOP motions", the collision-free
distance when the motion command was originally issued.
- `ptg_idx`: PTG index (0-based)
- `ptg_priority`: Product of PTG getScorePriority() times PTG
evalPathRelativePriority()
- `ref_dist`: PTG ref distance [m]
- `robpose_x`, `robpose_y`, `robpose_phi`: Robot pose ([m] and [rad]) at the
"end of trajectory": at collision or at target distance.
- `target_d_norm`: Normalized target distance. Can be >1 if distance is
larger than ref_distance.
- `target_dir`: Angle of target in TP-Space [rad]
- `target_k`: Same as target_dir but in discrete path 0-based indices.
- `WS_target_x`, `WS_target_y`: Target coordinates in realworld [m]
 
 
CReactiveNavigationSystemCReactiveNavigationSystem3D
 
 
Method resolution order:
CAbstractPTGBasedReactive
CWaypointsNavigator
CAbstractNavigator
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
__init__(self, /, *args, **kwargs)
Initialize self.  See help(type(self)) for accurate signature.
changeCurrentRobotSpeedLimits(...)
changeCurrentRobotSpeedLimits(self: mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive) -> mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd.TVelCmdParams
 
Changes the current, global (honored for all PTGs) robot speed limits,
 via returning a reference to a structure that holds those limits 
 
C++: mrpt::nav::CAbstractPTGBasedReactive::changeCurrentRobotSpeedLimits() --> struct mrpt::kinematics::CVehicleVelCmd::TVelCmdParams &
enableKeepLogRecords(...)
enableKeepLogRecords(*args, **kwargs)
Overloaded function.
 
1. enableKeepLogRecords(self: mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive) -> None
 
2. enableKeepLogRecords(self: mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive, enable: bool) -> None
 
Enables keeping an internal registry of navigation logs that can be
 queried with getLastLogRecord() 
 
C++: mrpt::nav::CAbstractPTGBasedReactive::enableKeepLogRecords(bool) --> void
enableLogFile(...)
enableLogFile(self: mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive, enable: bool) -> None
 
Enables/disables saving log files. 
 
C++: mrpt::nav::CAbstractPTGBasedReactive::enableLogFile(bool) --> void
enableTimeLog(...)
enableTimeLog(*args, **kwargs)
Overloaded function.
 
1. enableTimeLog(self: mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive) -> None
 
2. enableTimeLog(self: mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive, enable: bool) -> None
 
Enables/disables the detailed time logger (default:disabled upon
 construction)
  When enabled, a report will be dumped to std::cout upon destruction.
 
 
 getTimeLogger
 
C++: mrpt::nav::CAbstractPTGBasedReactive::enableTimeLog(bool) --> void
getCurrentRobotSpeedLimits(...)
getCurrentRobotSpeedLimits(self: mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive) -> mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd.TVelCmdParams
 
Get the current, global (honored for all PTGs) robot speed limits 
 
C++: mrpt::nav::CAbstractPTGBasedReactive::getCurrentRobotSpeedLimits() const --> const struct mrpt::kinematics::CVehicleVelCmd::TVelCmdParams &
getLastLogRecord(...)
getLastLogRecord(self: mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive, o: mrpt.pymrpt.mrpt.nav.CLogFileRecord) -> None
 
Provides a copy of the last log record with information about execution.
 
 
 An object where the log will be stored into.
 
 
 Log records are not prepared unless either "enableLogFile" is
 enabled in the constructor or "enableLogFile()" has been called.
 
C++: mrpt::nav::CAbstractPTGBasedReactive::getLastLogRecord(class mrpt::nav::CLogFileRecord &) --> void
getLogFileDirectory(...)
getLogFileDirectory(self: mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive) -> str
 
C++: mrpt::nav::CAbstractPTGBasedReactive::getLogFileDirectory() const --> std::string
getPTG(...)
getPTG(self: mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive, i: int) -> mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator
 
Gets the i'th PTG 
 
C++: mrpt::nav::CAbstractPTGBasedReactive::getPTG(size_t) --> class mrpt::nav::CParameterizedTrajectoryGenerator *
getPTG_count(...)
getPTG_count(self: mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive) -> int
 
Returns the number of different PTGs that have been setup 
 
C++: mrpt::nav::CAbstractPTGBasedReactive::getPTG_count() const --> size_t
getTargetApproachSlowDownDistance(...)
getTargetApproachSlowDownDistance(self: mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive) -> float
 
Returns this parameter for the first inner holonomic navigator instances
 [m] (should be the same in all of them?) 
 
C++: mrpt::nav::CAbstractPTGBasedReactive::getTargetApproachSlowDownDistance() const --> double
getTimeLogger(...)
getTimeLogger(self: mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive) -> mrpt.pymrpt.mrpt.system.CTimeLogger
 
Gives access to a const-ref to the internal time logger 
 
 enableTimeLog 
 
C++: mrpt::nav::CAbstractPTGBasedReactive::getTimeLogger() const --> const class mrpt::system::CTimeLogger &
initialize(...)
initialize(self: mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive) -> None
 
Must be called for loading collision grids, or the first navigation
 command may last a long time to be executed.
 Internally, it just calls STEP1_CollisionGridsBuilder().
 
C++: mrpt::nav::CAbstractPTGBasedReactive::initialize() --> void
loadConfigFile(...)
loadConfigFile(self: mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive, c: mrpt.pymrpt.mrpt.config.CConfigFileBase) -> None
 
C++: mrpt::nav::CAbstractPTGBasedReactive::loadConfigFile(const class mrpt::config::CConfigFileBase &) --> void
saveConfigFile(...)
saveConfigFile(self: mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive, c: mrpt.pymrpt.mrpt.config.CConfigFileBase) -> None
 
C++: mrpt::nav::CAbstractPTGBasedReactive::saveConfigFile(class mrpt::config::CConfigFileBase &) const --> void
setHolonomicMethod(...)
setHolonomicMethod(self: mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive, method: str, cfgBase: mrpt.pymrpt.mrpt.config.CConfigFileBase) -> None
 
Selects which one from the set of available holonomic methods will be
 used
  into transformed TP-Space, and sets its configuration from a
 configuration file.
 Available methods: class names of those derived from
 CAbstractHolonomicReactiveMethod
 
C++: mrpt::nav::CAbstractPTGBasedReactive::setHolonomicMethod(const std::string &, const class mrpt::config::CConfigFileBase &) --> void
setLogFileDirectory(...)
setLogFileDirectory(self: mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive, sDir: str) -> None
 
Changes the prefix for new log files. 
 
C++: mrpt::nav::CAbstractPTGBasedReactive::setLogFileDirectory(const std::string &) --> void
setTargetApproachSlowDownDistance(...)
setTargetApproachSlowDownDistance(self: mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive, dist: float) -> None
 
Changes this parameter in all inner holonomic navigator instances [m].
 
C++: mrpt::nav::CAbstractPTGBasedReactive::setTargetApproachSlowDownDistance(const double) --> void

Data descriptors defined here:
params_abstract_ptg_navigator

Data and other attributes defined here:
TAbstractPTGNavigatorParams = <class 'mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive.TAbstractPTGNavigatorParams'>
TNavigationParamsPTG = <class 'mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive.TNavigationParamsPTG'>
The struct for configuring navigation requests to
CAbstractPTGBasedReactive and derived classes.

Methods inherited from CWaypointsNavigator:
beginWaypointsAccess(...)
beginWaypointsAccess(self: mrpt.pymrpt.mrpt.nav.CWaypointsNavigator) -> mrpt.pymrpt.mrpt.nav.TWaypointStatusSequence
 
Gets a write-enabled reference to the list of waypoints, simultanously
 acquiring the critical section mutex.
 Caller must call endWaypointsAccess() when done editing the waypoints.
 
C++: mrpt::nav::CWaypointsNavigator::beginWaypointsAccess() --> struct mrpt::nav::TWaypointStatusSequence &
cancel(...)
cancel(self: mrpt.pymrpt.mrpt.nav.CWaypointsNavigator) -> None
 
Cancel current navegation. 
 
C++: mrpt::nav::CWaypointsNavigator::cancel() --> void
endWaypointsAccess(...)
endWaypointsAccess(self: mrpt.pymrpt.mrpt.nav.CWaypointsNavigator) -> None
 
Must be called after beginWaypointsAccess() 
 
C++: mrpt::nav::CWaypointsNavigator::endWaypointsAccess() --> void
getWaypointNavStatus(...)
getWaypointNavStatus(*args, **kwargs)
Overloaded function.
 
1. getWaypointNavStatus(self: mrpt.pymrpt.mrpt.nav.CWaypointsNavigator, out_nav_status: mrpt.pymrpt.mrpt.nav.TWaypointStatusSequence) -> None
 
Get a copy of the control structure which describes the progress status
 of the waypoint navigation. 
 
C++: mrpt::nav::CWaypointsNavigator::getWaypointNavStatus(struct mrpt::nav::TWaypointStatusSequence &) const --> void
 
2. getWaypointNavStatus(self: mrpt.pymrpt.mrpt.nav.CWaypointsNavigator) -> mrpt.pymrpt.mrpt.nav.TWaypointStatusSequence
 
Get a copy of the control structure which describes the progress status
 of the waypoint navigation.
 
         
 
C++: mrpt::nav::CWaypointsNavigator::getWaypointNavStatus() const --> struct mrpt::nav::TWaypointStatusSequence
isRelativePointReachable(...)
isRelativePointReachable(self: mrpt.pymrpt.mrpt.nav.CWaypointsNavigator, wp_local_wrt_robot: mrpt::math::TPoint2D_<double>) -> bool
 
Returns `true` if, according to the information gathered at the last
 navigation step,
 there is a free path to the given point; `false` otherwise: if way is
 blocked or there is missing information,
 the point is out of range for the existing PTGs, etc. 
 
C++: mrpt::nav::CWaypointsNavigator::isRelativePointReachable(const struct mrpt::math::TPoint2D_<double> &) const --> bool
navigateWaypoints(...)
navigateWaypoints(self: mrpt.pymrpt.mrpt.nav.CWaypointsNavigator, nav_request: mrpt.pymrpt.mrpt.nav.TWaypointSequence) -> None
 
Waypoint navigation request. This immediately cancels any other previous
 on-going navigation.
 
 
 CAbstractNavigator::navigate() for single waypoint navigation
 requests.
 
C++: mrpt::nav::CWaypointsNavigator::navigateWaypoints(const struct mrpt::nav::TWaypointSequence &) --> void
navigationStep(...)
navigationStep(self: mrpt.pymrpt.mrpt.nav.CWaypointsNavigator) -> None
 
C++: mrpt::nav::CWaypointsNavigator::navigationStep() --> void

Data descriptors inherited from CWaypointsNavigator:
params_waypoints_navigator

Data and other attributes inherited from CWaypointsNavigator:
TNavigationParamsWaypoints = <class 'mrpt.pymrpt.mrpt.nav.CWaypointsNavigator.TNavigationParamsWaypoints'>
The struct for configuring navigation requests to CWaypointsNavigator
and derived classes.
TWaypointsNavigatorParams = <class 'mrpt.pymrpt.mrpt.nav.CWaypointsNavigator.TWaypointsNavigatorParams'>

Methods inherited from CAbstractNavigator:
enableRethrowNavExceptions(...)
enableRethrowNavExceptions(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator, enable: bool) -> None
 
By default, error exceptions on navigationStep() will dump an error
 message to the output logger interface. If rethrow is enabled
 (default=false), the error message will be reported as well, but
 exceptions will be re-thrown.
 
C++: mrpt::nav::CAbstractNavigator::enableRethrowNavExceptions(const bool) --> void
getCurrentState(...)
getCurrentState(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator) -> mrpt.pymrpt.mrpt.nav.CAbstractNavigator.TState
 
Returns the current navigator state. 
 
C++: mrpt::nav::CAbstractNavigator::getCurrentState() const --> enum mrpt::nav::CAbstractNavigator::TState
getDelaysTimeLogger(...)
getDelaysTimeLogger(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator) -> mrpt.pymrpt.mrpt.system.CTimeLogger
 
Gives access to a const-ref to the internal time logger used to estimate
 delays 
 
 getTimeLogger() in derived classes 
 
C++: mrpt::nav::CAbstractNavigator::getDelaysTimeLogger() const --> const class mrpt::system::CTimeLogger &
getErrorReason(...)
getErrorReason(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator) -> mrpt::nav::CAbstractNavigator::TErrorReason
 
In case of state=NAV_ERROR, this returns the reason for the error.
 Error state is reseted every time a new navigation starts with
 a call to navigate(), or when resetNavError() is called.
 
C++: mrpt::nav::CAbstractNavigator::getErrorReason() const --> const struct mrpt::nav::CAbstractNavigator::TErrorReason &
isRethrowNavExceptionsEnabled(...)
isRethrowNavExceptionsEnabled(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator) -> bool
 
C++: mrpt::nav::CAbstractNavigator::isRethrowNavExceptionsEnabled() const --> bool
resetNavError(...)
resetNavError(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator) -> None
 
Resets a `NAV_ERROR` state back to `IDLE` 
 
C++: mrpt::nav::CAbstractNavigator::resetNavError() --> void
resume(...)
resume(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator) -> None
 
Continues with suspended navigation. 
 suspend 
 
C++: mrpt::nav::CAbstractNavigator::resume() --> void
suspend(...)
suspend(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator) -> None
 
Suspend current navegation. 
 resume 
 
C++: mrpt::nav::CAbstractNavigator::suspend() --> void

Data descriptors inherited from CAbstractNavigator:
m_navProfiler
params_abstract_navigator

Data and other attributes inherited from CAbstractNavigator:
ERR_CANNOT_REACH_TARGET = <TErrorCode.ERR_CANNOT_REACH_TARGET: 2>
ERR_EMERGENCY_STOP = <TErrorCode.ERR_EMERGENCY_STOP: 1>
ERR_NONE = <TErrorCode.ERR_NONE: 0>
ERR_OTHER = <TErrorCode.ERR_OTHER: 3>
IDLE = <TState.IDLE: 0>
NAVIGATING = <TState.NAVIGATING: 1>
NAV_ERROR = <TState.NAV_ERROR: 3>
SUSPENDED = <TState.SUSPENDED: 2>
TAbstractNavigatorParams = <class 'mrpt.pymrpt.mrpt.nav.CAbstractNavigator.TAbstractNavigatorParams'>
@}
TErrorCode = <class 'mrpt.pymrpt.mrpt.nav.CAbstractNavigator.TErrorCode'>
TErrorReason = <class 'mrpt.pymrpt.mrpt.nav.CAbstractNavigator.TErrorReason'>
TNavigationParams = <class 'mrpt.pymrpt.mrpt.nav.CAbstractNavigator.TNavigationParams'>
The struct for configuring navigation requests. Used in
CAbstractPTGBasedReactive::navigate()
TNavigationParamsBase = <class 'mrpt.pymrpt.mrpt.nav.CAbstractNavigator.TNavigationParamsBase'>
Base for all high-level navigation commands. See derived classes
TState = <class 'mrpt.pymrpt.mrpt.nav.CAbstractNavigator.TState'>
TargetInfo = <class 'mrpt.pymrpt.mrpt.nav.CAbstractNavigator.TargetInfo'>
Individual target info in CAbstractNavigator::TNavigationParamsBase and
derived classes

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class CHolonomicFullEval(CAbstractHolonomicReactiveMethod)
    Full evaluation of all possible directions within the discrete set of input
directions.
 
These are the optional parameters of the method which can be set by means of
a configuration file passed to the constructor or to
CHolonomicFullEval::initialize() or directly in 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
CAbstractHolonomicReactiveMethod,CReactiveNavigationSystem
 
 
Method resolution order:
CHolonomicFullEval
CAbstractHolonomicReactiveMethod
mrpt.pymrpt.mrpt.serialization.CSerializable
mrpt.pymrpt.mrpt.rtti.CObject
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
GetRuntimeClass(...)
GetRuntimeClass(self: mrpt.pymrpt.mrpt.nav.CHolonomicFullEval) -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
 
C++: mrpt::nav::CHolonomicFullEval::GetRuntimeClass() const --> const struct mrpt::rtti::TRuntimeClassId *
__init__(...)
__init__(*args, **kwargs)
Overloaded function.
 
1. __init__(self: mrpt.pymrpt.mrpt.nav.CHolonomicFullEval) -> None
 
doc
 
2. __init__(self: mrpt.pymrpt.mrpt.nav.CHolonomicFullEval, INI_FILE: mrpt.pymrpt.mrpt.config.CConfigFileBase) -> None
 
3. __init__(self: mrpt.pymrpt.mrpt.nav.CHolonomicFullEval, arg0: mrpt.pymrpt.mrpt.nav.CHolonomicFullEval) -> None
 
4. __init__(self: mrpt.pymrpt.mrpt.nav.CHolonomicFullEval, arg0: mrpt.pymrpt.mrpt.nav.CHolonomicFullEval) -> None
assign(...)
assign(self: mrpt.pymrpt.mrpt.nav.CHolonomicFullEval, : mrpt.pymrpt.mrpt.nav.CHolonomicFullEval) -> mrpt.pymrpt.mrpt.nav.CHolonomicFullEval
 
C++: mrpt::nav::CHolonomicFullEval::operator=(const class mrpt::nav::CHolonomicFullEval &) --> class mrpt::nav::CHolonomicFullEval &
clone(...)
clone(self: mrpt.pymrpt.mrpt.nav.CHolonomicFullEval) -> mrpt.pymrpt.mrpt.rtti.CObject
 
C++: mrpt::nav::CHolonomicFullEval::clone() const --> class mrpt::rtti::CObject *
getTargetApproachSlowDownDistance(...)
getTargetApproachSlowDownDistance(self: mrpt.pymrpt.mrpt.nav.CHolonomicFullEval) -> float
 
C++: mrpt::nav::CHolonomicFullEval::getTargetApproachSlowDownDistance() const --> double
initialize(...)
initialize(self: mrpt.pymrpt.mrpt.nav.CHolonomicFullEval, INI_FILE: mrpt.pymrpt.mrpt.config.CConfigFileBase) -> None
 
C++: mrpt::nav::CHolonomicFullEval::initialize(const class mrpt::config::CConfigFileBase &) --> void
navigate(...)
navigate(self: mrpt.pymrpt.mrpt.nav.CHolonomicFullEval, ni: mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod.NavInput, no: mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod.NavOutput) -> None
 
C++: mrpt::nav::CHolonomicFullEval::navigate(const struct mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput &, struct mrpt::nav::CAbstractHolonomicReactiveMethod::NavOutput &) --> void
saveConfigFile(...)
saveConfigFile(self: mrpt.pymrpt.mrpt.nav.CHolonomicFullEval, c: mrpt.pymrpt.mrpt.config.CConfigFileBase) -> None
 
C++: mrpt::nav::CHolonomicFullEval::saveConfigFile(class mrpt::config::CConfigFileBase &) const --> void
setTargetApproachSlowDownDistance(...)
setTargetApproachSlowDownDistance(self: mrpt.pymrpt.mrpt.nav.CHolonomicFullEval, dist: float) -> None
 
C++: mrpt::nav::CHolonomicFullEval::setTargetApproachSlowDownDistance(const double) --> void

Static methods defined here:
CreateObject(...) from builtins.PyCapsule
CreateObject() -> mrpt.pymrpt.mrpt.rtti.CObject
 
C++: mrpt::nav::CHolonomicFullEval::CreateObject() --> class std::shared_ptr<class mrpt::rtti::CObject>
GetRuntimeClassIdStatic(...) from builtins.PyCapsule
GetRuntimeClassIdStatic() -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
 
C++: mrpt::nav::CHolonomicFullEval::GetRuntimeClassIdStatic() --> const struct mrpt::rtti::TRuntimeClassId &

Data descriptors defined here:
options

Data and other attributes defined here:
TOptions = <class 'mrpt.pymrpt.mrpt.nav.CHolonomicFullEval.TOptions'>
Algorithm options

Methods inherited from CAbstractHolonomicReactiveMethod:
enableApproachTargetSlowDown(...)
enableApproachTargetSlowDown(self: mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod, enable: bool) -> None
 
C++: mrpt::nav::CAbstractHolonomicReactiveMethod::enableApproachTargetSlowDown(bool) --> void
getAssociatedPTG(...)
getAssociatedPTG(self: mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod) -> mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator
 
Returns the pointer set by setAssociatedPTG() 
 
C++: mrpt::nav::CAbstractHolonomicReactiveMethod::getAssociatedPTG() const --> class mrpt::nav::CParameterizedTrajectoryGenerator *
getConfigFileSectionName(...)
getConfigFileSectionName(self: mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod) -> str
 
Gets the name of the section used in initialize() 
 
C++: mrpt::nav::CAbstractHolonomicReactiveMethod::getConfigFileSectionName() const --> std::string
setAssociatedPTG(...)
setAssociatedPTG(self: mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod, ptg: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> None
 
Optionally, sets the associated PTG, just in case a derived class
 requires this info (not required for methods where the robot kinematics
 are totally abstracted) 
 
C++: mrpt::nav::CAbstractHolonomicReactiveMethod::setAssociatedPTG(class mrpt::nav::CParameterizedTrajectoryGenerator *) --> void
setConfigFileSectionName(...)
setConfigFileSectionName(self: mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod, sectName: str) -> None
 
Defines the name of the section used in initialize() 
 
C++: mrpt::nav::CAbstractHolonomicReactiveMethod::setConfigFileSectionName(const std::string &) --> void

Static methods inherited from CAbstractHolonomicReactiveMethod:
Factory(...) from builtins.PyCapsule
Factory(className: str) -> mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod
 
C++: mrpt::nav::CAbstractHolonomicReactiveMethod::Factory(const std::string &) --> class std::shared_ptr<class mrpt::nav::CAbstractHolonomicReactiveMethod>

Data and other attributes inherited from CAbstractHolonomicReactiveMethod:
NavInput = <class 'mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod.NavInput'>
Input parameters for CAbstractHolonomicReactiveMethod::navigate()
NavOutput = <class 'mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod.NavOutput'>
Output for CAbstractHolonomicReactiveMethod::navigate()

Methods inherited from mrpt.pymrpt.mrpt.rtti.CObject:
duplicateGetSmartPtr(...)
duplicateGetSmartPtr(self: mrpt.pymrpt.mrpt.rtti.CObject) -> mrpt.pymrpt.mrpt.rtti.CObject
 
Makes a deep copy of the object and returns a smart pointer to it 
 
C++: mrpt::rtti::CObject::duplicateGetSmartPtr() const --> class std::shared_ptr<class mrpt::rtti::CObject>

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class CHolonomicLogFileRecord(mrpt.pymrpt.mrpt.serialization.CSerializable)
    A base class for log records for different holonomic navigation methods.
 
 
CReactiveNavigationSystemCHolonomicLogFileRecord
 
 
Method resolution order:
CHolonomicLogFileRecord
mrpt.pymrpt.mrpt.serialization.CSerializable
mrpt.pymrpt.mrpt.rtti.CObject
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
GetRuntimeClass(...)
GetRuntimeClass(self: mrpt.pymrpt.mrpt.nav.CHolonomicLogFileRecord) -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
 
C++: mrpt::nav::CHolonomicLogFileRecord::GetRuntimeClass() const --> const struct mrpt::rtti::TRuntimeClassId *
__init__(...)
__init__(*args, **kwargs)
Overloaded function.
 
1. __init__(self: mrpt.pymrpt.mrpt.nav.CHolonomicLogFileRecord) -> None
 
2. __init__(self: mrpt.pymrpt.mrpt.nav.CHolonomicLogFileRecord, arg0: mrpt.pymrpt.mrpt.nav.CHolonomicLogFileRecord) -> None
assign(...)
assign(self: mrpt.pymrpt.mrpt.nav.CHolonomicLogFileRecord, : mrpt.pymrpt.mrpt.nav.CHolonomicLogFileRecord) -> mrpt.pymrpt.mrpt.nav.CHolonomicLogFileRecord
 
C++: mrpt::nav::CHolonomicLogFileRecord::operator=(const class mrpt::nav::CHolonomicLogFileRecord &) --> class mrpt::nav::CHolonomicLogFileRecord &
getDirectionScores(...)
getDirectionScores(self: mrpt.pymrpt.mrpt.nav.CHolonomicLogFileRecord) -> mrpt.pymrpt.mrpt.math.CMatrixD
 
C++: mrpt::nav::CHolonomicLogFileRecord::getDirectionScores() const --> const class mrpt::math::CMatrixD *

Static methods defined here:
GetRuntimeClassIdStatic(...) from builtins.PyCapsule
GetRuntimeClassIdStatic() -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
 
C++: mrpt::nav::CHolonomicLogFileRecord::GetRuntimeClassIdStatic() --> const struct mrpt::rtti::TRuntimeClassId &

Data descriptors defined here:
dirs_eval

Methods inherited from mrpt.pymrpt.mrpt.rtti.CObject:
clone(...)
clone(self: mrpt.pymrpt.mrpt.rtti.CObject) -> mrpt.pymrpt.mrpt.rtti.CObject
 
Returns a deep copy (clone) of the object, indepently of its class. 
 
C++: mrpt::rtti::CObject::clone() const --> class mrpt::rtti::CObject *
duplicateGetSmartPtr(...)
duplicateGetSmartPtr(self: mrpt.pymrpt.mrpt.rtti.CObject) -> mrpt.pymrpt.mrpt.rtti.CObject
 
Makes a deep copy of the object and returns a smart pointer to it 
 
C++: mrpt::rtti::CObject::duplicateGetSmartPtr() const --> class std::shared_ptr<class mrpt::rtti::CObject>

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class CHolonomicND(CAbstractHolonomicReactiveMethod)
    An implementation of the holonomic reactive navigation method
"Nearness-Diagram".
  The algorithm "Nearness-Diagram" was proposed in:
 
 Nearness diagram (ND) navigation: collision avoidance in troublesome
scenarios, IEEE Transactions on
  Robotics and Automation, Minguez, J. and Montano, L., vol. 20, no. 1, pp.
45-59, 2004.
 
These are the optional parameters of the method which can be set by means of
a configuration file passed to the constructor or to
CHolonomicND::initialize() or directly in 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
CAbstractHolonomicReactiveMethod,CReactiveNavigationSystem
 
 
Method resolution order:
CHolonomicND
CAbstractHolonomicReactiveMethod
mrpt.pymrpt.mrpt.serialization.CSerializable
mrpt.pymrpt.mrpt.rtti.CObject
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
GetRuntimeClass(...)
GetRuntimeClass(self: mrpt.pymrpt.mrpt.nav.CHolonomicND) -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
 
C++: mrpt::nav::CHolonomicND::GetRuntimeClass() const --> const struct mrpt::rtti::TRuntimeClassId *
__init__(...)
__init__(*args, **kwargs)
Overloaded function.
 
1. __init__(self: mrpt.pymrpt.mrpt.nav.CHolonomicND) -> None
 
doc
 
2. __init__(self: mrpt.pymrpt.mrpt.nav.CHolonomicND, INI_FILE: mrpt.pymrpt.mrpt.config.CConfigFileBase) -> None
 
3. __init__(self: mrpt.pymrpt.mrpt.nav.CHolonomicND, arg0: mrpt.pymrpt.mrpt.nav.CHolonomicND) -> None
 
4. __init__(self: mrpt.pymrpt.mrpt.nav.CHolonomicND, arg0: mrpt.pymrpt.mrpt.nav.CHolonomicND) -> None
assign(...)
assign(self: mrpt.pymrpt.mrpt.nav.CHolonomicND, : mrpt.pymrpt.mrpt.nav.CHolonomicND) -> mrpt.pymrpt.mrpt.nav.CHolonomicND
 
C++: mrpt::nav::CHolonomicND::operator=(const class mrpt::nav::CHolonomicND &) --> class mrpt::nav::CHolonomicND &
clone(...)
clone(self: mrpt.pymrpt.mrpt.nav.CHolonomicND) -> mrpt.pymrpt.mrpt.rtti.CObject
 
C++: mrpt::nav::CHolonomicND::clone() const --> class mrpt::rtti::CObject *
getTargetApproachSlowDownDistance(...)
getTargetApproachSlowDownDistance(self: mrpt.pymrpt.mrpt.nav.CHolonomicND) -> float
 
C++: mrpt::nav::CHolonomicND::getTargetApproachSlowDownDistance() const --> double
initialize(...)
initialize(self: mrpt.pymrpt.mrpt.nav.CHolonomicND, INI_FILE: mrpt.pymrpt.mrpt.config.CConfigFileBase) -> None
 
Initialize the parameters of the navigator. 
 
C++: mrpt::nav::CHolonomicND::initialize(const class mrpt::config::CConfigFileBase &) --> void
navigate(...)
navigate(self: mrpt.pymrpt.mrpt.nav.CHolonomicND, ni: mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod.NavInput, no: mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod.NavOutput) -> None
 
C++: mrpt::nav::CHolonomicND::navigate(const struct mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput &, struct mrpt::nav::CAbstractHolonomicReactiveMethod::NavOutput &) --> void
saveConfigFile(...)
saveConfigFile(self: mrpt.pymrpt.mrpt.nav.CHolonomicND, c: mrpt.pymrpt.mrpt.config.CConfigFileBase) -> None
 
C++: mrpt::nav::CHolonomicND::saveConfigFile(class mrpt::config::CConfigFileBase &) const --> void
setTargetApproachSlowDownDistance(...)
setTargetApproachSlowDownDistance(self: mrpt.pymrpt.mrpt.nav.CHolonomicND, dist: float) -> None
 
C++: mrpt::nav::CHolonomicND::setTargetApproachSlowDownDistance(const double) --> void

Static methods defined here:
CreateObject(...) from builtins.PyCapsule
CreateObject() -> mrpt.pymrpt.mrpt.rtti.CObject
 
C++: mrpt::nav::CHolonomicND::CreateObject() --> class std::shared_ptr<class mrpt::rtti::CObject>
GetRuntimeClassIdStatic(...) from builtins.PyCapsule
GetRuntimeClassIdStatic() -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
 
C++: mrpt::nav::CHolonomicND::GetRuntimeClassIdStatic() --> const struct mrpt::rtti::TRuntimeClassId &

Data descriptors defined here:
options

Data and other attributes defined here:
SITUATION_NO_WAY_FOUND = <TSituations.SITUATION_NO_WAY_FOUND: 4>
SITUATION_SMALL_GAP = <TSituations.SITUATION_SMALL_GAP: 2>
SITUATION_TARGET_DIRECTLY = <TSituations.SITUATION_TARGET_DIRECTLY: 1>
SITUATION_WIDE_GAP = <TSituations.SITUATION_WIDE_GAP: 3>
TGap = <class 'mrpt.pymrpt.mrpt.nav.CHolonomicND.TGap'>
The structure used to store a detected gap in obstacles.
TOptions = <class 'mrpt.pymrpt.mrpt.nav.CHolonomicND.TOptions'>
Algorithm options
TSituations = <class 'mrpt.pymrpt.mrpt.nav.CHolonomicND.TSituations'>

Methods inherited from CAbstractHolonomicReactiveMethod:
enableApproachTargetSlowDown(...)
enableApproachTargetSlowDown(self: mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod, enable: bool) -> None
 
C++: mrpt::nav::CAbstractHolonomicReactiveMethod::enableApproachTargetSlowDown(bool) --> void
getAssociatedPTG(...)
getAssociatedPTG(self: mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod) -> mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator
 
Returns the pointer set by setAssociatedPTG() 
 
C++: mrpt::nav::CAbstractHolonomicReactiveMethod::getAssociatedPTG() const --> class mrpt::nav::CParameterizedTrajectoryGenerator *
getConfigFileSectionName(...)
getConfigFileSectionName(self: mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod) -> str
 
Gets the name of the section used in initialize() 
 
C++: mrpt::nav::CAbstractHolonomicReactiveMethod::getConfigFileSectionName() const --> std::string
setAssociatedPTG(...)
setAssociatedPTG(self: mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod, ptg: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> None
 
Optionally, sets the associated PTG, just in case a derived class
 requires this info (not required for methods where the robot kinematics
 are totally abstracted) 
 
C++: mrpt::nav::CAbstractHolonomicReactiveMethod::setAssociatedPTG(class mrpt::nav::CParameterizedTrajectoryGenerator *) --> void
setConfigFileSectionName(...)
setConfigFileSectionName(self: mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod, sectName: str) -> None
 
Defines the name of the section used in initialize() 
 
C++: mrpt::nav::CAbstractHolonomicReactiveMethod::setConfigFileSectionName(const std::string &) --> void

Static methods inherited from CAbstractHolonomicReactiveMethod:
Factory(...) from builtins.PyCapsule
Factory(className: str) -> mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod
 
C++: mrpt::nav::CAbstractHolonomicReactiveMethod::Factory(const std::string &) --> class std::shared_ptr<class mrpt::nav::CAbstractHolonomicReactiveMethod>

Data and other attributes inherited from CAbstractHolonomicReactiveMethod:
NavInput = <class 'mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod.NavInput'>
Input parameters for CAbstractHolonomicReactiveMethod::navigate()
NavOutput = <class 'mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod.NavOutput'>
Output for CAbstractHolonomicReactiveMethod::navigate()

Methods inherited from mrpt.pymrpt.mrpt.rtti.CObject:
duplicateGetSmartPtr(...)
duplicateGetSmartPtr(self: mrpt.pymrpt.mrpt.rtti.CObject) -> mrpt.pymrpt.mrpt.rtti.CObject
 
Makes a deep copy of the object and returns a smart pointer to it 
 
C++: mrpt::rtti::CObject::duplicateGetSmartPtr() const --> class std::shared_ptr<class mrpt::rtti::CObject>

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class CHolonomicVFF(CAbstractHolonomicReactiveMethod)
    A holonomic reactive navigation method, based on Virtual Force Fields (VFF).
 
These are the optional parameters of the method which can be set by means of
a configuration file passed to the constructor or to CHolonomicND::initialize
(see also the field CHolonomicVFF::options).
 
 
 
 
 
 
 
 
 
CAbstractHolonomicReactiveMethod,CReactiveNavigationSystem
 
 
Method resolution order:
CHolonomicVFF
CAbstractHolonomicReactiveMethod
mrpt.pymrpt.mrpt.serialization.CSerializable
mrpt.pymrpt.mrpt.rtti.CObject
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
GetRuntimeClass(...)
GetRuntimeClass(self: mrpt.pymrpt.mrpt.nav.CHolonomicVFF) -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
 
C++: mrpt::nav::CHolonomicVFF::GetRuntimeClass() const --> const struct mrpt::rtti::TRuntimeClassId *
__init__(...)
__init__(*args, **kwargs)
Overloaded function.
 
1. __init__(self: mrpt.pymrpt.mrpt.nav.CHolonomicVFF) -> None
 
doc
 
2. __init__(self: mrpt.pymrpt.mrpt.nav.CHolonomicVFF, INI_FILE: mrpt.pymrpt.mrpt.config.CConfigFileBase) -> None
 
3. __init__(self: mrpt.pymrpt.mrpt.nav.CHolonomicVFF, arg0: mrpt.pymrpt.mrpt.nav.CHolonomicVFF) -> None
 
4. __init__(self: mrpt.pymrpt.mrpt.nav.CHolonomicVFF, arg0: mrpt.pymrpt.mrpt.nav.CHolonomicVFF) -> None
assign(...)
assign(self: mrpt.pymrpt.mrpt.nav.CHolonomicVFF, : mrpt.pymrpt.mrpt.nav.CHolonomicVFF) -> mrpt.pymrpt.mrpt.nav.CHolonomicVFF
 
C++: mrpt::nav::CHolonomicVFF::operator=(const class mrpt::nav::CHolonomicVFF &) --> class mrpt::nav::CHolonomicVFF &
clone(...)
clone(self: mrpt.pymrpt.mrpt.nav.CHolonomicVFF) -> mrpt.pymrpt.mrpt.rtti.CObject
 
C++: mrpt::nav::CHolonomicVFF::clone() const --> class mrpt::rtti::CObject *
getTargetApproachSlowDownDistance(...)
getTargetApproachSlowDownDistance(self: mrpt.pymrpt.mrpt.nav.CHolonomicVFF) -> float
 
C++: mrpt::nav::CHolonomicVFF::getTargetApproachSlowDownDistance() const --> double
initialize(...)
initialize(self: mrpt.pymrpt.mrpt.nav.CHolonomicVFF, INI_FILE: mrpt.pymrpt.mrpt.config.CConfigFileBase) -> None
 
C++: mrpt::nav::CHolonomicVFF::initialize(const class mrpt::config::CConfigFileBase &) --> void
navigate(...)
navigate(self: mrpt.pymrpt.mrpt.nav.CHolonomicVFF, ni: mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod.NavInput, no: mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod.NavOutput) -> None
 
C++: mrpt::nav::CHolonomicVFF::navigate(const struct mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput &, struct mrpt::nav::CAbstractHolonomicReactiveMethod::NavOutput &) --> void
saveConfigFile(...)
saveConfigFile(self: mrpt.pymrpt.mrpt.nav.CHolonomicVFF, c: mrpt.pymrpt.mrpt.config.CConfigFileBase) -> None
 
C++: mrpt::nav::CHolonomicVFF::saveConfigFile(class mrpt::config::CConfigFileBase &) const --> void
setTargetApproachSlowDownDistance(...)
setTargetApproachSlowDownDistance(self: mrpt.pymrpt.mrpt.nav.CHolonomicVFF, dist: float) -> None
 
C++: mrpt::nav::CHolonomicVFF::setTargetApproachSlowDownDistance(const double) --> void

Static methods defined here:
CreateObject(...) from builtins.PyCapsule
CreateObject() -> mrpt.pymrpt.mrpt.rtti.CObject
 
C++: mrpt::nav::CHolonomicVFF::CreateObject() --> class std::shared_ptr<class mrpt::rtti::CObject>
GetRuntimeClassIdStatic(...) from builtins.PyCapsule
GetRuntimeClassIdStatic() -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
 
C++: mrpt::nav::CHolonomicVFF::GetRuntimeClassIdStatic() --> const struct mrpt::rtti::TRuntimeClassId &

Data descriptors defined here:
options

Data and other attributes defined here:
TOptions = <class 'mrpt.pymrpt.mrpt.nav.CHolonomicVFF.TOptions'>
Algorithm options

Methods inherited from CAbstractHolonomicReactiveMethod:
enableApproachTargetSlowDown(...)
enableApproachTargetSlowDown(self: mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod, enable: bool) -> None
 
C++: mrpt::nav::CAbstractHolonomicReactiveMethod::enableApproachTargetSlowDown(bool) --> void
getAssociatedPTG(...)
getAssociatedPTG(self: mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod) -> mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator
 
Returns the pointer set by setAssociatedPTG() 
 
C++: mrpt::nav::CAbstractHolonomicReactiveMethod::getAssociatedPTG() const --> class mrpt::nav::CParameterizedTrajectoryGenerator *
getConfigFileSectionName(...)
getConfigFileSectionName(self: mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod) -> str
 
Gets the name of the section used in initialize() 
 
C++: mrpt::nav::CAbstractHolonomicReactiveMethod::getConfigFileSectionName() const --> std::string
setAssociatedPTG(...)
setAssociatedPTG(self: mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod, ptg: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> None
 
Optionally, sets the associated PTG, just in case a derived class
 requires this info (not required for methods where the robot kinematics
 are totally abstracted) 
 
C++: mrpt::nav::CAbstractHolonomicReactiveMethod::setAssociatedPTG(class mrpt::nav::CParameterizedTrajectoryGenerator *) --> void
setConfigFileSectionName(...)
setConfigFileSectionName(self: mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod, sectName: str) -> None
 
Defines the name of the section used in initialize() 
 
C++: mrpt::nav::CAbstractHolonomicReactiveMethod::setConfigFileSectionName(const std::string &) --> void

Static methods inherited from CAbstractHolonomicReactiveMethod:
Factory(...) from builtins.PyCapsule
Factory(className: str) -> mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod
 
C++: mrpt::nav::CAbstractHolonomicReactiveMethod::Factory(const std::string &) --> class std::shared_ptr<class mrpt::nav::CAbstractHolonomicReactiveMethod>

Data and other attributes inherited from CAbstractHolonomicReactiveMethod:
NavInput = <class 'mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod.NavInput'>
Input parameters for CAbstractHolonomicReactiveMethod::navigate()
NavOutput = <class 'mrpt.pymrpt.mrpt.nav.CAbstractHolonomicReactiveMethod.NavOutput'>
Output for CAbstractHolonomicReactiveMethod::navigate()

Methods inherited from mrpt.pymrpt.mrpt.rtti.CObject:
duplicateGetSmartPtr(...)
duplicateGetSmartPtr(self: mrpt.pymrpt.mrpt.rtti.CObject) -> mrpt.pymrpt.mrpt.rtti.CObject
 
Makes a deep copy of the object and returns a smart pointer to it 
 
C++: mrpt::rtti::CObject::duplicateGetSmartPtr() const --> class std::shared_ptr<class mrpt::rtti::CObject>

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class CLogFileRecord(mrpt.pymrpt.mrpt.serialization.CSerializable)
    A class for storing, saving and loading a reactive navigation
  log record for the CReactiveNavigationSystem class.
 
 
CReactiveNavigationSystemCHolonomicLogFileRecord
 
 
Method resolution order:
CLogFileRecord
mrpt.pymrpt.mrpt.serialization.CSerializable
mrpt.pymrpt.mrpt.rtti.CObject
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
GetRuntimeClass(...)
GetRuntimeClass(self: mrpt.pymrpt.mrpt.nav.CLogFileRecord) -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
 
C++: mrpt::nav::CLogFileRecord::GetRuntimeClass() const --> const struct mrpt::rtti::TRuntimeClassId *
__init__(...)
__init__(*args, **kwargs)
Overloaded function.
 
1. __init__(self: mrpt.pymrpt.mrpt.nav.CLogFileRecord) -> None
 
2. __init__(self: mrpt.pymrpt.mrpt.nav.CLogFileRecord, arg0: mrpt.pymrpt.mrpt.nav.CLogFileRecord) -> None
 
3. __init__(self: mrpt.pymrpt.mrpt.nav.CLogFileRecord, arg0: mrpt.pymrpt.mrpt.nav.CLogFileRecord) -> None
assign(...)
assign(self: mrpt.pymrpt.mrpt.nav.CLogFileRecord, : mrpt.pymrpt.mrpt.nav.CLogFileRecord) -> mrpt.pymrpt.mrpt.nav.CLogFileRecord
 
C++: mrpt::nav::CLogFileRecord::operator=(const class mrpt::nav::CLogFileRecord &) --> class mrpt::nav::CLogFileRecord &
clone(...)
clone(self: mrpt.pymrpt.mrpt.nav.CLogFileRecord) -> mrpt.pymrpt.mrpt.rtti.CObject
 
C++: mrpt::nav::CLogFileRecord::clone() const --> class mrpt::rtti::CObject *

Static methods defined here:
CreateObject(...) from builtins.PyCapsule
CreateObject() -> mrpt.pymrpt.mrpt.rtti.CObject
 
C++: mrpt::nav::CLogFileRecord::CreateObject() --> class std::shared_ptr<class mrpt::rtti::CObject>
GetRuntimeClassIdStatic(...) from builtins.PyCapsule
GetRuntimeClassIdStatic() -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
 
C++: mrpt::nav::CLogFileRecord::GetRuntimeClassIdStatic() --> const struct mrpt::rtti::TRuntimeClassId &

Data descriptors defined here:
WS_Obstacles
WS_Obstacles_original
WS_targets_relative
additional_debug_msgs
cmd_vel
cmd_vel_original
cur_vel
cur_vel_local
infoPerPTG
nPTGs
nSelectedPTG
navDynState
ptg_index_NOP
ptg_last_k_NOP
ptg_last_navDynState
relPoseSense
relPoseVelCmd
rel_cur_pose_wrt_last_vel_cmd_NOP
rel_pose_PTG_origin_wrt_sense_NOP
robotPoseLocalization
robotPoseOdometry
robotShape_radius
robotShape_x
robotShape_y
timestamps
values
visuals

Data and other attributes defined here:
TInfoPerPTG = <class 'mrpt.pymrpt.mrpt.nav.CLogFileRecord.TInfoPerPTG'>
The structure used to store all relevant information about each
transformation into TP-Space.

Methods inherited from mrpt.pymrpt.mrpt.rtti.CObject:
duplicateGetSmartPtr(...)
duplicateGetSmartPtr(self: mrpt.pymrpt.mrpt.rtti.CObject) -> mrpt.pymrpt.mrpt.rtti.CObject
 
Makes a deep copy of the object and returns a smart pointer to it 
 
C++: mrpt::rtti::CObject::duplicateGetSmartPtr() const --> class std::shared_ptr<class mrpt::rtti::CObject>

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class CLogFileRecord_FullEval(CHolonomicLogFileRecord)
    A class for storing extra information about the execution of
CHolonomicFullEval navigation.
 
 
CHolonomicFullEvalCHolonomicLogFileRecord
 
 
Method resolution order:
CLogFileRecord_FullEval
CHolonomicLogFileRecord
mrpt.pymrpt.mrpt.serialization.CSerializable
mrpt.pymrpt.mrpt.rtti.CObject
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
GetRuntimeClass(...)
GetRuntimeClass(self: mrpt.pymrpt.mrpt.nav.CLogFileRecord_FullEval) -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
 
C++: mrpt::nav::CLogFileRecord_FullEval::GetRuntimeClass() const --> const struct mrpt::rtti::TRuntimeClassId *
__init__(...)
__init__(self: mrpt.pymrpt.mrpt.nav.CLogFileRecord_FullEval) -> None
assign(...)
assign(self: mrpt.pymrpt.mrpt.nav.CLogFileRecord_FullEval, : mrpt.pymrpt.mrpt.nav.CLogFileRecord_FullEval) -> mrpt.pymrpt.mrpt.nav.CLogFileRecord_FullEval
 
C++: mrpt::nav::CLogFileRecord_FullEval::operator=(const class mrpt::nav::CLogFileRecord_FullEval &) --> class mrpt::nav::CLogFileRecord_FullEval &
clone(...)
clone(self: mrpt.pymrpt.mrpt.nav.CLogFileRecord_FullEval) -> mrpt.pymrpt.mrpt.rtti.CObject
 
C++: mrpt::nav::CLogFileRecord_FullEval::clone() const --> class mrpt::rtti::CObject *
getDirectionScores(...)
getDirectionScores(self: mrpt.pymrpt.mrpt.nav.CLogFileRecord_FullEval) -> mrpt.pymrpt.mrpt.math.CMatrixD
 
C++: mrpt::nav::CLogFileRecord_FullEval::getDirectionScores() const --> const class mrpt::math::CMatrixD *

Static methods defined here:
CreateObject(...) from builtins.PyCapsule
CreateObject() -> mrpt.pymrpt.mrpt.rtti.CObject
 
C++: mrpt::nav::CLogFileRecord_FullEval::CreateObject() --> class std::shared_ptr<class mrpt::rtti::CObject>
GetRuntimeClassIdStatic(...) from builtins.PyCapsule
GetRuntimeClassIdStatic() -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
 
C++: mrpt::nav::CLogFileRecord_FullEval::GetRuntimeClassIdStatic() --> const struct mrpt::rtti::TRuntimeClassId &

Data descriptors defined here:
dirs_scores
evaluation
selectedSector
selectedTarget

Data descriptors inherited from CHolonomicLogFileRecord:
dirs_eval

Methods inherited from mrpt.pymrpt.mrpt.rtti.CObject:
duplicateGetSmartPtr(...)
duplicateGetSmartPtr(self: mrpt.pymrpt.mrpt.rtti.CObject) -> mrpt.pymrpt.mrpt.rtti.CObject
 
Makes a deep copy of the object and returns a smart pointer to it 
 
C++: mrpt::rtti::CObject::duplicateGetSmartPtr() const --> class std::shared_ptr<class mrpt::rtti::CObject>

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class CLogFileRecord_ND(CHolonomicLogFileRecord)
    A class for storing extra information about the execution of
   CHolonomicND navigation.
 
 
CHolonomicNDCHolonomicLogFileRecord
 
 
Method resolution order:
CLogFileRecord_ND
CHolonomicLogFileRecord
mrpt.pymrpt.mrpt.serialization.CSerializable
mrpt.pymrpt.mrpt.rtti.CObject
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
GetRuntimeClass(...)
GetRuntimeClass(self: mrpt.pymrpt.mrpt.nav.CLogFileRecord_ND) -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
 
C++: mrpt::nav::CLogFileRecord_ND::GetRuntimeClass() const --> const struct mrpt::rtti::TRuntimeClassId *
__init__(...)
__init__(*args, **kwargs)
Overloaded function.
 
1. __init__(self: mrpt.pymrpt.mrpt.nav.CLogFileRecord_ND) -> None
 
2. __init__(self: mrpt.pymrpt.mrpt.nav.CLogFileRecord_ND, arg0: mrpt.pymrpt.mrpt.nav.CLogFileRecord_ND) -> None
 
3. __init__(self: mrpt.pymrpt.mrpt.nav.CLogFileRecord_ND, arg0: mrpt.pymrpt.mrpt.nav.CLogFileRecord_ND) -> None
assign(...)
assign(self: mrpt.pymrpt.mrpt.nav.CLogFileRecord_ND, : mrpt.pymrpt.mrpt.nav.CLogFileRecord_ND) -> mrpt.pymrpt.mrpt.nav.CLogFileRecord_ND
 
C++: mrpt::nav::CLogFileRecord_ND::operator=(const class mrpt::nav::CLogFileRecord_ND &) --> class mrpt::nav::CLogFileRecord_ND &
clone(...)
clone(self: mrpt.pymrpt.mrpt.nav.CLogFileRecord_ND) -> mrpt.pymrpt.mrpt.rtti.CObject
 
C++: mrpt::nav::CLogFileRecord_ND::clone() const --> class mrpt::rtti::CObject *

Static methods defined here:
CreateObject(...) from builtins.PyCapsule
CreateObject() -> mrpt.pymrpt.mrpt.rtti.CObject
 
C++: mrpt::nav::CLogFileRecord_ND::CreateObject() --> class std::shared_ptr<class mrpt::rtti::CObject>
GetRuntimeClassIdStatic(...) from builtins.PyCapsule
GetRuntimeClassIdStatic() -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
 
C++: mrpt::nav::CLogFileRecord_ND::GetRuntimeClassIdStatic() --> const struct mrpt::rtti::TRuntimeClassId &

Data descriptors defined here:
evaluation
gaps_end
gaps_eval
gaps_ini
riskEvaluation
selectedSector
situation

Methods inherited from CHolonomicLogFileRecord:
getDirectionScores(...)
getDirectionScores(self: mrpt.pymrpt.mrpt.nav.CHolonomicLogFileRecord) -> mrpt.pymrpt.mrpt.math.CMatrixD
 
C++: mrpt::nav::CHolonomicLogFileRecord::getDirectionScores() const --> const class mrpt::math::CMatrixD *

Data descriptors inherited from CHolonomicLogFileRecord:
dirs_eval

Methods inherited from mrpt.pymrpt.mrpt.rtti.CObject:
duplicateGetSmartPtr(...)
duplicateGetSmartPtr(self: mrpt.pymrpt.mrpt.rtti.CObject) -> mrpt.pymrpt.mrpt.rtti.CObject
 
Makes a deep copy of the object and returns a smart pointer to it 
 
C++: mrpt::rtti::CObject::duplicateGetSmartPtr() const --> class std::shared_ptr<class mrpt::rtti::CObject>

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class CLogFileRecord_VFF(CHolonomicLogFileRecord)
    A class for storing extra information about the execution of
   CHolonomicVFF navigation.
 
 
CHolonomicVFFCHolonomicLogFileRecord
 
 
Method resolution order:
CLogFileRecord_VFF
CHolonomicLogFileRecord
mrpt.pymrpt.mrpt.serialization.CSerializable
mrpt.pymrpt.mrpt.rtti.CObject
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
GetRuntimeClass(...)
GetRuntimeClass(self: mrpt.pymrpt.mrpt.nav.CLogFileRecord_VFF) -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
 
C++: mrpt::nav::CLogFileRecord_VFF::GetRuntimeClass() const --> const struct mrpt::rtti::TRuntimeClassId *
__init__(...)
__init__(self: mrpt.pymrpt.mrpt.nav.CLogFileRecord_VFF) -> None
assign(...)
assign(self: mrpt.pymrpt.mrpt.nav.CLogFileRecord_VFF, : mrpt.pymrpt.mrpt.nav.CLogFileRecord_VFF) -> mrpt.pymrpt.mrpt.nav.CLogFileRecord_VFF
 
C++: mrpt::nav::CLogFileRecord_VFF::operator=(const class mrpt::nav::CLogFileRecord_VFF &) --> class mrpt::nav::CLogFileRecord_VFF &
clone(...)
clone(self: mrpt.pymrpt.mrpt.nav.CLogFileRecord_VFF) -> mrpt.pymrpt.mrpt.rtti.CObject
 
C++: mrpt::nav::CLogFileRecord_VFF::clone() const --> class mrpt::rtti::CObject *

Static methods defined here:
CreateObject(...) from builtins.PyCapsule
CreateObject() -> mrpt.pymrpt.mrpt.rtti.CObject
 
C++: mrpt::nav::CLogFileRecord_VFF::CreateObject() --> class std::shared_ptr<class mrpt::rtti::CObject>
GetRuntimeClassIdStatic(...) from builtins.PyCapsule
GetRuntimeClassIdStatic() -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
 
C++: mrpt::nav::CLogFileRecord_VFF::GetRuntimeClassIdStatic() --> const struct mrpt::rtti::TRuntimeClassId &

Methods inherited from CHolonomicLogFileRecord:
getDirectionScores(...)
getDirectionScores(self: mrpt.pymrpt.mrpt.nav.CHolonomicLogFileRecord) -> mrpt.pymrpt.mrpt.math.CMatrixD
 
C++: mrpt::nav::CHolonomicLogFileRecord::getDirectionScores() const --> const class mrpt::math::CMatrixD *

Data descriptors inherited from CHolonomicLogFileRecord:
dirs_eval

Methods inherited from mrpt.pymrpt.mrpt.rtti.CObject:
duplicateGetSmartPtr(...)
duplicateGetSmartPtr(self: mrpt.pymrpt.mrpt.rtti.CObject) -> mrpt.pymrpt.mrpt.rtti.CObject
 
Makes a deep copy of the object and returns a smart pointer to it 
 
C++: mrpt::rtti::CObject::duplicateGetSmartPtr() const --> class std::shared_ptr<class mrpt::rtti::CObject>

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class CMultiObjMotionOpt_Scalarization(CMultiObjectiveMotionOptimizerBase)
    Implementation of multi-objective motion chooser using scalarization: a
user-given formula is used to
collapse all the scores into a single scalar score. The candidate with the
highest positive score is selected.
Note that assert expressions are honored via the base class
CMultiObjectiveMotionOptimizerBase
 
 
CReactiveNavigationSystemCReactiveNavigationSystem3D
 
 
Method resolution order:
CMultiObjMotionOpt_Scalarization
CMultiObjectiveMotionOptimizerBase
mrpt.pymrpt.mrpt.rtti.CObject
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
GetRuntimeClass(...)
GetRuntimeClass(self: mrpt.pymrpt.mrpt.nav.CMultiObjMotionOpt_Scalarization) -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
 
C++: mrpt::nav::CMultiObjMotionOpt_Scalarization::GetRuntimeClass() const --> const struct mrpt::rtti::TRuntimeClassId *
__init__(...)
__init__(*args, **kwargs)
Overloaded function.
 
1. __init__(self: mrpt.pymrpt.mrpt.nav.CMultiObjMotionOpt_Scalarization) -> None
 
2. __init__(self: mrpt.pymrpt.mrpt.nav.CMultiObjMotionOpt_Scalarization, arg0: mrpt.pymrpt.mrpt.nav.CMultiObjMotionOpt_Scalarization) -> None
 
3. __init__(self: mrpt.pymrpt.mrpt.nav.CMultiObjMotionOpt_Scalarization, arg0: mrpt.pymrpt.mrpt.nav.CMultiObjMotionOpt_Scalarization) -> None
clear(...)
clear(self: mrpt.pymrpt.mrpt.nav.CMultiObjMotionOpt_Scalarization) -> None
 
C++: mrpt::nav::CMultiObjMotionOpt_Scalarization::clear() --> void
clone(...)
clone(self: mrpt.pymrpt.mrpt.nav.CMultiObjMotionOpt_Scalarization) -> mrpt.pymrpt.mrpt.rtti.CObject
 
C++: mrpt::nav::CMultiObjMotionOpt_Scalarization::clone() const --> class mrpt::rtti::CObject *
loadConfigFile(...)
loadConfigFile(self: mrpt.pymrpt.mrpt.nav.CMultiObjMotionOpt_Scalarization, c: mrpt.pymrpt.mrpt.config.CConfigFileBase) -> None
 
C++: mrpt::nav::CMultiObjMotionOpt_Scalarization::loadConfigFile(const class mrpt::config::CConfigFileBase &) --> void
saveConfigFile(...)
saveConfigFile(self: mrpt.pymrpt.mrpt.nav.CMultiObjMotionOpt_Scalarization, c: mrpt.pymrpt.mrpt.config.CConfigFileBase) -> None
 
C++: mrpt::nav::CMultiObjMotionOpt_Scalarization::saveConfigFile(class mrpt::config::CConfigFileBase &) const --> void

Static methods defined here:
CreateObject(...) from builtins.PyCapsule
CreateObject() -> mrpt.pymrpt.mrpt.rtti.CObject
 
C++: mrpt::nav::CMultiObjMotionOpt_Scalarization::CreateObject() --> class std::shared_ptr<class mrpt::rtti::CObject>
GetRuntimeClassIdStatic(...) from builtins.PyCapsule
GetRuntimeClassIdStatic() -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
 
C++: mrpt::nav::CMultiObjMotionOpt_Scalarization::GetRuntimeClassIdStatic() --> const struct mrpt::rtti::TRuntimeClassId &

Data descriptors defined here:
parameters

Data and other attributes defined here:
TParams = <class 'mrpt.pymrpt.mrpt.nav.CMultiObjMotionOpt_Scalarization.TParams'>

Static methods inherited from CMultiObjectiveMotionOptimizerBase:
Factory(...) from builtins.PyCapsule
Factory(className: str) -> mrpt.pymrpt.mrpt.nav.CMultiObjectiveMotionOptimizerBase
 
Class factory from C++ class name 
 
C++: mrpt::nav::CMultiObjectiveMotionOptimizerBase::Factory(const std::string &) --> class std::shared_ptr<class mrpt::nav::CMultiObjectiveMotionOptimizerBase>

Data and other attributes inherited from CMultiObjectiveMotionOptimizerBase:
TParamsBase = <class 'mrpt.pymrpt.mrpt.nav.CMultiObjectiveMotionOptimizerBase.TParamsBase'>
Common params for all children
TResultInfo = <class 'mrpt.pymrpt.mrpt.nav.CMultiObjectiveMotionOptimizerBase.TResultInfo'>

Methods inherited from mrpt.pymrpt.mrpt.rtti.CObject:
assign(...)
assign(self: mrpt.pymrpt.mrpt.rtti.CObject, : mrpt.pymrpt.mrpt.rtti.CObject) -> mrpt.pymrpt.mrpt.rtti.CObject
 
C++: mrpt::rtti::CObject::operator=(const class mrpt::rtti::CObject &) --> class mrpt::rtti::CObject &
duplicateGetSmartPtr(...)
duplicateGetSmartPtr(self: mrpt.pymrpt.mrpt.rtti.CObject) -> mrpt.pymrpt.mrpt.rtti.CObject
 
Makes a deep copy of the object and returns a smart pointer to it 
 
C++: mrpt::rtti::CObject::duplicateGetSmartPtr() const --> class std::shared_ptr<class mrpt::rtti::CObject>

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class CMultiObjectiveMotionOptimizerBase(mrpt.pymrpt.mrpt.rtti.CObject)
    Virtual base class for multi-objective motion choosers, as used for reactive
navigation engines.
 
 CReactiveNavigationSystemCReactiveNavigationSystem3D
 
 
Method resolution order:
CMultiObjectiveMotionOptimizerBase
mrpt.pymrpt.mrpt.rtti.CObject
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
GetRuntimeClass(...)
GetRuntimeClass(self: mrpt.pymrpt.mrpt.nav.CMultiObjectiveMotionOptimizerBase) -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
 
C++: mrpt::nav::CMultiObjectiveMotionOptimizerBase::GetRuntimeClass() const --> const struct mrpt::rtti::TRuntimeClassId *
__init__(self, /, *args, **kwargs)
Initialize self.  See help(type(self)) for accurate signature.
clear(...)
clear(self: mrpt.pymrpt.mrpt.nav.CMultiObjectiveMotionOptimizerBase) -> None
 
Resets the object state; use if the parameters change, so they are
 re-read and applied. 
 
C++: mrpt::nav::CMultiObjectiveMotionOptimizerBase::clear() --> void
loadConfigFile(...)
loadConfigFile(self: mrpt.pymrpt.mrpt.nav.CMultiObjectiveMotionOptimizerBase, c: mrpt.pymrpt.mrpt.config.CConfigFileBase) -> None
 
C++: mrpt::nav::CMultiObjectiveMotionOptimizerBase::loadConfigFile(const class mrpt::config::CConfigFileBase &) --> void
saveConfigFile(...)
saveConfigFile(self: mrpt.pymrpt.mrpt.nav.CMultiObjectiveMotionOptimizerBase, c: mrpt.pymrpt.mrpt.config.CConfigFileBase) -> None
 
C++: mrpt::nav::CMultiObjectiveMotionOptimizerBase::saveConfigFile(class mrpt::config::CConfigFileBase &) const --> void

Static methods defined here:
Factory(...) from builtins.PyCapsule
Factory(className: str) -> mrpt.pymrpt.mrpt.nav.CMultiObjectiveMotionOptimizerBase
 
Class factory from C++ class name 
 
C++: mrpt::nav::CMultiObjectiveMotionOptimizerBase::Factory(const std::string &) --> class std::shared_ptr<class mrpt::nav::CMultiObjectiveMotionOptimizerBase>
GetRuntimeClassIdStatic(...) from builtins.PyCapsule
GetRuntimeClassIdStatic() -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
 
C++: mrpt::nav::CMultiObjectiveMotionOptimizerBase::GetRuntimeClassIdStatic() --> const struct mrpt::rtti::TRuntimeClassId &

Data and other attributes defined here:
TParamsBase = <class 'mrpt.pymrpt.mrpt.nav.CMultiObjectiveMotionOptimizerBase.TParamsBase'>
Common params for all children
TResultInfo = <class 'mrpt.pymrpt.mrpt.nav.CMultiObjectiveMotionOptimizerBase.TResultInfo'>

Methods inherited from mrpt.pymrpt.mrpt.rtti.CObject:
assign(...)
assign(self: mrpt.pymrpt.mrpt.rtti.CObject, : mrpt.pymrpt.mrpt.rtti.CObject) -> mrpt.pymrpt.mrpt.rtti.CObject
 
C++: mrpt::rtti::CObject::operator=(const class mrpt::rtti::CObject &) --> class mrpt::rtti::CObject &
clone(...)
clone(self: mrpt.pymrpt.mrpt.rtti.CObject) -> mrpt.pymrpt.mrpt.rtti.CObject
 
Returns a deep copy (clone) of the object, indepently of its class. 
 
C++: mrpt::rtti::CObject::clone() const --> class mrpt::rtti::CObject *
duplicateGetSmartPtr(...)
duplicateGetSmartPtr(self: mrpt.pymrpt.mrpt.rtti.CObject) -> mrpt.pymrpt.mrpt.rtti.CObject
 
Makes a deep copy of the object and returns a smart pointer to it 
 
C++: mrpt::rtti::CObject::duplicateGetSmartPtr() const --> class std::shared_ptr<class mrpt::rtti::CObject>

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class CNavigatorManualSequence(CAbstractNavigator)
    "Fake navigator" for tests: it just sends out a pre-programmed sequence of
commands to the robot.
For a short discussion of the API, see CNavigatorVirtualBase
 
 
Method resolution order:
CNavigatorManualSequence
CAbstractNavigator
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
__init__(...)
__init__(self: mrpt.pymrpt.mrpt.nav.CNavigatorManualSequence, react_iterf_impl: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface) -> None
initialize(...)
initialize(self: mrpt.pymrpt.mrpt.nav.CNavigatorManualSequence) -> None
 
Must be called for loading collision grids, etc. before invoking any
 navigation command 
 
C++: mrpt::nav::CNavigatorManualSequence::initialize() --> void
loadConfigFile(...)
loadConfigFile(self: mrpt.pymrpt.mrpt.nav.CNavigatorManualSequence, c: mrpt.pymrpt.mrpt.config.CConfigFileBase) -> None
 
@{ 
 
C++: mrpt::nav::CNavigatorManualSequence::loadConfigFile(const class mrpt::config::CConfigFileBase &) --> void
navigationStep(...)
navigationStep(self: mrpt.pymrpt.mrpt.nav.CNavigatorManualSequence) -> None
 
Overriden in this class to ignore the cancel/pause/... commands 
 
C++: mrpt::nav::CNavigatorManualSequence::navigationStep() --> void
saveConfigFile(...)
saveConfigFile(self: mrpt.pymrpt.mrpt.nav.CNavigatorManualSequence, c: mrpt.pymrpt.mrpt.config.CConfigFileBase) -> None
 
C++: mrpt::nav::CNavigatorManualSequence::saveConfigFile(class mrpt::config::CConfigFileBase &) const --> void

Data descriptors defined here:
programmed_orders

Data and other attributes defined here:
TVelCmd = <class 'mrpt.pymrpt.mrpt.nav.CNavigatorManualSequence.TVelCmd'>

Methods inherited from CAbstractNavigator:
cancel(...)
cancel(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator) -> None
 
Cancel current navegation. 
 
C++: mrpt::nav::CAbstractNavigator::cancel() --> void
enableRethrowNavExceptions(...)
enableRethrowNavExceptions(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator, enable: bool) -> None
 
By default, error exceptions on navigationStep() will dump an error
 message to the output logger interface. If rethrow is enabled
 (default=false), the error message will be reported as well, but
 exceptions will be re-thrown.
 
C++: mrpt::nav::CAbstractNavigator::enableRethrowNavExceptions(const bool) --> void
getCurrentState(...)
getCurrentState(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator) -> mrpt.pymrpt.mrpt.nav.CAbstractNavigator.TState
 
Returns the current navigator state. 
 
C++: mrpt::nav::CAbstractNavigator::getCurrentState() const --> enum mrpt::nav::CAbstractNavigator::TState
getDelaysTimeLogger(...)
getDelaysTimeLogger(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator) -> mrpt.pymrpt.mrpt.system.CTimeLogger
 
Gives access to a const-ref to the internal time logger used to estimate
 delays 
 
 getTimeLogger() in derived classes 
 
C++: mrpt::nav::CAbstractNavigator::getDelaysTimeLogger() const --> const class mrpt::system::CTimeLogger &
getErrorReason(...)
getErrorReason(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator) -> mrpt::nav::CAbstractNavigator::TErrorReason
 
In case of state=NAV_ERROR, this returns the reason for the error.
 Error state is reseted every time a new navigation starts with
 a call to navigate(), or when resetNavError() is called.
 
C++: mrpt::nav::CAbstractNavigator::getErrorReason() const --> const struct mrpt::nav::CAbstractNavigator::TErrorReason &
isRethrowNavExceptionsEnabled(...)
isRethrowNavExceptionsEnabled(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator) -> bool
 
C++: mrpt::nav::CAbstractNavigator::isRethrowNavExceptionsEnabled() const --> bool
resetNavError(...)
resetNavError(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator) -> None
 
Resets a `NAV_ERROR` state back to `IDLE` 
 
C++: mrpt::nav::CAbstractNavigator::resetNavError() --> void
resume(...)
resume(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator) -> None
 
Continues with suspended navigation. 
 suspend 
 
C++: mrpt::nav::CAbstractNavigator::resume() --> void
suspend(...)
suspend(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator) -> None
 
Suspend current navegation. 
 resume 
 
C++: mrpt::nav::CAbstractNavigator::suspend() --> void

Data descriptors inherited from CAbstractNavigator:
m_navProfiler
params_abstract_navigator

Data and other attributes inherited from CAbstractNavigator:
ERR_CANNOT_REACH_TARGET = <TErrorCode.ERR_CANNOT_REACH_TARGET: 2>
ERR_EMERGENCY_STOP = <TErrorCode.ERR_EMERGENCY_STOP: 1>
ERR_NONE = <TErrorCode.ERR_NONE: 0>
ERR_OTHER = <TErrorCode.ERR_OTHER: 3>
IDLE = <TState.IDLE: 0>
NAVIGATING = <TState.NAVIGATING: 1>
NAV_ERROR = <TState.NAV_ERROR: 3>
SUSPENDED = <TState.SUSPENDED: 2>
TAbstractNavigatorParams = <class 'mrpt.pymrpt.mrpt.nav.CAbstractNavigator.TAbstractNavigatorParams'>
@}
TErrorCode = <class 'mrpt.pymrpt.mrpt.nav.CAbstractNavigator.TErrorCode'>
TErrorReason = <class 'mrpt.pymrpt.mrpt.nav.CAbstractNavigator.TErrorReason'>
TNavigationParams = <class 'mrpt.pymrpt.mrpt.nav.CAbstractNavigator.TNavigationParams'>
The struct for configuring navigation requests. Used in
CAbstractPTGBasedReactive::navigate()
TNavigationParamsBase = <class 'mrpt.pymrpt.mrpt.nav.CAbstractNavigator.TNavigationParamsBase'>
Base for all high-level navigation commands. See derived classes
TState = <class 'mrpt.pymrpt.mrpt.nav.CAbstractNavigator.TState'>
TargetInfo = <class 'mrpt.pymrpt.mrpt.nav.CAbstractNavigator.TargetInfo'>
Individual target info in CAbstractNavigator::TNavigationParamsBase and
derived classes

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class CPTG_DiffDrive_C(CPTG_DiffDrive_CollisionGridBased)
    A PTG for circular paths ("C" type PTG in papers).
 - **Compatible kinematics**: differential-driven / Ackermann steering
 - **Compatible robot shape**: Arbitrary 2D polygon
 - **PTG parameters**: Use the app `ptg-configurator`
 
 This PT generator functions are:
 
 
 
 
 
 So, the radius of curvature of each trajectory is constant for each "alpha"
 value (the trajectory parameter):
 
  
 
 
 from which a minimum radius of curvature can be set by selecting the
 appropriate values of V_MAX and W_MAX,
 knowning that 
 
.
 
  ![C-PTG path examples](PTG1_paths.png)
 
 
 [Before MRPT 1.5.0 this was named CPTG1]
 
 
Method resolution order:
CPTG_DiffDrive_C
CPTG_DiffDrive_CollisionGridBased
CPTG_RobotShape_Polygonal
CParameterizedTrajectoryGenerator
mrpt.pymrpt.mrpt.serialization.CSerializable
mrpt.pymrpt.mrpt.rtti.CObject
mrpt.pymrpt.mrpt.config.CLoadableOptions
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
GetRuntimeClass(...)
GetRuntimeClass(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_C) -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
 
C++: mrpt::nav::CPTG_DiffDrive_C::GetRuntimeClass() const --> const struct mrpt::rtti::TRuntimeClassId *
PTG_IsIntoDomain(...)
PTG_IsIntoDomain(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_C, x: float, y: float) -> bool
 
C++: mrpt::nav::CPTG_DiffDrive_C::PTG_IsIntoDomain(double, double) const --> bool
__init__(...)
__init__(*args, **kwargs)
Overloaded function.
 
1. __init__(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_C) -> None
 
2. __init__(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_C, cfg: mrpt.pymrpt.mrpt.config.CConfigFileBase, sSection: str) -> None
assign(...)
assign(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_C, : mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_C) -> mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_C
 
C++: mrpt::nav::CPTG_DiffDrive_C::operator=(const class mrpt::nav::CPTG_DiffDrive_C &) --> class mrpt::nav::CPTG_DiffDrive_C &
clone(...)
clone(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_C) -> mrpt.pymrpt.mrpt.rtti.CObject
 
C++: mrpt::nav::CPTG_DiffDrive_C::clone() const --> class mrpt::rtti::CObject *
getDescription(...)
getDescription(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_C) -> str
 
C++: mrpt::nav::CPTG_DiffDrive_C::getDescription() const --> std::string
inverseMap_WS2TP(...)
inverseMap_WS2TP(*args, **kwargs)
Overloaded function.
 
1. inverseMap_WS2TP(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_C, x: float, y: float, out_k: int, out_d: float) -> bool
 
2. inverseMap_WS2TP(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_C, x: float, y: float, out_k: int, out_d: float, tolerance_dist: float) -> bool
 
C++: mrpt::nav::CPTG_DiffDrive_C::inverseMap_WS2TP(double, double, int &, double &, double) const --> bool
loadDefaultParams(...)
loadDefaultParams(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_C) -> None
 
C++: mrpt::nav::CPTG_DiffDrive_C::loadDefaultParams() --> void
loadFromConfigFile(...)
loadFromConfigFile(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_C, cfg: mrpt.pymrpt.mrpt.config.CConfigFileBase, sSection: str) -> None
 
C++: mrpt::nav::CPTG_DiffDrive_C::loadFromConfigFile(const class mrpt::config::CConfigFileBase &, const std::string &) --> void
ptgDiffDriveSteeringFunction(...)
ptgDiffDriveSteeringFunction(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_C, alpha: float, t: float, x: float, y: float, phi: float, v: float, w: float) -> None
 
C++: mrpt::nav::CPTG_DiffDrive_C::ptgDiffDriveSteeringFunction(float, float, float, float, float, float &, float &) const --> void
saveToConfigFile(...)
saveToConfigFile(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_C, cfg: mrpt.pymrpt.mrpt.config.CConfigFileBase, sSection: str) -> None
 
C++: mrpt::nav::CPTG_DiffDrive_C::saveToConfigFile(class mrpt::config::CConfigFileBase &, const std::string &) const --> void

Static methods defined here:
CreateObject(...) from builtins.PyCapsule
CreateObject() -> mrpt.pymrpt.mrpt.rtti.CObject
 
C++: mrpt::nav::CPTG_DiffDrive_C::CreateObject() --> class std::shared_ptr<class mrpt::rtti::CObject>
GetRuntimeClassIdStatic(...) from builtins.PyCapsule
GetRuntimeClassIdStatic() -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
 
C++: mrpt::nav::CPTG_DiffDrive_C::GetRuntimeClassIdStatic() --> const struct mrpt::rtti::TRuntimeClassId &

Methods inherited from CPTG_DiffDrive_CollisionGridBased:
directionToMotionCommand(...)
directionToMotionCommand(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, k: int) -> mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd
 
In this class, `out_action_cmd` contains: [0]: linear velocity (m/s),
 [1]: angular velocity (rad/s).
 See more docs in
 CParameterizedTrajectoryGenerator::directionToMotionCommand() 
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::directionToMotionCommand(uint16_t) const --> class std::shared_ptr<class mrpt::kinematics::CVehicleVelCmd>
getMaxAngVel(...)
getMaxAngVel(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased) -> float
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getMaxAngVel() const --> double
getMaxLinVel(...)
getMaxLinVel(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased) -> float
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getMaxLinVel() const --> double
getMax_V(...)
getMax_V(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased) -> float
 
@} 
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getMax_V() const --> double
getMax_W(...)
getMax_W(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased) -> float
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getMax_W() const --> double
getPathDist(...)
getPathDist(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, k: int, step: int) -> float
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getPathDist(uint16_t, uint32_t) const --> double
getPathPose(...)
getPathPose(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, k: int, step: int) -> mrpt.pymrpt.mrpt.math.TPose2D
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getPathPose(uint16_t, uint32_t) const --> struct mrpt::math::TPose2D
getPathStepCount(...)
getPathStepCount(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, k: int) -> int
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getPathStepCount(uint16_t) const --> size_t
getPathStepDuration(...)
getPathStepDuration(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased) -> float
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getPathStepDuration() const --> double
getPathStepForDist(...)
getPathStepForDist(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, k: int, dist: float, out_step: int) -> bool
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getPathStepForDist(uint16_t, double, unsigned int &) const --> bool
getSupportedKinematicVelocityCommand(...)
getSupportedKinematicVelocityCommand(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased) -> mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getSupportedKinematicVelocityCommand() const --> class std::shared_ptr<class mrpt::kinematics::CVehicleVelCmd>
onNewNavDynamicState(...)
onNewNavDynamicState(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased) -> None
 
This family of PTGs ignores the dynamic states 
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::onNewNavDynamicState() --> void
setRefDistance(...)
setRefDistance(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, refDist: float) -> None
 
Launches an exception in this class: it is not allowed in numerical
 integration-based PTGs to change the reference distance
 after initialization. 
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::setRefDistance(const double) --> void
updateTPObstacleSingle(...)
updateTPObstacleSingle(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, ox: float, oy: float, k: int, tp_obstacle_k: float) -> None
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::updateTPObstacleSingle(double, double, uint16_t, double &) const --> void

Methods inherited from CPTG_RobotShape_Polygonal:
add_robotShape_to_setOfLines(...)
add_robotShape_to_setOfLines(*args, **kwargs)
Overloaded function.
 
1. add_robotShape_to_setOfLines(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal, gl_shape: mrpt.pymrpt.mrpt.opengl.CSetOfLines) -> None
 
2. add_robotShape_to_setOfLines(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal, gl_shape: mrpt.pymrpt.mrpt.opengl.CSetOfLines, origin: mrpt.pymrpt.mrpt.poses.CPose2D) -> None
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::add_robotShape_to_setOfLines(class mrpt::opengl::CSetOfLines &, const class mrpt::poses::CPose2D &) const --> void
evalClearanceToRobotShape(...)
evalClearanceToRobotShape(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal, ox: float, oy: float) -> float
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::evalClearanceToRobotShape(const double, const double) const --> double
getMaxRobotRadius(...)
getMaxRobotRadius(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal) -> float
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::getMaxRobotRadius() const --> double
getRobotShape(...)
getRobotShape(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal) -> mrpt.pymrpt.mrpt.math.CPolygon
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::getRobotShape() const --> const class mrpt::math::CPolygon &
isPointInsideRobotShape(...)
isPointInsideRobotShape(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal, x: float, y: float) -> bool
 
@} 
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::isPointInsideRobotShape(const double, const double) const --> bool
setRobotShape(...)
setRobotShape(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal, robotShape: mrpt.pymrpt.mrpt.math.CPolygon) -> None
 
@{ *
 
 Robot shape must be set before initialization, either from ctor params
 or via this method. 
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::setRobotShape(const class mrpt::math::CPolygon &) --> void

Static methods inherited from CPTG_RobotShape_Polygonal:
static_add_robotShape_to_setOfLines(...) from builtins.PyCapsule
static_add_robotShape_to_setOfLines(gl_shape: mrpt.pymrpt.mrpt.opengl.CSetOfLines, origin: mrpt.pymrpt.mrpt.poses.CPose2D, robotShape: mrpt.pymrpt.mrpt.math.CPolygon) -> None
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::static_add_robotShape_to_setOfLines(class mrpt::opengl::CSetOfLines &, const class mrpt::poses::CPose2D &, const class mrpt::math::CPolygon &) --> void

Methods inherited from CParameterizedTrajectoryGenerator:
alpha2index(...)
alpha2index(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, alpha: float) -> int
 
Discrete index value for the corresponding alpha value 
 index2alpha
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::alpha2index(double) const --> uint16_t
debugDumpInFiles(...)
debugDumpInFiles(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, ptg_name: str) -> bool
 
Dump PTG trajectories in four text files:
 `./reactivenav.logs/PTGs/PTG%i_{x,y,phi,d}.txt`
 Text files are loadable from MATLAB/Octave, and can be visualized with
 the script `[MRPT_DIR]/scripts/viewPTG.m`
 
 
 The directory "./reactivenav.logs/PTGs" will be created if doesn't
 exist.
 
 
 false on any error writing to disk.
 
 
 OUTPUT_DEBUG_PATH_PREFIX
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::debugDumpInFiles(const std::string &) const --> bool
deinitialize(...)
deinitialize(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> None
 
This must be called to de-initialize the PTG if some parameter is to be
 changed. After changing it, call initialize again 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::deinitialize() --> void
evalClearanceSingleObstacle(...)
evalClearanceSingleObstacle(*args, **kwargs)
Overloaded function.
 
1. evalClearanceSingleObstacle(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, ox: float, oy: float, k: int, inout_realdist2clearance: Dict[float, float]) -> None
 
2. evalClearanceSingleObstacle(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, ox: float, oy: float, k: int, inout_realdist2clearance: Dict[float, float], treat_as_obstacle: bool) -> None
 
Evals the robot clearance for each robot pose along path `k`, for the
 real distances in
 the key of the map<>, then keep in the map value the minimum of its
 current stored clearance,
 or the computed clearance. In case of collision, clearance is zero.
 
 
 true: normal use for obstacles; false: compute
 shortest distances to a target point (no collision)
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::evalClearanceSingleObstacle(const double, const double, const unsigned short, class std::map<double, double> &, bool) const --> void
evalPathRelativePriority(...)
evalPathRelativePriority(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, target_distance: float) -> float
 
Query the PTG for the relative priority factor (0,1) of this PTG, in
 comparison to others, if the k-th path is to be selected. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::evalPathRelativePriority(uint16_t, double) const --> double
getActualUnloopedPathLength(...)
getActualUnloopedPathLength(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int) -> float
 
Returns the actual distance (in meters) of the path, discounting
 possible circular loops of the path (e.g. if it comes back to the
 origin).
 Default: refDistance 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getActualUnloopedPathLength(uint16_t) const --> double
getAlphaValuesCount(...)
getAlphaValuesCount(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> int
 
Get the number of different, discrete paths in this family 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getAlphaValuesCount() const --> uint16_t
getClearanceDecimatedPaths(...)
getClearanceDecimatedPaths(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> int
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getClearanceDecimatedPaths() const --> unsigned int
getClearanceStepCount(...)
getClearanceStepCount(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> int
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getClearanceStepCount() const --> unsigned int
getCurrentNavDynamicState(...)
getCurrentNavDynamicState(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getCurrentNavDynamicState() const --> const struct mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState &
getPathCount(...)
getPathCount(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> int
 
Get the number of different, discrete paths in this family 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getPathCount() const --> uint16_t
getPathTwist(...)
getPathTwist(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, step: int) -> mrpt::math::TTwist2D
 
Gets velocity ("twist") for path `k` ([0,N-1]=>[-pi,pi] in alpha),
 at vehicle discrete step `step`. The default implementation in this base
 class uses numerical differentiation to estimate the twist (vx,vy,omega).
 Velocity is given in "global" coordinates, relative to the starting pose
 of the robot at t=0 for this PTG path.
 
 
 getPathStepCount(), getAlphaValuesCount(), getPathPose() 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getPathTwist(uint16_t, uint32_t) const --> struct mrpt::math::TTwist2D
getRefDistance(...)
getRefDistance(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> float
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getRefDistance() const --> double
getScorePriority(...)
getScorePriority(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> float
 
When used in path planning, a multiplying factor (default=1.0) for the
 scores for this PTG. Assign values <1 to PTGs with low priority. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getScorePriority() const --> double
index2alpha(...)
index2alpha(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int) -> float
 
Alpha value for the discrete corresponding value 
 alpha2index 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::index2alpha(uint16_t) const --> double
initClearanceDiagram(...)
initClearanceDiagram(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, cd: mrpt.pymrpt.mrpt.nav.ClearanceDiagram) -> None
 
Must be called to resize a CD to its correct size, before calling
 updateClearance() 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::initClearanceDiagram(class mrpt::nav::ClearanceDiagram &) const --> void
initTPObstacleSingle(...)
initTPObstacleSingle(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, TP_Obstacle_k: float) -> None
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::initTPObstacleSingle(uint16_t, double &) const --> void
initialize(...)
initialize(*args, **kwargs)
Overloaded function.
 
1. initialize(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> None
 
2. initialize(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, cacheFilename: str) -> None
 
3. initialize(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, cacheFilename: str, verbose: bool) -> None
 
Must be called after setting all PTG parameters and before requesting
 converting obstacles to TP-Space, inverseMap_WS2TP(), etc. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::initialize(const std::string &, const bool) --> void
isBijectiveAt(...)
isBijectiveAt(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, step: int) -> bool
 
Returns true if a given TP-Space point maps to a unique point in
 Workspace, and viceversa. Default implementation returns `true`. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::isBijectiveAt(uint16_t, uint32_t) const --> bool
isInitialized(...)
isInitialized(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> bool
 
Returns true if `initialize()` has been called and there was no errors,
 so the PTG is ready to be queried for paths, obstacles, etc. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::isInitialized() const --> bool
maxTimeInVelCmdNOP(...)
maxTimeInVelCmdNOP(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, path_k: int) -> float
 
Only for PTGs supporting supportVelCmdNOP(): this is the maximum time
 (in seconds) for which the path
 can be followed without re-issuing a new velcmd. Note that this is only
 an absolute maximum duration,
 navigation implementations will check for many other conditions. Default
 method in the base virtual class returns 0.
 
 
 Queried path `k` index  [0,N-1] 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::maxTimeInVelCmdNOP(int) const --> double
renderPathAsSimpleLine(...)
renderPathAsSimpleLine(*args, **kwargs)
Overloaded function.
 
1. renderPathAsSimpleLine(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, gl_obj: mrpt.pymrpt.mrpt.opengl.CSetOfLines) -> None
 
2. renderPathAsSimpleLine(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, gl_obj: mrpt.pymrpt.mrpt.opengl.CSetOfLines, decimate_distance: float) -> None
 
3. renderPathAsSimpleLine(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, gl_obj: mrpt.pymrpt.mrpt.opengl.CSetOfLines, decimate_distance: float, max_path_distance: float) -> None
 
Returns the representation of one trajectory of this PTG as a 3D OpenGL
 object (a simple curved line).
 
 
 The 0-based index of the selected trajectory (discrete
 "alpha" parameter).
 
 
 Output object.
 
 
 Minimum distance between path points (in
 meters).
 
 
 If >=0, cut the path at this distance (in
 meters).
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::renderPathAsSimpleLine(const unsigned short, class mrpt::opengl::CSetOfLines &, const double, const double) const --> void
setClearanceDecimatedPaths(...)
setClearanceDecimatedPaths(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, num: int) -> None
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::setClearanceDecimatedPaths(const unsigned int) --> void
setClearanceStepCount(...)
setClearanceStepCount(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, res: int) -> None
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::setClearanceStepCount(const unsigned int) --> void
setScorePriorty(...)
setScorePriorty(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, prior: float) -> None
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::setScorePriorty(double) --> void
supportSpeedAtTarget(...)
supportSpeedAtTarget(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> bool
 
Returns true if this PTG takes into account the desired velocity at
 target. 
 
 updateNavDynamicState() 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::supportSpeedAtTarget() const --> bool
supportVelCmdNOP(...)
supportVelCmdNOP(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> bool
 
Returns true if it is possible to stop sending velocity commands to the
 robot and, still, the
 robot controller will be able to keep following the last sent trajectory
 ("NOP" velocity commands).
 Default implementation returns "false". 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::supportVelCmdNOP() const --> bool
updateClearance(...)
updateClearance(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, ox: float, oy: float, cd: mrpt.pymrpt.mrpt.nav.ClearanceDiagram) -> None
 
Updates the clearance diagram given one (ox,oy) obstacle point, in
 coordinates relative
 to the PTG path origin.
 
 
 The clearance will be updated here.
 
 
 m_clearance_dist_resolution
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::updateClearance(const double, const double, class mrpt::nav::ClearanceDiagram &) const --> void
updateNavDynamicState(...)
updateNavDynamicState(*args, **kwargs)
Overloaded function.
 
1. updateNavDynamicState(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, newState: mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState) -> None
 
2. updateNavDynamicState(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, newState: mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState, force_update: bool) -> None
 
To be invoked by the navigator *before* each navigation step, to let the
 PTG to react to changing dynamic conditions. * 
 
 
 onNewNavDynamicState(), m_nav_dyn_state  
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::updateNavDynamicState(const struct mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState &, const bool) --> void

Static methods inherited from CParameterizedTrajectoryGenerator:
Alpha2index(...) from builtins.PyCapsule
Alpha2index(alpha: float, num_paths: int) -> int
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::Alpha2index(double, const unsigned int) --> uint16_t
COLLISION_BEHAVIOR(...) from builtins.PyCapsule
COLLISION_BEHAVIOR() -> mrpt.pymrpt.mrpt.nav.PTG_collision_behavior_t
 
Defines the behavior when there is an obstacle *inside* the robot shape
 right at the beginning of a PTG trajectory.
 Default value: COLL_BEH_BACK_AWAY
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::COLLISION_BEHAVIOR() --> enum mrpt::nav::PTG_collision_behavior_t &
CreatePTG(...) from builtins.PyCapsule
CreatePTG(ptgClassName: str, cfg: mrpt.pymrpt.mrpt.config.CConfigFileBase, sSection: str, sKeyPrefix: str) -> mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator
 
The class factory for creating a PTG from a list of parameters in a
section of a given config file (physical file or in memory).
  Possible parameters are:
          - Those explained in
CParameterizedTrajectoryGenerator::loadFromConfigFile()
          - Those explained in the specific PTG being created (see list of
derived classes)
 
 `ptgClassName` can be any PTG class name which has been registered as
any other
 mrpt::serialization::CSerializable class.
 
 
 std::logic_error On invalid or missing parameters.
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::CreatePTG(const std::string &, const class mrpt::config::CConfigFileBase &, const std::string &, const std::string &) --> class std::shared_ptr<class mrpt::nav::CParameterizedTrajectoryGenerator>
Index2alpha(...) from builtins.PyCapsule
Index2alpha(k: int, num_paths: int) -> float
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::Index2alpha(uint16_t, const unsigned int) --> double
OUTPUT_DEBUG_PATH_PREFIX(...) from builtins.PyCapsule
OUTPUT_DEBUG_PATH_PREFIX() -> str
 
The path used as defaul output in, for example, debugDumpInFiles.
 (Default="./reactivenav.logs/") 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::OUTPUT_DEBUG_PATH_PREFIX() --> std::string &

Data and other attributes inherited from CParameterizedTrajectoryGenerator:
TNavDynamicState = <class 'mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator.TNavDynamicState'>
Dynamic state that may affect the PTG path parameterization. 
 
nav_reactive

Methods inherited from mrpt.pymrpt.mrpt.rtti.CObject:
duplicateGetSmartPtr(...)
duplicateGetSmartPtr(self: mrpt.pymrpt.mrpt.rtti.CObject) -> mrpt.pymrpt.mrpt.rtti.CObject
 
Makes a deep copy of the object and returns a smart pointer to it 
 
C++: mrpt::rtti::CObject::duplicateGetSmartPtr() const --> class std::shared_ptr<class mrpt::rtti::CObject>

Methods inherited from mrpt.pymrpt.mrpt.config.CLoadableOptions:
dumpToConsole(...)
dumpToConsole(self: mrpt.pymrpt.mrpt.config.CLoadableOptions) -> None
 
Just like  but sending the text to the console
 (std::cout) 
 
C++: mrpt::config::CLoadableOptions::dumpToConsole() const --> void
loadFromConfigFileName(...)
loadFromConfigFileName(self: mrpt.pymrpt.mrpt.config.CLoadableOptions, config_file: str, section: str) -> None
 
Behaves like loadFromConfigFile, but you can pass directly a file name
 and a temporary CConfigFile object will be created automatically to load
 the file.
 
 
 loadFromConfigFile
 
C++: mrpt::config::CLoadableOptions::loadFromConfigFileName(const std::string &, const std::string &) --> void
saveToConfigFileName(...)
saveToConfigFileName(self: mrpt.pymrpt.mrpt.config.CLoadableOptions, config_file: str, section: str) -> None
 
Behaves like saveToConfigFile, but you can pass directly a file name and
 a temporary CConfigFile object will be created automatically to save the
 file.
 
 
 saveToConfigFile, loadFromConfigFileName
 
C++: mrpt::config::CLoadableOptions::saveToConfigFileName(const std::string &, const std::string &) const --> void

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class CPTG_DiffDrive_CC(CPTG_DiffDrive_CollisionGridBased)
    A PTG for optimal paths of type "C|C" , as named in PTG papers.
- **Compatible kinematics**: differential-driven / Ackermann steering
- **Compatible robot shape**: Arbitrary 2D polygon
- **PTG parameters**: Use the app `ptg-configurator`
 
 See also "Obstacle Distance for Car-Like Robots", IEEE Trans. Rob. And
Autom, 1999.
 
 
[Before MRPT 1.5.0 this was named CPTG4]
 
 
Method resolution order:
CPTG_DiffDrive_CC
CPTG_DiffDrive_CollisionGridBased
CPTG_RobotShape_Polygonal
CParameterizedTrajectoryGenerator
mrpt.pymrpt.mrpt.serialization.CSerializable
mrpt.pymrpt.mrpt.rtti.CObject
mrpt.pymrpt.mrpt.config.CLoadableOptions
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
GetRuntimeClass(...)
GetRuntimeClass(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CC) -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
 
C++: mrpt::nav::CPTG_DiffDrive_CC::GetRuntimeClass() const --> const struct mrpt::rtti::TRuntimeClassId *
PTG_IsIntoDomain(...)
PTG_IsIntoDomain(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CC, x: float, y: float) -> bool
 
C++: mrpt::nav::CPTG_DiffDrive_CC::PTG_IsIntoDomain(double, double) const --> bool
__init__(...)
__init__(*args, **kwargs)
Overloaded function.
 
1. __init__(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CC) -> None
 
2. __init__(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CC, cfg: mrpt.pymrpt.mrpt.config.CConfigFileBase, sSection: str) -> None
assign(...)
assign(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CC, : mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CC) -> mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CC
 
C++: mrpt::nav::CPTG_DiffDrive_CC::operator=(const class mrpt::nav::CPTG_DiffDrive_CC &) --> class mrpt::nav::CPTG_DiffDrive_CC &
clone(...)
clone(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CC) -> mrpt.pymrpt.mrpt.rtti.CObject
 
C++: mrpt::nav::CPTG_DiffDrive_CC::clone() const --> class mrpt::rtti::CObject *
getDescription(...)
getDescription(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CC) -> str
 
C++: mrpt::nav::CPTG_DiffDrive_CC::getDescription() const --> std::string
loadDefaultParams(...)
loadDefaultParams(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CC) -> None
 
C++: mrpt::nav::CPTG_DiffDrive_CC::loadDefaultParams() --> void
loadFromConfigFile(...)
loadFromConfigFile(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CC, cfg: mrpt.pymrpt.mrpt.config.CConfigFileBase, sSection: str) -> None
 
C++: mrpt::nav::CPTG_DiffDrive_CC::loadFromConfigFile(const class mrpt::config::CConfigFileBase &, const std::string &) --> void
ptgDiffDriveSteeringFunction(...)
ptgDiffDriveSteeringFunction(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CC, alpha: float, t: float, x: float, y: float, phi: float, v: float, w: float) -> None
 
C++: mrpt::nav::CPTG_DiffDrive_CC::ptgDiffDriveSteeringFunction(float, float, float, float, float, float &, float &) const --> void
saveToConfigFile(...)
saveToConfigFile(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CC, cfg: mrpt.pymrpt.mrpt.config.CConfigFileBase, sSection: str) -> None
 
C++: mrpt::nav::CPTG_DiffDrive_CC::saveToConfigFile(class mrpt::config::CConfigFileBase &, const std::string &) const --> void

Static methods defined here:
CreateObject(...) from builtins.PyCapsule
CreateObject() -> mrpt.pymrpt.mrpt.rtti.CObject
 
C++: mrpt::nav::CPTG_DiffDrive_CC::CreateObject() --> class std::shared_ptr<class mrpt::rtti::CObject>
GetRuntimeClassIdStatic(...) from builtins.PyCapsule
GetRuntimeClassIdStatic() -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
 
C++: mrpt::nav::CPTG_DiffDrive_CC::GetRuntimeClassIdStatic() --> const struct mrpt::rtti::TRuntimeClassId &

Methods inherited from CPTG_DiffDrive_CollisionGridBased:
directionToMotionCommand(...)
directionToMotionCommand(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, k: int) -> mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd
 
In this class, `out_action_cmd` contains: [0]: linear velocity (m/s),
 [1]: angular velocity (rad/s).
 See more docs in
 CParameterizedTrajectoryGenerator::directionToMotionCommand() 
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::directionToMotionCommand(uint16_t) const --> class std::shared_ptr<class mrpt::kinematics::CVehicleVelCmd>
getMaxAngVel(...)
getMaxAngVel(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased) -> float
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getMaxAngVel() const --> double
getMaxLinVel(...)
getMaxLinVel(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased) -> float
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getMaxLinVel() const --> double
getMax_V(...)
getMax_V(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased) -> float
 
@} 
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getMax_V() const --> double
getMax_W(...)
getMax_W(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased) -> float
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getMax_W() const --> double
getPathDist(...)
getPathDist(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, k: int, step: int) -> float
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getPathDist(uint16_t, uint32_t) const --> double
getPathPose(...)
getPathPose(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, k: int, step: int) -> mrpt.pymrpt.mrpt.math.TPose2D
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getPathPose(uint16_t, uint32_t) const --> struct mrpt::math::TPose2D
getPathStepCount(...)
getPathStepCount(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, k: int) -> int
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getPathStepCount(uint16_t) const --> size_t
getPathStepDuration(...)
getPathStepDuration(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased) -> float
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getPathStepDuration() const --> double
getPathStepForDist(...)
getPathStepForDist(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, k: int, dist: float, out_step: int) -> bool
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getPathStepForDist(uint16_t, double, unsigned int &) const --> bool
getSupportedKinematicVelocityCommand(...)
getSupportedKinematicVelocityCommand(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased) -> mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getSupportedKinematicVelocityCommand() const --> class std::shared_ptr<class mrpt::kinematics::CVehicleVelCmd>
inverseMap_WS2TP(...)
inverseMap_WS2TP(*args, **kwargs)
Overloaded function.
 
1. inverseMap_WS2TP(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, x: float, y: float, out_k: int, out_d: float) -> bool
 
2. inverseMap_WS2TP(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, x: float, y: float, out_k: int, out_d: float, tolerance_dist: float) -> bool
 
The default implementation in this class relies on a look-up-table.
 Derived classes may redefine this to closed-form expressions, when they
 exist.
 See full docs in base class
 CParameterizedTrajectoryGenerator::inverseMap_WS2TP() 
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::inverseMap_WS2TP(double, double, int &, double &, double) const --> bool
onNewNavDynamicState(...)
onNewNavDynamicState(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased) -> None
 
This family of PTGs ignores the dynamic states 
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::onNewNavDynamicState() --> void
setRefDistance(...)
setRefDistance(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, refDist: float) -> None
 
Launches an exception in this class: it is not allowed in numerical
 integration-based PTGs to change the reference distance
 after initialization. 
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::setRefDistance(const double) --> void
updateTPObstacleSingle(...)
updateTPObstacleSingle(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, ox: float, oy: float, k: int, tp_obstacle_k: float) -> None
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::updateTPObstacleSingle(double, double, uint16_t, double &) const --> void

Methods inherited from CPTG_RobotShape_Polygonal:
add_robotShape_to_setOfLines(...)
add_robotShape_to_setOfLines(*args, **kwargs)
Overloaded function.
 
1. add_robotShape_to_setOfLines(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal, gl_shape: mrpt.pymrpt.mrpt.opengl.CSetOfLines) -> None
 
2. add_robotShape_to_setOfLines(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal, gl_shape: mrpt.pymrpt.mrpt.opengl.CSetOfLines, origin: mrpt.pymrpt.mrpt.poses.CPose2D) -> None
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::add_robotShape_to_setOfLines(class mrpt::opengl::CSetOfLines &, const class mrpt::poses::CPose2D &) const --> void
evalClearanceToRobotShape(...)
evalClearanceToRobotShape(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal, ox: float, oy: float) -> float
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::evalClearanceToRobotShape(const double, const double) const --> double
getMaxRobotRadius(...)
getMaxRobotRadius(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal) -> float
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::getMaxRobotRadius() const --> double
getRobotShape(...)
getRobotShape(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal) -> mrpt.pymrpt.mrpt.math.CPolygon
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::getRobotShape() const --> const class mrpt::math::CPolygon &
isPointInsideRobotShape(...)
isPointInsideRobotShape(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal, x: float, y: float) -> bool
 
@} 
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::isPointInsideRobotShape(const double, const double) const --> bool
setRobotShape(...)
setRobotShape(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal, robotShape: mrpt.pymrpt.mrpt.math.CPolygon) -> None
 
@{ *
 
 Robot shape must be set before initialization, either from ctor params
 or via this method. 
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::setRobotShape(const class mrpt::math::CPolygon &) --> void

Static methods inherited from CPTG_RobotShape_Polygonal:
static_add_robotShape_to_setOfLines(...) from builtins.PyCapsule
static_add_robotShape_to_setOfLines(gl_shape: mrpt.pymrpt.mrpt.opengl.CSetOfLines, origin: mrpt.pymrpt.mrpt.poses.CPose2D, robotShape: mrpt.pymrpt.mrpt.math.CPolygon) -> None
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::static_add_robotShape_to_setOfLines(class mrpt::opengl::CSetOfLines &, const class mrpt::poses::CPose2D &, const class mrpt::math::CPolygon &) --> void

Methods inherited from CParameterizedTrajectoryGenerator:
alpha2index(...)
alpha2index(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, alpha: float) -> int
 
Discrete index value for the corresponding alpha value 
 index2alpha
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::alpha2index(double) const --> uint16_t
debugDumpInFiles(...)
debugDumpInFiles(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, ptg_name: str) -> bool
 
Dump PTG trajectories in four text files:
 `./reactivenav.logs/PTGs/PTG%i_{x,y,phi,d}.txt`
 Text files are loadable from MATLAB/Octave, and can be visualized with
 the script `[MRPT_DIR]/scripts/viewPTG.m`
 
 
 The directory "./reactivenav.logs/PTGs" will be created if doesn't
 exist.
 
 
 false on any error writing to disk.
 
 
 OUTPUT_DEBUG_PATH_PREFIX
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::debugDumpInFiles(const std::string &) const --> bool
deinitialize(...)
deinitialize(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> None
 
This must be called to de-initialize the PTG if some parameter is to be
 changed. After changing it, call initialize again 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::deinitialize() --> void
evalClearanceSingleObstacle(...)
evalClearanceSingleObstacle(*args, **kwargs)
Overloaded function.
 
1. evalClearanceSingleObstacle(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, ox: float, oy: float, k: int, inout_realdist2clearance: Dict[float, float]) -> None
 
2. evalClearanceSingleObstacle(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, ox: float, oy: float, k: int, inout_realdist2clearance: Dict[float, float], treat_as_obstacle: bool) -> None
 
Evals the robot clearance for each robot pose along path `k`, for the
 real distances in
 the key of the map<>, then keep in the map value the minimum of its
 current stored clearance,
 or the computed clearance. In case of collision, clearance is zero.
 
 
 true: normal use for obstacles; false: compute
 shortest distances to a target point (no collision)
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::evalClearanceSingleObstacle(const double, const double, const unsigned short, class std::map<double, double> &, bool) const --> void
evalPathRelativePriority(...)
evalPathRelativePriority(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, target_distance: float) -> float
 
Query the PTG for the relative priority factor (0,1) of this PTG, in
 comparison to others, if the k-th path is to be selected. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::evalPathRelativePriority(uint16_t, double) const --> double
getActualUnloopedPathLength(...)
getActualUnloopedPathLength(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int) -> float
 
Returns the actual distance (in meters) of the path, discounting
 possible circular loops of the path (e.g. if it comes back to the
 origin).
 Default: refDistance 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getActualUnloopedPathLength(uint16_t) const --> double
getAlphaValuesCount(...)
getAlphaValuesCount(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> int
 
Get the number of different, discrete paths in this family 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getAlphaValuesCount() const --> uint16_t
getClearanceDecimatedPaths(...)
getClearanceDecimatedPaths(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> int
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getClearanceDecimatedPaths() const --> unsigned int
getClearanceStepCount(...)
getClearanceStepCount(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> int
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getClearanceStepCount() const --> unsigned int
getCurrentNavDynamicState(...)
getCurrentNavDynamicState(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getCurrentNavDynamicState() const --> const struct mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState &
getPathCount(...)
getPathCount(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> int
 
Get the number of different, discrete paths in this family 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getPathCount() const --> uint16_t
getPathTwist(...)
getPathTwist(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, step: int) -> mrpt::math::TTwist2D
 
Gets velocity ("twist") for path `k` ([0,N-1]=>[-pi,pi] in alpha),
 at vehicle discrete step `step`. The default implementation in this base
 class uses numerical differentiation to estimate the twist (vx,vy,omega).
 Velocity is given in "global" coordinates, relative to the starting pose
 of the robot at t=0 for this PTG path.
 
 
 getPathStepCount(), getAlphaValuesCount(), getPathPose() 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getPathTwist(uint16_t, uint32_t) const --> struct mrpt::math::TTwist2D
getRefDistance(...)
getRefDistance(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> float
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getRefDistance() const --> double
getScorePriority(...)
getScorePriority(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> float
 
When used in path planning, a multiplying factor (default=1.0) for the
 scores for this PTG. Assign values <1 to PTGs with low priority. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getScorePriority() const --> double
index2alpha(...)
index2alpha(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int) -> float
 
Alpha value for the discrete corresponding value 
 alpha2index 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::index2alpha(uint16_t) const --> double
initClearanceDiagram(...)
initClearanceDiagram(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, cd: mrpt.pymrpt.mrpt.nav.ClearanceDiagram) -> None
 
Must be called to resize a CD to its correct size, before calling
 updateClearance() 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::initClearanceDiagram(class mrpt::nav::ClearanceDiagram &) const --> void
initTPObstacleSingle(...)
initTPObstacleSingle(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, TP_Obstacle_k: float) -> None
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::initTPObstacleSingle(uint16_t, double &) const --> void
initialize(...)
initialize(*args, **kwargs)
Overloaded function.
 
1. initialize(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> None
 
2. initialize(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, cacheFilename: str) -> None
 
3. initialize(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, cacheFilename: str, verbose: bool) -> None
 
Must be called after setting all PTG parameters and before requesting
 converting obstacles to TP-Space, inverseMap_WS2TP(), etc. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::initialize(const std::string &, const bool) --> void
isBijectiveAt(...)
isBijectiveAt(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, step: int) -> bool
 
Returns true if a given TP-Space point maps to a unique point in
 Workspace, and viceversa. Default implementation returns `true`. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::isBijectiveAt(uint16_t, uint32_t) const --> bool
isInitialized(...)
isInitialized(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> bool
 
Returns true if `initialize()` has been called and there was no errors,
 so the PTG is ready to be queried for paths, obstacles, etc. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::isInitialized() const --> bool
maxTimeInVelCmdNOP(...)
maxTimeInVelCmdNOP(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, path_k: int) -> float
 
Only for PTGs supporting supportVelCmdNOP(): this is the maximum time
 (in seconds) for which the path
 can be followed without re-issuing a new velcmd. Note that this is only
 an absolute maximum duration,
 navigation implementations will check for many other conditions. Default
 method in the base virtual class returns 0.
 
 
 Queried path `k` index  [0,N-1] 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::maxTimeInVelCmdNOP(int) const --> double
renderPathAsSimpleLine(...)
renderPathAsSimpleLine(*args, **kwargs)
Overloaded function.
 
1. renderPathAsSimpleLine(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, gl_obj: mrpt.pymrpt.mrpt.opengl.CSetOfLines) -> None
 
2. renderPathAsSimpleLine(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, gl_obj: mrpt.pymrpt.mrpt.opengl.CSetOfLines, decimate_distance: float) -> None
 
3. renderPathAsSimpleLine(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, gl_obj: mrpt.pymrpt.mrpt.opengl.CSetOfLines, decimate_distance: float, max_path_distance: float) -> None
 
Returns the representation of one trajectory of this PTG as a 3D OpenGL
 object (a simple curved line).
 
 
 The 0-based index of the selected trajectory (discrete
 "alpha" parameter).
 
 
 Output object.
 
 
 Minimum distance between path points (in
 meters).
 
 
 If >=0, cut the path at this distance (in
 meters).
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::renderPathAsSimpleLine(const unsigned short, class mrpt::opengl::CSetOfLines &, const double, const double) const --> void
setClearanceDecimatedPaths(...)
setClearanceDecimatedPaths(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, num: int) -> None
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::setClearanceDecimatedPaths(const unsigned int) --> void
setClearanceStepCount(...)
setClearanceStepCount(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, res: int) -> None
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::setClearanceStepCount(const unsigned int) --> void
setScorePriorty(...)
setScorePriorty(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, prior: float) -> None
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::setScorePriorty(double) --> void
supportSpeedAtTarget(...)
supportSpeedAtTarget(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> bool
 
Returns true if this PTG takes into account the desired velocity at
 target. 
 
 updateNavDynamicState() 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::supportSpeedAtTarget() const --> bool
supportVelCmdNOP(...)
supportVelCmdNOP(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> bool
 
Returns true if it is possible to stop sending velocity commands to the
 robot and, still, the
 robot controller will be able to keep following the last sent trajectory
 ("NOP" velocity commands).
 Default implementation returns "false". 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::supportVelCmdNOP() const --> bool
updateClearance(...)
updateClearance(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, ox: float, oy: float, cd: mrpt.pymrpt.mrpt.nav.ClearanceDiagram) -> None
 
Updates the clearance diagram given one (ox,oy) obstacle point, in
 coordinates relative
 to the PTG path origin.
 
 
 The clearance will be updated here.
 
 
 m_clearance_dist_resolution
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::updateClearance(const double, const double, class mrpt::nav::ClearanceDiagram &) const --> void
updateNavDynamicState(...)
updateNavDynamicState(*args, **kwargs)
Overloaded function.
 
1. updateNavDynamicState(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, newState: mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState) -> None
 
2. updateNavDynamicState(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, newState: mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState, force_update: bool) -> None
 
To be invoked by the navigator *before* each navigation step, to let the
 PTG to react to changing dynamic conditions. * 
 
 
 onNewNavDynamicState(), m_nav_dyn_state  
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::updateNavDynamicState(const struct mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState &, const bool) --> void

Static methods inherited from CParameterizedTrajectoryGenerator:
Alpha2index(...) from builtins.PyCapsule
Alpha2index(alpha: float, num_paths: int) -> int
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::Alpha2index(double, const unsigned int) --> uint16_t
COLLISION_BEHAVIOR(...) from builtins.PyCapsule
COLLISION_BEHAVIOR() -> mrpt.pymrpt.mrpt.nav.PTG_collision_behavior_t
 
Defines the behavior when there is an obstacle *inside* the robot shape
 right at the beginning of a PTG trajectory.
 Default value: COLL_BEH_BACK_AWAY
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::COLLISION_BEHAVIOR() --> enum mrpt::nav::PTG_collision_behavior_t &
CreatePTG(...) from builtins.PyCapsule
CreatePTG(ptgClassName: str, cfg: mrpt.pymrpt.mrpt.config.CConfigFileBase, sSection: str, sKeyPrefix: str) -> mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator
 
The class factory for creating a PTG from a list of parameters in a
section of a given config file (physical file or in memory).
  Possible parameters are:
          - Those explained in
CParameterizedTrajectoryGenerator::loadFromConfigFile()
          - Those explained in the specific PTG being created (see list of
derived classes)
 
 `ptgClassName` can be any PTG class name which has been registered as
any other
 mrpt::serialization::CSerializable class.
 
 
 std::logic_error On invalid or missing parameters.
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::CreatePTG(const std::string &, const class mrpt::config::CConfigFileBase &, const std::string &, const std::string &) --> class std::shared_ptr<class mrpt::nav::CParameterizedTrajectoryGenerator>
Index2alpha(...) from builtins.PyCapsule
Index2alpha(k: int, num_paths: int) -> float
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::Index2alpha(uint16_t, const unsigned int) --> double
OUTPUT_DEBUG_PATH_PREFIX(...) from builtins.PyCapsule
OUTPUT_DEBUG_PATH_PREFIX() -> str
 
The path used as defaul output in, for example, debugDumpInFiles.
 (Default="./reactivenav.logs/") 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::OUTPUT_DEBUG_PATH_PREFIX() --> std::string &

Data and other attributes inherited from CParameterizedTrajectoryGenerator:
TNavDynamicState = <class 'mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator.TNavDynamicState'>
Dynamic state that may affect the PTG path parameterization. 
 
nav_reactive

Methods inherited from mrpt.pymrpt.mrpt.rtti.CObject:
duplicateGetSmartPtr(...)
duplicateGetSmartPtr(self: mrpt.pymrpt.mrpt.rtti.CObject) -> mrpt.pymrpt.mrpt.rtti.CObject
 
Makes a deep copy of the object and returns a smart pointer to it 
 
C++: mrpt::rtti::CObject::duplicateGetSmartPtr() const --> class std::shared_ptr<class mrpt::rtti::CObject>

Methods inherited from mrpt.pymrpt.mrpt.config.CLoadableOptions:
dumpToConsole(...)
dumpToConsole(self: mrpt.pymrpt.mrpt.config.CLoadableOptions) -> None
 
Just like  but sending the text to the console
 (std::cout) 
 
C++: mrpt::config::CLoadableOptions::dumpToConsole() const --> void
loadFromConfigFileName(...)
loadFromConfigFileName(self: mrpt.pymrpt.mrpt.config.CLoadableOptions, config_file: str, section: str) -> None
 
Behaves like loadFromConfigFile, but you can pass directly a file name
 and a temporary CConfigFile object will be created automatically to load
 the file.
 
 
 loadFromConfigFile
 
C++: mrpt::config::CLoadableOptions::loadFromConfigFileName(const std::string &, const std::string &) --> void
saveToConfigFileName(...)
saveToConfigFileName(self: mrpt.pymrpt.mrpt.config.CLoadableOptions, config_file: str, section: str) -> None
 
Behaves like saveToConfigFile, but you can pass directly a file name and
 a temporary CConfigFile object will be created automatically to save the
 file.
 
 
 saveToConfigFile, loadFromConfigFileName
 
C++: mrpt::config::CLoadableOptions::saveToConfigFileName(const std::string &, const std::string &) const --> void

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class CPTG_DiffDrive_CCS(CPTG_DiffDrive_CollisionGridBased)
    A PTG for optimal paths of type "C|C,S" (as named in PTG papers).
- **Compatible kinematics**: differential-driven / Ackermann steering
- **Compatible robot shape**: Arbitrary 2D polygon
- **PTG parameters**: Use the app `ptg-configurator`
 
 See also "Obstacle Distance for Car-Like Robots", IEEE Trans. Rob. And
Autom, 1999.
 
 
[Before MRPT 1.5.0 this was named CPTG3]
 
 
Method resolution order:
CPTG_DiffDrive_CCS
CPTG_DiffDrive_CollisionGridBased
CPTG_RobotShape_Polygonal
CParameterizedTrajectoryGenerator
mrpt.pymrpt.mrpt.serialization.CSerializable
mrpt.pymrpt.mrpt.rtti.CObject
mrpt.pymrpt.mrpt.config.CLoadableOptions
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
GetRuntimeClass(...)
GetRuntimeClass(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CCS) -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
 
C++: mrpt::nav::CPTG_DiffDrive_CCS::GetRuntimeClass() const --> const struct mrpt::rtti::TRuntimeClassId *
PTG_IsIntoDomain(...)
PTG_IsIntoDomain(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CCS, x: float, y: float) -> bool
 
C++: mrpt::nav::CPTG_DiffDrive_CCS::PTG_IsIntoDomain(double, double) const --> bool
__init__(...)
__init__(*args, **kwargs)
Overloaded function.
 
1. __init__(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CCS) -> None
 
2. __init__(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CCS, cfg: mrpt.pymrpt.mrpt.config.CConfigFileBase, sSection: str) -> None
assign(...)
assign(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CCS, : mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CCS) -> mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CCS
 
C++: mrpt::nav::CPTG_DiffDrive_CCS::operator=(const class mrpt::nav::CPTG_DiffDrive_CCS &) --> class mrpt::nav::CPTG_DiffDrive_CCS &
clone(...)
clone(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CCS) -> mrpt.pymrpt.mrpt.rtti.CObject
 
C++: mrpt::nav::CPTG_DiffDrive_CCS::clone() const --> class mrpt::rtti::CObject *
getDescription(...)
getDescription(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CCS) -> str
 
C++: mrpt::nav::CPTG_DiffDrive_CCS::getDescription() const --> std::string
loadDefaultParams(...)
loadDefaultParams(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CCS) -> None
 
C++: mrpt::nav::CPTG_DiffDrive_CCS::loadDefaultParams() --> void
loadFromConfigFile(...)
loadFromConfigFile(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CCS, cfg: mrpt.pymrpt.mrpt.config.CConfigFileBase, sSection: str) -> None
 
C++: mrpt::nav::CPTG_DiffDrive_CCS::loadFromConfigFile(const class mrpt::config::CConfigFileBase &, const std::string &) --> void
ptgDiffDriveSteeringFunction(...)
ptgDiffDriveSteeringFunction(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CCS, alpha: float, t: float, x: float, y: float, phi: float, v: float, w: float) -> None
 
C++: mrpt::nav::CPTG_DiffDrive_CCS::ptgDiffDriveSteeringFunction(float, float, float, float, float, float &, float &) const --> void
saveToConfigFile(...)
saveToConfigFile(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CCS, cfg: mrpt.pymrpt.mrpt.config.CConfigFileBase, sSection: str) -> None
 
C++: mrpt::nav::CPTG_DiffDrive_CCS::saveToConfigFile(class mrpt::config::CConfigFileBase &, const std::string &) const --> void

Static methods defined here:
CreateObject(...) from builtins.PyCapsule
CreateObject() -> mrpt.pymrpt.mrpt.rtti.CObject
 
C++: mrpt::nav::CPTG_DiffDrive_CCS::CreateObject() --> class std::shared_ptr<class mrpt::rtti::CObject>
GetRuntimeClassIdStatic(...) from builtins.PyCapsule
GetRuntimeClassIdStatic() -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
 
C++: mrpt::nav::CPTG_DiffDrive_CCS::GetRuntimeClassIdStatic() --> const struct mrpt::rtti::TRuntimeClassId &

Methods inherited from CPTG_DiffDrive_CollisionGridBased:
directionToMotionCommand(...)
directionToMotionCommand(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, k: int) -> mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd
 
In this class, `out_action_cmd` contains: [0]: linear velocity (m/s),
 [1]: angular velocity (rad/s).
 See more docs in
 CParameterizedTrajectoryGenerator::directionToMotionCommand() 
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::directionToMotionCommand(uint16_t) const --> class std::shared_ptr<class mrpt::kinematics::CVehicleVelCmd>
getMaxAngVel(...)
getMaxAngVel(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased) -> float
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getMaxAngVel() const --> double
getMaxLinVel(...)
getMaxLinVel(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased) -> float
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getMaxLinVel() const --> double
getMax_V(...)
getMax_V(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased) -> float
 
@} 
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getMax_V() const --> double
getMax_W(...)
getMax_W(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased) -> float
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getMax_W() const --> double
getPathDist(...)
getPathDist(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, k: int, step: int) -> float
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getPathDist(uint16_t, uint32_t) const --> double
getPathPose(...)
getPathPose(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, k: int, step: int) -> mrpt.pymrpt.mrpt.math.TPose2D
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getPathPose(uint16_t, uint32_t) const --> struct mrpt::math::TPose2D
getPathStepCount(...)
getPathStepCount(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, k: int) -> int
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getPathStepCount(uint16_t) const --> size_t
getPathStepDuration(...)
getPathStepDuration(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased) -> float
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getPathStepDuration() const --> double
getPathStepForDist(...)
getPathStepForDist(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, k: int, dist: float, out_step: int) -> bool
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getPathStepForDist(uint16_t, double, unsigned int &) const --> bool
getSupportedKinematicVelocityCommand(...)
getSupportedKinematicVelocityCommand(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased) -> mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getSupportedKinematicVelocityCommand() const --> class std::shared_ptr<class mrpt::kinematics::CVehicleVelCmd>
inverseMap_WS2TP(...)
inverseMap_WS2TP(*args, **kwargs)
Overloaded function.
 
1. inverseMap_WS2TP(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, x: float, y: float, out_k: int, out_d: float) -> bool
 
2. inverseMap_WS2TP(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, x: float, y: float, out_k: int, out_d: float, tolerance_dist: float) -> bool
 
The default implementation in this class relies on a look-up-table.
 Derived classes may redefine this to closed-form expressions, when they
 exist.
 See full docs in base class
 CParameterizedTrajectoryGenerator::inverseMap_WS2TP() 
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::inverseMap_WS2TP(double, double, int &, double &, double) const --> bool
onNewNavDynamicState(...)
onNewNavDynamicState(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased) -> None
 
This family of PTGs ignores the dynamic states 
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::onNewNavDynamicState() --> void
setRefDistance(...)
setRefDistance(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, refDist: float) -> None
 
Launches an exception in this class: it is not allowed in numerical
 integration-based PTGs to change the reference distance
 after initialization. 
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::setRefDistance(const double) --> void
updateTPObstacleSingle(...)
updateTPObstacleSingle(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, ox: float, oy: float, k: int, tp_obstacle_k: float) -> None
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::updateTPObstacleSingle(double, double, uint16_t, double &) const --> void

Methods inherited from CPTG_RobotShape_Polygonal:
add_robotShape_to_setOfLines(...)
add_robotShape_to_setOfLines(*args, **kwargs)
Overloaded function.
 
1. add_robotShape_to_setOfLines(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal, gl_shape: mrpt.pymrpt.mrpt.opengl.CSetOfLines) -> None
 
2. add_robotShape_to_setOfLines(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal, gl_shape: mrpt.pymrpt.mrpt.opengl.CSetOfLines, origin: mrpt.pymrpt.mrpt.poses.CPose2D) -> None
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::add_robotShape_to_setOfLines(class mrpt::opengl::CSetOfLines &, const class mrpt::poses::CPose2D &) const --> void
evalClearanceToRobotShape(...)
evalClearanceToRobotShape(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal, ox: float, oy: float) -> float
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::evalClearanceToRobotShape(const double, const double) const --> double
getMaxRobotRadius(...)
getMaxRobotRadius(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal) -> float
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::getMaxRobotRadius() const --> double
getRobotShape(...)
getRobotShape(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal) -> mrpt.pymrpt.mrpt.math.CPolygon
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::getRobotShape() const --> const class mrpt::math::CPolygon &
isPointInsideRobotShape(...)
isPointInsideRobotShape(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal, x: float, y: float) -> bool
 
@} 
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::isPointInsideRobotShape(const double, const double) const --> bool
setRobotShape(...)
setRobotShape(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal, robotShape: mrpt.pymrpt.mrpt.math.CPolygon) -> None
 
@{ *
 
 Robot shape must be set before initialization, either from ctor params
 or via this method. 
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::setRobotShape(const class mrpt::math::CPolygon &) --> void

Static methods inherited from CPTG_RobotShape_Polygonal:
static_add_robotShape_to_setOfLines(...) from builtins.PyCapsule
static_add_robotShape_to_setOfLines(gl_shape: mrpt.pymrpt.mrpt.opengl.CSetOfLines, origin: mrpt.pymrpt.mrpt.poses.CPose2D, robotShape: mrpt.pymrpt.mrpt.math.CPolygon) -> None
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::static_add_robotShape_to_setOfLines(class mrpt::opengl::CSetOfLines &, const class mrpt::poses::CPose2D &, const class mrpt::math::CPolygon &) --> void

Methods inherited from CParameterizedTrajectoryGenerator:
alpha2index(...)
alpha2index(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, alpha: float) -> int
 
Discrete index value for the corresponding alpha value 
 index2alpha
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::alpha2index(double) const --> uint16_t
debugDumpInFiles(...)
debugDumpInFiles(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, ptg_name: str) -> bool
 
Dump PTG trajectories in four text files:
 `./reactivenav.logs/PTGs/PTG%i_{x,y,phi,d}.txt`
 Text files are loadable from MATLAB/Octave, and can be visualized with
 the script `[MRPT_DIR]/scripts/viewPTG.m`
 
 
 The directory "./reactivenav.logs/PTGs" will be created if doesn't
 exist.
 
 
 false on any error writing to disk.
 
 
 OUTPUT_DEBUG_PATH_PREFIX
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::debugDumpInFiles(const std::string &) const --> bool
deinitialize(...)
deinitialize(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> None
 
This must be called to de-initialize the PTG if some parameter is to be
 changed. After changing it, call initialize again 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::deinitialize() --> void
evalClearanceSingleObstacle(...)
evalClearanceSingleObstacle(*args, **kwargs)
Overloaded function.
 
1. evalClearanceSingleObstacle(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, ox: float, oy: float, k: int, inout_realdist2clearance: Dict[float, float]) -> None
 
2. evalClearanceSingleObstacle(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, ox: float, oy: float, k: int, inout_realdist2clearance: Dict[float, float], treat_as_obstacle: bool) -> None
 
Evals the robot clearance for each robot pose along path `k`, for the
 real distances in
 the key of the map<>, then keep in the map value the minimum of its
 current stored clearance,
 or the computed clearance. In case of collision, clearance is zero.
 
 
 true: normal use for obstacles; false: compute
 shortest distances to a target point (no collision)
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::evalClearanceSingleObstacle(const double, const double, const unsigned short, class std::map<double, double> &, bool) const --> void
evalPathRelativePriority(...)
evalPathRelativePriority(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, target_distance: float) -> float
 
Query the PTG for the relative priority factor (0,1) of this PTG, in
 comparison to others, if the k-th path is to be selected. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::evalPathRelativePriority(uint16_t, double) const --> double
getActualUnloopedPathLength(...)
getActualUnloopedPathLength(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int) -> float
 
Returns the actual distance (in meters) of the path, discounting
 possible circular loops of the path (e.g. if it comes back to the
 origin).
 Default: refDistance 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getActualUnloopedPathLength(uint16_t) const --> double
getAlphaValuesCount(...)
getAlphaValuesCount(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> int
 
Get the number of different, discrete paths in this family 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getAlphaValuesCount() const --> uint16_t
getClearanceDecimatedPaths(...)
getClearanceDecimatedPaths(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> int
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getClearanceDecimatedPaths() const --> unsigned int
getClearanceStepCount(...)
getClearanceStepCount(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> int
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getClearanceStepCount() const --> unsigned int
getCurrentNavDynamicState(...)
getCurrentNavDynamicState(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getCurrentNavDynamicState() const --> const struct mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState &
getPathCount(...)
getPathCount(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> int
 
Get the number of different, discrete paths in this family 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getPathCount() const --> uint16_t
getPathTwist(...)
getPathTwist(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, step: int) -> mrpt::math::TTwist2D
 
Gets velocity ("twist") for path `k` ([0,N-1]=>[-pi,pi] in alpha),
 at vehicle discrete step `step`. The default implementation in this base
 class uses numerical differentiation to estimate the twist (vx,vy,omega).
 Velocity is given in "global" coordinates, relative to the starting pose
 of the robot at t=0 for this PTG path.
 
 
 getPathStepCount(), getAlphaValuesCount(), getPathPose() 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getPathTwist(uint16_t, uint32_t) const --> struct mrpt::math::TTwist2D
getRefDistance(...)
getRefDistance(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> float
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getRefDistance() const --> double
getScorePriority(...)
getScorePriority(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> float
 
When used in path planning, a multiplying factor (default=1.0) for the
 scores for this PTG. Assign values <1 to PTGs with low priority. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getScorePriority() const --> double
index2alpha(...)
index2alpha(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int) -> float
 
Alpha value for the discrete corresponding value 
 alpha2index 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::index2alpha(uint16_t) const --> double
initClearanceDiagram(...)
initClearanceDiagram(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, cd: mrpt.pymrpt.mrpt.nav.ClearanceDiagram) -> None
 
Must be called to resize a CD to its correct size, before calling
 updateClearance() 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::initClearanceDiagram(class mrpt::nav::ClearanceDiagram &) const --> void
initTPObstacleSingle(...)
initTPObstacleSingle(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, TP_Obstacle_k: float) -> None
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::initTPObstacleSingle(uint16_t, double &) const --> void
initialize(...)
initialize(*args, **kwargs)
Overloaded function.
 
1. initialize(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> None
 
2. initialize(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, cacheFilename: str) -> None
 
3. initialize(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, cacheFilename: str, verbose: bool) -> None
 
Must be called after setting all PTG parameters and before requesting
 converting obstacles to TP-Space, inverseMap_WS2TP(), etc. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::initialize(const std::string &, const bool) --> void
isBijectiveAt(...)
isBijectiveAt(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, step: int) -> bool
 
Returns true if a given TP-Space point maps to a unique point in
 Workspace, and viceversa. Default implementation returns `true`. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::isBijectiveAt(uint16_t, uint32_t) const --> bool
isInitialized(...)
isInitialized(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> bool
 
Returns true if `initialize()` has been called and there was no errors,
 so the PTG is ready to be queried for paths, obstacles, etc. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::isInitialized() const --> bool
maxTimeInVelCmdNOP(...)
maxTimeInVelCmdNOP(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, path_k: int) -> float
 
Only for PTGs supporting supportVelCmdNOP(): this is the maximum time
 (in seconds) for which the path
 can be followed without re-issuing a new velcmd. Note that this is only
 an absolute maximum duration,
 navigation implementations will check for many other conditions. Default
 method in the base virtual class returns 0.
 
 
 Queried path `k` index  [0,N-1] 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::maxTimeInVelCmdNOP(int) const --> double
renderPathAsSimpleLine(...)
renderPathAsSimpleLine(*args, **kwargs)
Overloaded function.
 
1. renderPathAsSimpleLine(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, gl_obj: mrpt.pymrpt.mrpt.opengl.CSetOfLines) -> None
 
2. renderPathAsSimpleLine(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, gl_obj: mrpt.pymrpt.mrpt.opengl.CSetOfLines, decimate_distance: float) -> None
 
3. renderPathAsSimpleLine(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, gl_obj: mrpt.pymrpt.mrpt.opengl.CSetOfLines, decimate_distance: float, max_path_distance: float) -> None
 
Returns the representation of one trajectory of this PTG as a 3D OpenGL
 object (a simple curved line).
 
 
 The 0-based index of the selected trajectory (discrete
 "alpha" parameter).
 
 
 Output object.
 
 
 Minimum distance between path points (in
 meters).
 
 
 If >=0, cut the path at this distance (in
 meters).
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::renderPathAsSimpleLine(const unsigned short, class mrpt::opengl::CSetOfLines &, const double, const double) const --> void
setClearanceDecimatedPaths(...)
setClearanceDecimatedPaths(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, num: int) -> None
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::setClearanceDecimatedPaths(const unsigned int) --> void
setClearanceStepCount(...)
setClearanceStepCount(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, res: int) -> None
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::setClearanceStepCount(const unsigned int) --> void
setScorePriorty(...)
setScorePriorty(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, prior: float) -> None
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::setScorePriorty(double) --> void
supportSpeedAtTarget(...)
supportSpeedAtTarget(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> bool
 
Returns true if this PTG takes into account the desired velocity at
 target. 
 
 updateNavDynamicState() 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::supportSpeedAtTarget() const --> bool
supportVelCmdNOP(...)
supportVelCmdNOP(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> bool
 
Returns true if it is possible to stop sending velocity commands to the
 robot and, still, the
 robot controller will be able to keep following the last sent trajectory
 ("NOP" velocity commands).
 Default implementation returns "false". 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::supportVelCmdNOP() const --> bool
updateClearance(...)
updateClearance(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, ox: float, oy: float, cd: mrpt.pymrpt.mrpt.nav.ClearanceDiagram) -> None
 
Updates the clearance diagram given one (ox,oy) obstacle point, in
 coordinates relative
 to the PTG path origin.
 
 
 The clearance will be updated here.
 
 
 m_clearance_dist_resolution
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::updateClearance(const double, const double, class mrpt::nav::ClearanceDiagram &) const --> void
updateNavDynamicState(...)
updateNavDynamicState(*args, **kwargs)
Overloaded function.
 
1. updateNavDynamicState(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, newState: mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState) -> None
 
2. updateNavDynamicState(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, newState: mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState, force_update: bool) -> None
 
To be invoked by the navigator *before* each navigation step, to let the
 PTG to react to changing dynamic conditions. * 
 
 
 onNewNavDynamicState(), m_nav_dyn_state  
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::updateNavDynamicState(const struct mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState &, const bool) --> void

Static methods inherited from CParameterizedTrajectoryGenerator:
Alpha2index(...) from builtins.PyCapsule
Alpha2index(alpha: float, num_paths: int) -> int
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::Alpha2index(double, const unsigned int) --> uint16_t
COLLISION_BEHAVIOR(...) from builtins.PyCapsule
COLLISION_BEHAVIOR() -> mrpt.pymrpt.mrpt.nav.PTG_collision_behavior_t
 
Defines the behavior when there is an obstacle *inside* the robot shape
 right at the beginning of a PTG trajectory.
 Default value: COLL_BEH_BACK_AWAY
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::COLLISION_BEHAVIOR() --> enum mrpt::nav::PTG_collision_behavior_t &
CreatePTG(...) from builtins.PyCapsule
CreatePTG(ptgClassName: str, cfg: mrpt.pymrpt.mrpt.config.CConfigFileBase, sSection: str, sKeyPrefix: str) -> mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator
 
The class factory for creating a PTG from a list of parameters in a
section of a given config file (physical file or in memory).
  Possible parameters are:
          - Those explained in
CParameterizedTrajectoryGenerator::loadFromConfigFile()
          - Those explained in the specific PTG being created (see list of
derived classes)
 
 `ptgClassName` can be any PTG class name which has been registered as
any other
 mrpt::serialization::CSerializable class.
 
 
 std::logic_error On invalid or missing parameters.
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::CreatePTG(const std::string &, const class mrpt::config::CConfigFileBase &, const std::string &, const std::string &) --> class std::shared_ptr<class mrpt::nav::CParameterizedTrajectoryGenerator>
Index2alpha(...) from builtins.PyCapsule
Index2alpha(k: int, num_paths: int) -> float
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::Index2alpha(uint16_t, const unsigned int) --> double
OUTPUT_DEBUG_PATH_PREFIX(...) from builtins.PyCapsule
OUTPUT_DEBUG_PATH_PREFIX() -> str
 
The path used as defaul output in, for example, debugDumpInFiles.
 (Default="./reactivenav.logs/") 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::OUTPUT_DEBUG_PATH_PREFIX() --> std::string &

Data and other attributes inherited from CParameterizedTrajectoryGenerator:
TNavDynamicState = <class 'mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator.TNavDynamicState'>
Dynamic state that may affect the PTG path parameterization. 
 
nav_reactive

Methods inherited from mrpt.pymrpt.mrpt.rtti.CObject:
duplicateGetSmartPtr(...)
duplicateGetSmartPtr(self: mrpt.pymrpt.mrpt.rtti.CObject) -> mrpt.pymrpt.mrpt.rtti.CObject
 
Makes a deep copy of the object and returns a smart pointer to it 
 
C++: mrpt::rtti::CObject::duplicateGetSmartPtr() const --> class std::shared_ptr<class mrpt::rtti::CObject>

Methods inherited from mrpt.pymrpt.mrpt.config.CLoadableOptions:
dumpToConsole(...)
dumpToConsole(self: mrpt.pymrpt.mrpt.config.CLoadableOptions) -> None
 
Just like  but sending the text to the console
 (std::cout) 
 
C++: mrpt::config::CLoadableOptions::dumpToConsole() const --> void
loadFromConfigFileName(...)
loadFromConfigFileName(self: mrpt.pymrpt.mrpt.config.CLoadableOptions, config_file: str, section: str) -> None
 
Behaves like loadFromConfigFile, but you can pass directly a file name
 and a temporary CConfigFile object will be created automatically to load
 the file.
 
 
 loadFromConfigFile
 
C++: mrpt::config::CLoadableOptions::loadFromConfigFileName(const std::string &, const std::string &) --> void
saveToConfigFileName(...)
saveToConfigFileName(self: mrpt.pymrpt.mrpt.config.CLoadableOptions, config_file: str, section: str) -> None
 
Behaves like saveToConfigFile, but you can pass directly a file name and
 a temporary CConfigFile object will be created automatically to save the
 file.
 
 
 saveToConfigFile, loadFromConfigFileName
 
C++: mrpt::config::CLoadableOptions::saveToConfigFileName(const std::string &, const std::string &) const --> void

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class CPTG_DiffDrive_CS(CPTG_DiffDrive_CollisionGridBased)
    A PTG for optimal paths of type "CS", as named in PTG papers.
- **Compatible kinematics**: differential-driven / Ackermann steering
- **Compatible robot shape**: Arbitrary 2D polygon
- **PTG parameters**: Use the app `ptg-configurator`
 
 See "Obstacle Distance for Car-Like Robots", IEEE Trans. Rob. And Autom,
1999.
 
 
[Before MRPT 1.5.0 this was named CPTG5]
 
 
Method resolution order:
CPTG_DiffDrive_CS
CPTG_DiffDrive_CollisionGridBased
CPTG_RobotShape_Polygonal
CParameterizedTrajectoryGenerator
mrpt.pymrpt.mrpt.serialization.CSerializable
mrpt.pymrpt.mrpt.rtti.CObject
mrpt.pymrpt.mrpt.config.CLoadableOptions
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
GetRuntimeClass(...)
GetRuntimeClass(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CS) -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
 
C++: mrpt::nav::CPTG_DiffDrive_CS::GetRuntimeClass() const --> const struct mrpt::rtti::TRuntimeClassId *
PTG_IsIntoDomain(...)
PTG_IsIntoDomain(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CS, x: float, y: float) -> bool
 
C++: mrpt::nav::CPTG_DiffDrive_CS::PTG_IsIntoDomain(double, double) const --> bool
__init__(...)
__init__(*args, **kwargs)
Overloaded function.
 
1. __init__(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CS) -> None
 
2. __init__(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CS, cfg: mrpt.pymrpt.mrpt.config.CConfigFileBase, sSection: str) -> None
assign(...)
assign(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CS, : mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CS) -> mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CS
 
C++: mrpt::nav::CPTG_DiffDrive_CS::operator=(const class mrpt::nav::CPTG_DiffDrive_CS &) --> class mrpt::nav::CPTG_DiffDrive_CS &
clone(...)
clone(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CS) -> mrpt.pymrpt.mrpt.rtti.CObject
 
C++: mrpt::nav::CPTG_DiffDrive_CS::clone() const --> class mrpt::rtti::CObject *
getDescription(...)
getDescription(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CS) -> str
 
C++: mrpt::nav::CPTG_DiffDrive_CS::getDescription() const --> std::string
loadDefaultParams(...)
loadDefaultParams(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CS) -> None
 
C++: mrpt::nav::CPTG_DiffDrive_CS::loadDefaultParams() --> void
loadFromConfigFile(...)
loadFromConfigFile(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CS, cfg: mrpt.pymrpt.mrpt.config.CConfigFileBase, sSection: str) -> None
 
C++: mrpt::nav::CPTG_DiffDrive_CS::loadFromConfigFile(const class mrpt::config::CConfigFileBase &, const std::string &) --> void
ptgDiffDriveSteeringFunction(...)
ptgDiffDriveSteeringFunction(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CS, alpha: float, t: float, x: float, y: float, phi: float, v: float, w: float) -> None
 
C++: mrpt::nav::CPTG_DiffDrive_CS::ptgDiffDriveSteeringFunction(float, float, float, float, float, float &, float &) const --> void
saveToConfigFile(...)
saveToConfigFile(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CS, cfg: mrpt.pymrpt.mrpt.config.CConfigFileBase, sSection: str) -> None
 
C++: mrpt::nav::CPTG_DiffDrive_CS::saveToConfigFile(class mrpt::config::CConfigFileBase &, const std::string &) const --> void

Static methods defined here:
CreateObject(...) from builtins.PyCapsule
CreateObject() -> mrpt.pymrpt.mrpt.rtti.CObject
 
C++: mrpt::nav::CPTG_DiffDrive_CS::CreateObject() --> class std::shared_ptr<class mrpt::rtti::CObject>
GetRuntimeClassIdStatic(...) from builtins.PyCapsule
GetRuntimeClassIdStatic() -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
 
C++: mrpt::nav::CPTG_DiffDrive_CS::GetRuntimeClassIdStatic() --> const struct mrpt::rtti::TRuntimeClassId &

Methods inherited from CPTG_DiffDrive_CollisionGridBased:
directionToMotionCommand(...)
directionToMotionCommand(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, k: int) -> mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd
 
In this class, `out_action_cmd` contains: [0]: linear velocity (m/s),
 [1]: angular velocity (rad/s).
 See more docs in
 CParameterizedTrajectoryGenerator::directionToMotionCommand() 
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::directionToMotionCommand(uint16_t) const --> class std::shared_ptr<class mrpt::kinematics::CVehicleVelCmd>
getMaxAngVel(...)
getMaxAngVel(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased) -> float
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getMaxAngVel() const --> double
getMaxLinVel(...)
getMaxLinVel(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased) -> float
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getMaxLinVel() const --> double
getMax_V(...)
getMax_V(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased) -> float
 
@} 
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getMax_V() const --> double
getMax_W(...)
getMax_W(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased) -> float
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getMax_W() const --> double
getPathDist(...)
getPathDist(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, k: int, step: int) -> float
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getPathDist(uint16_t, uint32_t) const --> double
getPathPose(...)
getPathPose(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, k: int, step: int) -> mrpt.pymrpt.mrpt.math.TPose2D
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getPathPose(uint16_t, uint32_t) const --> struct mrpt::math::TPose2D
getPathStepCount(...)
getPathStepCount(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, k: int) -> int
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getPathStepCount(uint16_t) const --> size_t
getPathStepDuration(...)
getPathStepDuration(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased) -> float
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getPathStepDuration() const --> double
getPathStepForDist(...)
getPathStepForDist(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, k: int, dist: float, out_step: int) -> bool
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getPathStepForDist(uint16_t, double, unsigned int &) const --> bool
getSupportedKinematicVelocityCommand(...)
getSupportedKinematicVelocityCommand(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased) -> mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getSupportedKinematicVelocityCommand() const --> class std::shared_ptr<class mrpt::kinematics::CVehicleVelCmd>
inverseMap_WS2TP(...)
inverseMap_WS2TP(*args, **kwargs)
Overloaded function.
 
1. inverseMap_WS2TP(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, x: float, y: float, out_k: int, out_d: float) -> bool
 
2. inverseMap_WS2TP(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, x: float, y: float, out_k: int, out_d: float, tolerance_dist: float) -> bool
 
The default implementation in this class relies on a look-up-table.
 Derived classes may redefine this to closed-form expressions, when they
 exist.
 See full docs in base class
 CParameterizedTrajectoryGenerator::inverseMap_WS2TP() 
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::inverseMap_WS2TP(double, double, int &, double &, double) const --> bool
onNewNavDynamicState(...)
onNewNavDynamicState(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased) -> None
 
This family of PTGs ignores the dynamic states 
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::onNewNavDynamicState() --> void
setRefDistance(...)
setRefDistance(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, refDist: float) -> None
 
Launches an exception in this class: it is not allowed in numerical
 integration-based PTGs to change the reference distance
 after initialization. 
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::setRefDistance(const double) --> void
updateTPObstacleSingle(...)
updateTPObstacleSingle(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, ox: float, oy: float, k: int, tp_obstacle_k: float) -> None
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::updateTPObstacleSingle(double, double, uint16_t, double &) const --> void

Methods inherited from CPTG_RobotShape_Polygonal:
add_robotShape_to_setOfLines(...)
add_robotShape_to_setOfLines(*args, **kwargs)
Overloaded function.
 
1. add_robotShape_to_setOfLines(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal, gl_shape: mrpt.pymrpt.mrpt.opengl.CSetOfLines) -> None
 
2. add_robotShape_to_setOfLines(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal, gl_shape: mrpt.pymrpt.mrpt.opengl.CSetOfLines, origin: mrpt.pymrpt.mrpt.poses.CPose2D) -> None
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::add_robotShape_to_setOfLines(class mrpt::opengl::CSetOfLines &, const class mrpt::poses::CPose2D &) const --> void
evalClearanceToRobotShape(...)
evalClearanceToRobotShape(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal, ox: float, oy: float) -> float
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::evalClearanceToRobotShape(const double, const double) const --> double
getMaxRobotRadius(...)
getMaxRobotRadius(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal) -> float
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::getMaxRobotRadius() const --> double
getRobotShape(...)
getRobotShape(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal) -> mrpt.pymrpt.mrpt.math.CPolygon
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::getRobotShape() const --> const class mrpt::math::CPolygon &
isPointInsideRobotShape(...)
isPointInsideRobotShape(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal, x: float, y: float) -> bool
 
@} 
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::isPointInsideRobotShape(const double, const double) const --> bool
setRobotShape(...)
setRobotShape(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal, robotShape: mrpt.pymrpt.mrpt.math.CPolygon) -> None
 
@{ *
 
 Robot shape must be set before initialization, either from ctor params
 or via this method. 
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::setRobotShape(const class mrpt::math::CPolygon &) --> void

Static methods inherited from CPTG_RobotShape_Polygonal:
static_add_robotShape_to_setOfLines(...) from builtins.PyCapsule
static_add_robotShape_to_setOfLines(gl_shape: mrpt.pymrpt.mrpt.opengl.CSetOfLines, origin: mrpt.pymrpt.mrpt.poses.CPose2D, robotShape: mrpt.pymrpt.mrpt.math.CPolygon) -> None
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::static_add_robotShape_to_setOfLines(class mrpt::opengl::CSetOfLines &, const class mrpt::poses::CPose2D &, const class mrpt::math::CPolygon &) --> void

Methods inherited from CParameterizedTrajectoryGenerator:
alpha2index(...)
alpha2index(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, alpha: float) -> int
 
Discrete index value for the corresponding alpha value 
 index2alpha
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::alpha2index(double) const --> uint16_t
debugDumpInFiles(...)
debugDumpInFiles(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, ptg_name: str) -> bool
 
Dump PTG trajectories in four text files:
 `./reactivenav.logs/PTGs/PTG%i_{x,y,phi,d}.txt`
 Text files are loadable from MATLAB/Octave, and can be visualized with
 the script `[MRPT_DIR]/scripts/viewPTG.m`
 
 
 The directory "./reactivenav.logs/PTGs" will be created if doesn't
 exist.
 
 
 false on any error writing to disk.
 
 
 OUTPUT_DEBUG_PATH_PREFIX
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::debugDumpInFiles(const std::string &) const --> bool
deinitialize(...)
deinitialize(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> None
 
This must be called to de-initialize the PTG if some parameter is to be
 changed. After changing it, call initialize again 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::deinitialize() --> void
evalClearanceSingleObstacle(...)
evalClearanceSingleObstacle(*args, **kwargs)
Overloaded function.
 
1. evalClearanceSingleObstacle(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, ox: float, oy: float, k: int, inout_realdist2clearance: Dict[float, float]) -> None
 
2. evalClearanceSingleObstacle(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, ox: float, oy: float, k: int, inout_realdist2clearance: Dict[float, float], treat_as_obstacle: bool) -> None
 
Evals the robot clearance for each robot pose along path `k`, for the
 real distances in
 the key of the map<>, then keep in the map value the minimum of its
 current stored clearance,
 or the computed clearance. In case of collision, clearance is zero.
 
 
 true: normal use for obstacles; false: compute
 shortest distances to a target point (no collision)
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::evalClearanceSingleObstacle(const double, const double, const unsigned short, class std::map<double, double> &, bool) const --> void
evalPathRelativePriority(...)
evalPathRelativePriority(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, target_distance: float) -> float
 
Query the PTG for the relative priority factor (0,1) of this PTG, in
 comparison to others, if the k-th path is to be selected. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::evalPathRelativePriority(uint16_t, double) const --> double
getActualUnloopedPathLength(...)
getActualUnloopedPathLength(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int) -> float
 
Returns the actual distance (in meters) of the path, discounting
 possible circular loops of the path (e.g. if it comes back to the
 origin).
 Default: refDistance 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getActualUnloopedPathLength(uint16_t) const --> double
getAlphaValuesCount(...)
getAlphaValuesCount(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> int
 
Get the number of different, discrete paths in this family 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getAlphaValuesCount() const --> uint16_t
getClearanceDecimatedPaths(...)
getClearanceDecimatedPaths(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> int
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getClearanceDecimatedPaths() const --> unsigned int
getClearanceStepCount(...)
getClearanceStepCount(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> int
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getClearanceStepCount() const --> unsigned int
getCurrentNavDynamicState(...)
getCurrentNavDynamicState(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getCurrentNavDynamicState() const --> const struct mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState &
getPathCount(...)
getPathCount(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> int
 
Get the number of different, discrete paths in this family 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getPathCount() const --> uint16_t
getPathTwist(...)
getPathTwist(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, step: int) -> mrpt::math::TTwist2D
 
Gets velocity ("twist") for path `k` ([0,N-1]=>[-pi,pi] in alpha),
 at vehicle discrete step `step`. The default implementation in this base
 class uses numerical differentiation to estimate the twist (vx,vy,omega).
 Velocity is given in "global" coordinates, relative to the starting pose
 of the robot at t=0 for this PTG path.
 
 
 getPathStepCount(), getAlphaValuesCount(), getPathPose() 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getPathTwist(uint16_t, uint32_t) const --> struct mrpt::math::TTwist2D
getRefDistance(...)
getRefDistance(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> float
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getRefDistance() const --> double
getScorePriority(...)
getScorePriority(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> float
 
When used in path planning, a multiplying factor (default=1.0) for the
 scores for this PTG. Assign values <1 to PTGs with low priority. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getScorePriority() const --> double
index2alpha(...)
index2alpha(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int) -> float
 
Alpha value for the discrete corresponding value 
 alpha2index 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::index2alpha(uint16_t) const --> double
initClearanceDiagram(...)
initClearanceDiagram(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, cd: mrpt.pymrpt.mrpt.nav.ClearanceDiagram) -> None
 
Must be called to resize a CD to its correct size, before calling
 updateClearance() 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::initClearanceDiagram(class mrpt::nav::ClearanceDiagram &) const --> void
initTPObstacleSingle(...)
initTPObstacleSingle(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, TP_Obstacle_k: float) -> None
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::initTPObstacleSingle(uint16_t, double &) const --> void
initialize(...)
initialize(*args, **kwargs)
Overloaded function.
 
1. initialize(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> None
 
2. initialize(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, cacheFilename: str) -> None
 
3. initialize(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, cacheFilename: str, verbose: bool) -> None
 
Must be called after setting all PTG parameters and before requesting
 converting obstacles to TP-Space, inverseMap_WS2TP(), etc. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::initialize(const std::string &, const bool) --> void
isBijectiveAt(...)
isBijectiveAt(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, step: int) -> bool
 
Returns true if a given TP-Space point maps to a unique point in
 Workspace, and viceversa. Default implementation returns `true`. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::isBijectiveAt(uint16_t, uint32_t) const --> bool
isInitialized(...)
isInitialized(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> bool
 
Returns true if `initialize()` has been called and there was no errors,
 so the PTG is ready to be queried for paths, obstacles, etc. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::isInitialized() const --> bool
maxTimeInVelCmdNOP(...)
maxTimeInVelCmdNOP(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, path_k: int) -> float
 
Only for PTGs supporting supportVelCmdNOP(): this is the maximum time
 (in seconds) for which the path
 can be followed without re-issuing a new velcmd. Note that this is only
 an absolute maximum duration,
 navigation implementations will check for many other conditions. Default
 method in the base virtual class returns 0.
 
 
 Queried path `k` index  [0,N-1] 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::maxTimeInVelCmdNOP(int) const --> double
renderPathAsSimpleLine(...)
renderPathAsSimpleLine(*args, **kwargs)
Overloaded function.
 
1. renderPathAsSimpleLine(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, gl_obj: mrpt.pymrpt.mrpt.opengl.CSetOfLines) -> None
 
2. renderPathAsSimpleLine(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, gl_obj: mrpt.pymrpt.mrpt.opengl.CSetOfLines, decimate_distance: float) -> None
 
3. renderPathAsSimpleLine(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, gl_obj: mrpt.pymrpt.mrpt.opengl.CSetOfLines, decimate_distance: float, max_path_distance: float) -> None
 
Returns the representation of one trajectory of this PTG as a 3D OpenGL
 object (a simple curved line).
 
 
 The 0-based index of the selected trajectory (discrete
 "alpha" parameter).
 
 
 Output object.
 
 
 Minimum distance between path points (in
 meters).
 
 
 If >=0, cut the path at this distance (in
 meters).
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::renderPathAsSimpleLine(const unsigned short, class mrpt::opengl::CSetOfLines &, const double, const double) const --> void
setClearanceDecimatedPaths(...)
setClearanceDecimatedPaths(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, num: int) -> None
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::setClearanceDecimatedPaths(const unsigned int) --> void
setClearanceStepCount(...)
setClearanceStepCount(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, res: int) -> None
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::setClearanceStepCount(const unsigned int) --> void
setScorePriorty(...)
setScorePriorty(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, prior: float) -> None
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::setScorePriorty(double) --> void
supportSpeedAtTarget(...)
supportSpeedAtTarget(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> bool
 
Returns true if this PTG takes into account the desired velocity at
 target. 
 
 updateNavDynamicState() 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::supportSpeedAtTarget() const --> bool
supportVelCmdNOP(...)
supportVelCmdNOP(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> bool
 
Returns true if it is possible to stop sending velocity commands to the
 robot and, still, the
 robot controller will be able to keep following the last sent trajectory
 ("NOP" velocity commands).
 Default implementation returns "false". 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::supportVelCmdNOP() const --> bool
updateClearance(...)
updateClearance(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, ox: float, oy: float, cd: mrpt.pymrpt.mrpt.nav.ClearanceDiagram) -> None
 
Updates the clearance diagram given one (ox,oy) obstacle point, in
 coordinates relative
 to the PTG path origin.
 
 
 The clearance will be updated here.
 
 
 m_clearance_dist_resolution
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::updateClearance(const double, const double, class mrpt::nav::ClearanceDiagram &) const --> void
updateNavDynamicState(...)
updateNavDynamicState(*args, **kwargs)
Overloaded function.
 
1. updateNavDynamicState(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, newState: mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState) -> None
 
2. updateNavDynamicState(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, newState: mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState, force_update: bool) -> None
 
To be invoked by the navigator *before* each navigation step, to let the
 PTG to react to changing dynamic conditions. * 
 
 
 onNewNavDynamicState(), m_nav_dyn_state  
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::updateNavDynamicState(const struct mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState &, const bool) --> void

Static methods inherited from CParameterizedTrajectoryGenerator:
Alpha2index(...) from builtins.PyCapsule
Alpha2index(alpha: float, num_paths: int) -> int
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::Alpha2index(double, const unsigned int) --> uint16_t
COLLISION_BEHAVIOR(...) from builtins.PyCapsule
COLLISION_BEHAVIOR() -> mrpt.pymrpt.mrpt.nav.PTG_collision_behavior_t
 
Defines the behavior when there is an obstacle *inside* the robot shape
 right at the beginning of a PTG trajectory.
 Default value: COLL_BEH_BACK_AWAY
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::COLLISION_BEHAVIOR() --> enum mrpt::nav::PTG_collision_behavior_t &
CreatePTG(...) from builtins.PyCapsule
CreatePTG(ptgClassName: str, cfg: mrpt.pymrpt.mrpt.config.CConfigFileBase, sSection: str, sKeyPrefix: str) -> mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator
 
The class factory for creating a PTG from a list of parameters in a
section of a given config file (physical file or in memory).
  Possible parameters are:
          - Those explained in
CParameterizedTrajectoryGenerator::loadFromConfigFile()
          - Those explained in the specific PTG being created (see list of
derived classes)
 
 `ptgClassName` can be any PTG class name which has been registered as
any other
 mrpt::serialization::CSerializable class.
 
 
 std::logic_error On invalid or missing parameters.
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::CreatePTG(const std::string &, const class mrpt::config::CConfigFileBase &, const std::string &, const std::string &) --> class std::shared_ptr<class mrpt::nav::CParameterizedTrajectoryGenerator>
Index2alpha(...) from builtins.PyCapsule
Index2alpha(k: int, num_paths: int) -> float
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::Index2alpha(uint16_t, const unsigned int) --> double
OUTPUT_DEBUG_PATH_PREFIX(...) from builtins.PyCapsule
OUTPUT_DEBUG_PATH_PREFIX() -> str
 
The path used as defaul output in, for example, debugDumpInFiles.
 (Default="./reactivenav.logs/") 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::OUTPUT_DEBUG_PATH_PREFIX() --> std::string &

Data and other attributes inherited from CParameterizedTrajectoryGenerator:
TNavDynamicState = <class 'mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator.TNavDynamicState'>
Dynamic state that may affect the PTG path parameterization. 
 
nav_reactive

Methods inherited from mrpt.pymrpt.mrpt.rtti.CObject:
duplicateGetSmartPtr(...)
duplicateGetSmartPtr(self: mrpt.pymrpt.mrpt.rtti.CObject) -> mrpt.pymrpt.mrpt.rtti.CObject
 
Makes a deep copy of the object and returns a smart pointer to it 
 
C++: mrpt::rtti::CObject::duplicateGetSmartPtr() const --> class std::shared_ptr<class mrpt::rtti::CObject>

Methods inherited from mrpt.pymrpt.mrpt.config.CLoadableOptions:
dumpToConsole(...)
dumpToConsole(self: mrpt.pymrpt.mrpt.config.CLoadableOptions) -> None
 
Just like  but sending the text to the console
 (std::cout) 
 
C++: mrpt::config::CLoadableOptions::dumpToConsole() const --> void
loadFromConfigFileName(...)
loadFromConfigFileName(self: mrpt.pymrpt.mrpt.config.CLoadableOptions, config_file: str, section: str) -> None
 
Behaves like loadFromConfigFile, but you can pass directly a file name
 and a temporary CConfigFile object will be created automatically to load
 the file.
 
 
 loadFromConfigFile
 
C++: mrpt::config::CLoadableOptions::loadFromConfigFileName(const std::string &, const std::string &) --> void
saveToConfigFileName(...)
saveToConfigFileName(self: mrpt.pymrpt.mrpt.config.CLoadableOptions, config_file: str, section: str) -> None
 
Behaves like saveToConfigFile, but you can pass directly a file name and
 a temporary CConfigFile object will be created automatically to save the
 file.
 
 
 saveToConfigFile, loadFromConfigFileName
 
C++: mrpt::config::CLoadableOptions::saveToConfigFileName(const std::string &, const std::string &) const --> void

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class CPTG_DiffDrive_CollisionGridBased(CPTG_RobotShape_Polygonal)
    Base class for all PTGs suitable to non-holonomic, differentially-driven (or
Ackermann) vehicles
based on numerical integration of the trajectories and collision
look-up-table.
Regarding `initialize()`: in this this family of PTGs, the method builds the
collision grid or load it from a cache file.
Collision grids must be calculated before calling getTPObstacle(). Robot
shape must be set before initializing with setRobotShape().
The rest of PTG parameters should have been set at the constructor.
 
 
Method resolution order:
CPTG_DiffDrive_CollisionGridBased
CPTG_RobotShape_Polygonal
CParameterizedTrajectoryGenerator
mrpt.pymrpt.mrpt.serialization.CSerializable
mrpt.pymrpt.mrpt.rtti.CObject
mrpt.pymrpt.mrpt.config.CLoadableOptions
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
__init__(self, /, *args, **kwargs)
Initialize self.  See help(type(self)) for accurate signature.
assign(...)
assign(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, : mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased) -> mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::operator=(const class mrpt::nav::CPTG_DiffDrive_CollisionGridBased &) --> class mrpt::nav::CPTG_DiffDrive_CollisionGridBased &
directionToMotionCommand(...)
directionToMotionCommand(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, k: int) -> mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd
 
In this class, `out_action_cmd` contains: [0]: linear velocity (m/s),
 [1]: angular velocity (rad/s).
 See more docs in
 CParameterizedTrajectoryGenerator::directionToMotionCommand() 
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::directionToMotionCommand(uint16_t) const --> class std::shared_ptr<class mrpt::kinematics::CVehicleVelCmd>
getMaxAngVel(...)
getMaxAngVel(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased) -> float
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getMaxAngVel() const --> double
getMaxLinVel(...)
getMaxLinVel(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased) -> float
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getMaxLinVel() const --> double
getMax_V(...)
getMax_V(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased) -> float
 
@} 
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getMax_V() const --> double
getMax_W(...)
getMax_W(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased) -> float
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getMax_W() const --> double
getPathDist(...)
getPathDist(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, k: int, step: int) -> float
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getPathDist(uint16_t, uint32_t) const --> double
getPathPose(...)
getPathPose(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, k: int, step: int) -> mrpt.pymrpt.mrpt.math.TPose2D
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getPathPose(uint16_t, uint32_t) const --> struct mrpt::math::TPose2D
getPathStepCount(...)
getPathStepCount(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, k: int) -> int
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getPathStepCount(uint16_t) const --> size_t
getPathStepDuration(...)
getPathStepDuration(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased) -> float
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getPathStepDuration() const --> double
getPathStepForDist(...)
getPathStepForDist(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, k: int, dist: float, out_step: int) -> bool
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getPathStepForDist(uint16_t, double, unsigned int &) const --> bool
getSupportedKinematicVelocityCommand(...)
getSupportedKinematicVelocityCommand(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased) -> mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getSupportedKinematicVelocityCommand() const --> class std::shared_ptr<class mrpt::kinematics::CVehicleVelCmd>
inverseMap_WS2TP(...)
inverseMap_WS2TP(*args, **kwargs)
Overloaded function.
 
1. inverseMap_WS2TP(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, x: float, y: float, out_k: int, out_d: float) -> bool
 
2. inverseMap_WS2TP(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, x: float, y: float, out_k: int, out_d: float, tolerance_dist: float) -> bool
 
The default implementation in this class relies on a look-up-table.
 Derived classes may redefine this to closed-form expressions, when they
 exist.
 See full docs in base class
 CParameterizedTrajectoryGenerator::inverseMap_WS2TP() 
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::inverseMap_WS2TP(double, double, int &, double &, double) const --> bool
onNewNavDynamicState(...)
onNewNavDynamicState(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased) -> None
 
This family of PTGs ignores the dynamic states 
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::onNewNavDynamicState() --> void
ptgDiffDriveSteeringFunction(...)
ptgDiffDriveSteeringFunction(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, alpha: float, t: float, x: float, y: float, phi: float, v: float, w: float) -> None
 
The main method to be implemented in derived classes: it defines the
 differential-driven differential equation 
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::ptgDiffDriveSteeringFunction(float, float, float, float, float, float &, float &) const --> void
setRefDistance(...)
setRefDistance(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, refDist: float) -> None
 
Launches an exception in this class: it is not allowed in numerical
 integration-based PTGs to change the reference distance
 after initialization. 
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::setRefDistance(const double) --> void
updateTPObstacleSingle(...)
updateTPObstacleSingle(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, ox: float, oy: float, k: int, tp_obstacle_k: float) -> None
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::updateTPObstacleSingle(double, double, uint16_t, double &) const --> void

Methods inherited from CPTG_RobotShape_Polygonal:
add_robotShape_to_setOfLines(...)
add_robotShape_to_setOfLines(*args, **kwargs)
Overloaded function.
 
1. add_robotShape_to_setOfLines(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal, gl_shape: mrpt.pymrpt.mrpt.opengl.CSetOfLines) -> None
 
2. add_robotShape_to_setOfLines(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal, gl_shape: mrpt.pymrpt.mrpt.opengl.CSetOfLines, origin: mrpt.pymrpt.mrpt.poses.CPose2D) -> None
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::add_robotShape_to_setOfLines(class mrpt::opengl::CSetOfLines &, const class mrpt::poses::CPose2D &) const --> void
evalClearanceToRobotShape(...)
evalClearanceToRobotShape(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal, ox: float, oy: float) -> float
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::evalClearanceToRobotShape(const double, const double) const --> double
getMaxRobotRadius(...)
getMaxRobotRadius(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal) -> float
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::getMaxRobotRadius() const --> double
getRobotShape(...)
getRobotShape(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal) -> mrpt.pymrpt.mrpt.math.CPolygon
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::getRobotShape() const --> const class mrpt::math::CPolygon &
isPointInsideRobotShape(...)
isPointInsideRobotShape(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal, x: float, y: float) -> bool
 
@} 
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::isPointInsideRobotShape(const double, const double) const --> bool
setRobotShape(...)
setRobotShape(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal, robotShape: mrpt.pymrpt.mrpt.math.CPolygon) -> None
 
@{ *
 
 Robot shape must be set before initialization, either from ctor params
 or via this method. 
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::setRobotShape(const class mrpt::math::CPolygon &) --> void

Static methods inherited from CPTG_RobotShape_Polygonal:
static_add_robotShape_to_setOfLines(...) from builtins.PyCapsule
static_add_robotShape_to_setOfLines(gl_shape: mrpt.pymrpt.mrpt.opengl.CSetOfLines, origin: mrpt.pymrpt.mrpt.poses.CPose2D, robotShape: mrpt.pymrpt.mrpt.math.CPolygon) -> None
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::static_add_robotShape_to_setOfLines(class mrpt::opengl::CSetOfLines &, const class mrpt::poses::CPose2D &, const class mrpt::math::CPolygon &) --> void

Methods inherited from CParameterizedTrajectoryGenerator:
GetRuntimeClass(...)
GetRuntimeClass(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::GetRuntimeClass() const --> const struct mrpt::rtti::TRuntimeClassId *
PTG_IsIntoDomain(...)
PTG_IsIntoDomain(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, x: float, y: float) -> bool
 
Returns the same than inverseMap_WS2TP() but without any additional
 cost. The default implementation
 just calls inverseMap_WS2TP() and discards (k,d). 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::PTG_IsIntoDomain(double, double) const --> bool
alpha2index(...)
alpha2index(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, alpha: float) -> int
 
Discrete index value for the corresponding alpha value 
 index2alpha
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::alpha2index(double) const --> uint16_t
debugDumpInFiles(...)
debugDumpInFiles(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, ptg_name: str) -> bool
 
Dump PTG trajectories in four text files:
 `./reactivenav.logs/PTGs/PTG%i_{x,y,phi,d}.txt`
 Text files are loadable from MATLAB/Octave, and can be visualized with
 the script `[MRPT_DIR]/scripts/viewPTG.m`
 
 
 The directory "./reactivenav.logs/PTGs" will be created if doesn't
 exist.
 
 
 false on any error writing to disk.
 
 
 OUTPUT_DEBUG_PATH_PREFIX
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::debugDumpInFiles(const std::string &) const --> bool
deinitialize(...)
deinitialize(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> None
 
This must be called to de-initialize the PTG if some parameter is to be
 changed. After changing it, call initialize again 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::deinitialize() --> void
evalClearanceSingleObstacle(...)
evalClearanceSingleObstacle(*args, **kwargs)
Overloaded function.
 
1. evalClearanceSingleObstacle(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, ox: float, oy: float, k: int, inout_realdist2clearance: Dict[float, float]) -> None
 
2. evalClearanceSingleObstacle(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, ox: float, oy: float, k: int, inout_realdist2clearance: Dict[float, float], treat_as_obstacle: bool) -> None
 
Evals the robot clearance for each robot pose along path `k`, for the
 real distances in
 the key of the map<>, then keep in the map value the minimum of its
 current stored clearance,
 or the computed clearance. In case of collision, clearance is zero.
 
 
 true: normal use for obstacles; false: compute
 shortest distances to a target point (no collision)
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::evalClearanceSingleObstacle(const double, const double, const unsigned short, class std::map<double, double> &, bool) const --> void
evalPathRelativePriority(...)
evalPathRelativePriority(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, target_distance: float) -> float
 
Query the PTG for the relative priority factor (0,1) of this PTG, in
 comparison to others, if the k-th path is to be selected. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::evalPathRelativePriority(uint16_t, double) const --> double
getActualUnloopedPathLength(...)
getActualUnloopedPathLength(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int) -> float
 
Returns the actual distance (in meters) of the path, discounting
 possible circular loops of the path (e.g. if it comes back to the
 origin).
 Default: refDistance 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getActualUnloopedPathLength(uint16_t) const --> double
getAlphaValuesCount(...)
getAlphaValuesCount(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> int
 
Get the number of different, discrete paths in this family 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getAlphaValuesCount() const --> uint16_t
getClearanceDecimatedPaths(...)
getClearanceDecimatedPaths(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> int
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getClearanceDecimatedPaths() const --> unsigned int
getClearanceStepCount(...)
getClearanceStepCount(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> int
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getClearanceStepCount() const --> unsigned int
getCurrentNavDynamicState(...)
getCurrentNavDynamicState(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getCurrentNavDynamicState() const --> const struct mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState &
getDescription(...)
getDescription(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> str
 
@{ 
 
 Gets a short textual description of the PTG and its parameters 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getDescription() const --> std::string
getPathCount(...)
getPathCount(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> int
 
Get the number of different, discrete paths in this family 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getPathCount() const --> uint16_t
getPathTwist(...)
getPathTwist(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, step: int) -> mrpt::math::TTwist2D
 
Gets velocity ("twist") for path `k` ([0,N-1]=>[-pi,pi] in alpha),
 at vehicle discrete step `step`. The default implementation in this base
 class uses numerical differentiation to estimate the twist (vx,vy,omega).
 Velocity is given in "global" coordinates, relative to the starting pose
 of the robot at t=0 for this PTG path.
 
 
 getPathStepCount(), getAlphaValuesCount(), getPathPose() 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getPathTwist(uint16_t, uint32_t) const --> struct mrpt::math::TTwist2D
getRefDistance(...)
getRefDistance(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> float
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getRefDistance() const --> double
getScorePriority(...)
getScorePriority(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> float
 
When used in path planning, a multiplying factor (default=1.0) for the
 scores for this PTG. Assign values <1 to PTGs with low priority. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getScorePriority() const --> double
index2alpha(...)
index2alpha(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int) -> float
 
Alpha value for the discrete corresponding value 
 alpha2index 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::index2alpha(uint16_t) const --> double
initClearanceDiagram(...)
initClearanceDiagram(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, cd: mrpt.pymrpt.mrpt.nav.ClearanceDiagram) -> None
 
Must be called to resize a CD to its correct size, before calling
 updateClearance() 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::initClearanceDiagram(class mrpt::nav::ClearanceDiagram &) const --> void
initTPObstacleSingle(...)
initTPObstacleSingle(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, TP_Obstacle_k: float) -> None
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::initTPObstacleSingle(uint16_t, double &) const --> void
initialize(...)
initialize(*args, **kwargs)
Overloaded function.
 
1. initialize(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> None
 
2. initialize(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, cacheFilename: str) -> None
 
3. initialize(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, cacheFilename: str, verbose: bool) -> None
 
Must be called after setting all PTG parameters and before requesting
 converting obstacles to TP-Space, inverseMap_WS2TP(), etc. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::initialize(const std::string &, const bool) --> void
isBijectiveAt(...)
isBijectiveAt(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, step: int) -> bool
 
Returns true if a given TP-Space point maps to a unique point in
 Workspace, and viceversa. Default implementation returns `true`. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::isBijectiveAt(uint16_t, uint32_t) const --> bool
isInitialized(...)
isInitialized(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> bool
 
Returns true if `initialize()` has been called and there was no errors,
 so the PTG is ready to be queried for paths, obstacles, etc. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::isInitialized() const --> bool
loadDefaultParams(...)
loadDefaultParams(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> None
 
Loads a set of default parameters into the PTG. Users normally will call
 `loadFromConfigFile()` instead, this method is provided
 exclusively for the PTG-configurator tool. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::loadDefaultParams() --> void
loadFromConfigFile(...)
loadFromConfigFile(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, cfg: mrpt.pymrpt.mrpt.config.CConfigFileBase, sSection: str) -> None
 
Parameters accepted by this base class:
   - `${sKeyPrefix}num_paths`: The number of different paths in this
 family (number of discrete `alpha` values).
   - `${sKeyPrefix}ref_distance`: The maximum distance in PTGs [meters]
   - `${sKeyPrefix}score_priority`: When used in path planning, a
 multiplying factor (default=1.0) for the scores for this PTG. Assign
 values <1 to PTGs with low priority.
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::loadFromConfigFile(const class mrpt::config::CConfigFileBase &, const std::string &) --> void
maxTimeInVelCmdNOP(...)
maxTimeInVelCmdNOP(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, path_k: int) -> float
 
Only for PTGs supporting supportVelCmdNOP(): this is the maximum time
 (in seconds) for which the path
 can be followed without re-issuing a new velcmd. Note that this is only
 an absolute maximum duration,
 navigation implementations will check for many other conditions. Default
 method in the base virtual class returns 0.
 
 
 Queried path `k` index  [0,N-1] 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::maxTimeInVelCmdNOP(int) const --> double
renderPathAsSimpleLine(...)
renderPathAsSimpleLine(*args, **kwargs)
Overloaded function.
 
1. renderPathAsSimpleLine(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, gl_obj: mrpt.pymrpt.mrpt.opengl.CSetOfLines) -> None
 
2. renderPathAsSimpleLine(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, gl_obj: mrpt.pymrpt.mrpt.opengl.CSetOfLines, decimate_distance: float) -> None
 
3. renderPathAsSimpleLine(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, gl_obj: mrpt.pymrpt.mrpt.opengl.CSetOfLines, decimate_distance: float, max_path_distance: float) -> None
 
Returns the representation of one trajectory of this PTG as a 3D OpenGL
 object (a simple curved line).
 
 
 The 0-based index of the selected trajectory (discrete
 "alpha" parameter).
 
 
 Output object.
 
 
 Minimum distance between path points (in
 meters).
 
 
 If >=0, cut the path at this distance (in
 meters).
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::renderPathAsSimpleLine(const unsigned short, class mrpt::opengl::CSetOfLines &, const double, const double) const --> void
saveToConfigFile(...)
saveToConfigFile(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, cfg: mrpt.pymrpt.mrpt.config.CConfigFileBase, sSection: str) -> None
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::saveToConfigFile(class mrpt::config::CConfigFileBase &, const std::string &) const --> void
setClearanceDecimatedPaths(...)
setClearanceDecimatedPaths(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, num: int) -> None
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::setClearanceDecimatedPaths(const unsigned int) --> void
setClearanceStepCount(...)
setClearanceStepCount(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, res: int) -> None
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::setClearanceStepCount(const unsigned int) --> void
setScorePriorty(...)
setScorePriorty(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, prior: float) -> None
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::setScorePriorty(double) --> void
supportSpeedAtTarget(...)
supportSpeedAtTarget(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> bool
 
Returns true if this PTG takes into account the desired velocity at
 target. 
 
 updateNavDynamicState() 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::supportSpeedAtTarget() const --> bool
supportVelCmdNOP(...)
supportVelCmdNOP(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> bool
 
Returns true if it is possible to stop sending velocity commands to the
 robot and, still, the
 robot controller will be able to keep following the last sent trajectory
 ("NOP" velocity commands).
 Default implementation returns "false". 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::supportVelCmdNOP() const --> bool
updateClearance(...)
updateClearance(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, ox: float, oy: float, cd: mrpt.pymrpt.mrpt.nav.ClearanceDiagram) -> None
 
Updates the clearance diagram given one (ox,oy) obstacle point, in
 coordinates relative
 to the PTG path origin.
 
 
 The clearance will be updated here.
 
 
 m_clearance_dist_resolution
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::updateClearance(const double, const double, class mrpt::nav::ClearanceDiagram &) const --> void
updateNavDynamicState(...)
updateNavDynamicState(*args, **kwargs)
Overloaded function.
 
1. updateNavDynamicState(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, newState: mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState) -> None
 
2. updateNavDynamicState(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, newState: mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState, force_update: bool) -> None
 
To be invoked by the navigator *before* each navigation step, to let the
 PTG to react to changing dynamic conditions. * 
 
 
 onNewNavDynamicState(), m_nav_dyn_state  
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::updateNavDynamicState(const struct mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState &, const bool) --> void

Static methods inherited from CParameterizedTrajectoryGenerator:
Alpha2index(...) from builtins.PyCapsule
Alpha2index(alpha: float, num_paths: int) -> int
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::Alpha2index(double, const unsigned int) --> uint16_t
COLLISION_BEHAVIOR(...) from builtins.PyCapsule
COLLISION_BEHAVIOR() -> mrpt.pymrpt.mrpt.nav.PTG_collision_behavior_t
 
Defines the behavior when there is an obstacle *inside* the robot shape
 right at the beginning of a PTG trajectory.
 Default value: COLL_BEH_BACK_AWAY
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::COLLISION_BEHAVIOR() --> enum mrpt::nav::PTG_collision_behavior_t &
CreatePTG(...) from builtins.PyCapsule
CreatePTG(ptgClassName: str, cfg: mrpt.pymrpt.mrpt.config.CConfigFileBase, sSection: str, sKeyPrefix: str) -> mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator
 
The class factory for creating a PTG from a list of parameters in a
section of a given config file (physical file or in memory).
  Possible parameters are:
          - Those explained in
CParameterizedTrajectoryGenerator::loadFromConfigFile()
          - Those explained in the specific PTG being created (see list of
derived classes)
 
 `ptgClassName` can be any PTG class name which has been registered as
any other
 mrpt::serialization::CSerializable class.
 
 
 std::logic_error On invalid or missing parameters.
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::CreatePTG(const std::string &, const class mrpt::config::CConfigFileBase &, const std::string &, const std::string &) --> class std::shared_ptr<class mrpt::nav::CParameterizedTrajectoryGenerator>
GetRuntimeClassIdStatic(...) from builtins.PyCapsule
GetRuntimeClassIdStatic() -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::GetRuntimeClassIdStatic() --> const struct mrpt::rtti::TRuntimeClassId &
Index2alpha(...) from builtins.PyCapsule
Index2alpha(k: int, num_paths: int) -> float
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::Index2alpha(uint16_t, const unsigned int) --> double
OUTPUT_DEBUG_PATH_PREFIX(...) from builtins.PyCapsule
OUTPUT_DEBUG_PATH_PREFIX() -> str
 
The path used as defaul output in, for example, debugDumpInFiles.
 (Default="./reactivenav.logs/") 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::OUTPUT_DEBUG_PATH_PREFIX() --> std::string &

Data and other attributes inherited from CParameterizedTrajectoryGenerator:
TNavDynamicState = <class 'mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator.TNavDynamicState'>
Dynamic state that may affect the PTG path parameterization. 
 
nav_reactive

Methods inherited from mrpt.pymrpt.mrpt.rtti.CObject:
clone(...)
clone(self: mrpt.pymrpt.mrpt.rtti.CObject) -> mrpt.pymrpt.mrpt.rtti.CObject
 
Returns a deep copy (clone) of the object, indepently of its class. 
 
C++: mrpt::rtti::CObject::clone() const --> class mrpt::rtti::CObject *
duplicateGetSmartPtr(...)
duplicateGetSmartPtr(self: mrpt.pymrpt.mrpt.rtti.CObject) -> mrpt.pymrpt.mrpt.rtti.CObject
 
Makes a deep copy of the object and returns a smart pointer to it 
 
C++: mrpt::rtti::CObject::duplicateGetSmartPtr() const --> class std::shared_ptr<class mrpt::rtti::CObject>

Methods inherited from mrpt.pymrpt.mrpt.config.CLoadableOptions:
dumpToConsole(...)
dumpToConsole(self: mrpt.pymrpt.mrpt.config.CLoadableOptions) -> None
 
Just like  but sending the text to the console
 (std::cout) 
 
C++: mrpt::config::CLoadableOptions::dumpToConsole() const --> void
loadFromConfigFileName(...)
loadFromConfigFileName(self: mrpt.pymrpt.mrpt.config.CLoadableOptions, config_file: str, section: str) -> None
 
Behaves like loadFromConfigFile, but you can pass directly a file name
 and a temporary CConfigFile object will be created automatically to load
 the file.
 
 
 loadFromConfigFile
 
C++: mrpt::config::CLoadableOptions::loadFromConfigFileName(const std::string &, const std::string &) --> void
saveToConfigFileName(...)
saveToConfigFileName(self: mrpt.pymrpt.mrpt.config.CLoadableOptions, config_file: str, section: str) -> None
 
Behaves like saveToConfigFile, but you can pass directly a file name and
 a temporary CConfigFile object will be created automatically to save the
 file.
 
 
 saveToConfigFile, loadFromConfigFileName
 
C++: mrpt::config::CLoadableOptions::saveToConfigFileName(const std::string &, const std::string &) const --> void

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class CPTG_DiffDrive_alpha(CPTG_DiffDrive_CollisionGridBased)
    The "a(symptotic)-alpha PTG", as named in PTG papers.
- **Compatible kinematics**: differential-driven / Ackermann steering
- **Compatible robot shape**: Arbitrary 2D polygon
- **PTG parameters**: Use the app `ptg-configurator`
 
This PT generator functions are:
 
 
 
 
 
 
So, the radius of curvature of each trajectory is NOT constant for each
"alpha" value in this PTG:
 
 ![C-PTG path examples](PTG2_paths.png)
 
 
[Before MRPT 1.5.0 this was named CPTG2]
 
 
Method resolution order:
CPTG_DiffDrive_alpha
CPTG_DiffDrive_CollisionGridBased
CPTG_RobotShape_Polygonal
CParameterizedTrajectoryGenerator
mrpt.pymrpt.mrpt.serialization.CSerializable
mrpt.pymrpt.mrpt.rtti.CObject
mrpt.pymrpt.mrpt.config.CLoadableOptions
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
GetRuntimeClass(...)
GetRuntimeClass(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_alpha) -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
 
C++: mrpt::nav::CPTG_DiffDrive_alpha::GetRuntimeClass() const --> const struct mrpt::rtti::TRuntimeClassId *
__init__(...)
__init__(*args, **kwargs)
Overloaded function.
 
1. __init__(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_alpha) -> None
 
2. __init__(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_alpha, cfg: mrpt.pymrpt.mrpt.config.CConfigFileBase, sSection: str) -> None
assign(...)
assign(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_alpha, : mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_alpha) -> mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_alpha
 
C++: mrpt::nav::CPTG_DiffDrive_alpha::operator=(const class mrpt::nav::CPTG_DiffDrive_alpha &) --> class mrpt::nav::CPTG_DiffDrive_alpha &
clone(...)
clone(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_alpha) -> mrpt.pymrpt.mrpt.rtti.CObject
 
C++: mrpt::nav::CPTG_DiffDrive_alpha::clone() const --> class mrpt::rtti::CObject *
getDescription(...)
getDescription(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_alpha) -> str
 
C++: mrpt::nav::CPTG_DiffDrive_alpha::getDescription() const --> std::string
loadDefaultParams(...)
loadDefaultParams(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_alpha) -> None
 
C++: mrpt::nav::CPTG_DiffDrive_alpha::loadDefaultParams() --> void
loadFromConfigFile(...)
loadFromConfigFile(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_alpha, cfg: mrpt.pymrpt.mrpt.config.CConfigFileBase, sSection: str) -> None
 
C++: mrpt::nav::CPTG_DiffDrive_alpha::loadFromConfigFile(const class mrpt::config::CConfigFileBase &, const std::string &) --> void
ptgDiffDriveSteeringFunction(...)
ptgDiffDriveSteeringFunction(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_alpha, alpha: float, t: float, x: float, y: float, phi: float, v: float, w: float) -> None
 
C++: mrpt::nav::CPTG_DiffDrive_alpha::ptgDiffDriveSteeringFunction(float, float, float, float, float, float &, float &) const --> void
saveToConfigFile(...)
saveToConfigFile(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_alpha, cfg: mrpt.pymrpt.mrpt.config.CConfigFileBase, sSection: str) -> None
 
C++: mrpt::nav::CPTG_DiffDrive_alpha::saveToConfigFile(class mrpt::config::CConfigFileBase &, const std::string &) const --> void

Static methods defined here:
CreateObject(...) from builtins.PyCapsule
CreateObject() -> mrpt.pymrpt.mrpt.rtti.CObject
 
C++: mrpt::nav::CPTG_DiffDrive_alpha::CreateObject() --> class std::shared_ptr<class mrpt::rtti::CObject>
GetRuntimeClassIdStatic(...) from builtins.PyCapsule
GetRuntimeClassIdStatic() -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
 
C++: mrpt::nav::CPTG_DiffDrive_alpha::GetRuntimeClassIdStatic() --> const struct mrpt::rtti::TRuntimeClassId &

Methods inherited from CPTG_DiffDrive_CollisionGridBased:
directionToMotionCommand(...)
directionToMotionCommand(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, k: int) -> mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd
 
In this class, `out_action_cmd` contains: [0]: linear velocity (m/s),
 [1]: angular velocity (rad/s).
 See more docs in
 CParameterizedTrajectoryGenerator::directionToMotionCommand() 
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::directionToMotionCommand(uint16_t) const --> class std::shared_ptr<class mrpt::kinematics::CVehicleVelCmd>
getMaxAngVel(...)
getMaxAngVel(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased) -> float
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getMaxAngVel() const --> double
getMaxLinVel(...)
getMaxLinVel(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased) -> float
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getMaxLinVel() const --> double
getMax_V(...)
getMax_V(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased) -> float
 
@} 
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getMax_V() const --> double
getMax_W(...)
getMax_W(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased) -> float
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getMax_W() const --> double
getPathDist(...)
getPathDist(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, k: int, step: int) -> float
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getPathDist(uint16_t, uint32_t) const --> double
getPathPose(...)
getPathPose(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, k: int, step: int) -> mrpt.pymrpt.mrpt.math.TPose2D
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getPathPose(uint16_t, uint32_t) const --> struct mrpt::math::TPose2D
getPathStepCount(...)
getPathStepCount(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, k: int) -> int
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getPathStepCount(uint16_t) const --> size_t
getPathStepDuration(...)
getPathStepDuration(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased) -> float
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getPathStepDuration() const --> double
getPathStepForDist(...)
getPathStepForDist(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, k: int, dist: float, out_step: int) -> bool
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getPathStepForDist(uint16_t, double, unsigned int &) const --> bool
getSupportedKinematicVelocityCommand(...)
getSupportedKinematicVelocityCommand(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased) -> mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::getSupportedKinematicVelocityCommand() const --> class std::shared_ptr<class mrpt::kinematics::CVehicleVelCmd>
inverseMap_WS2TP(...)
inverseMap_WS2TP(*args, **kwargs)
Overloaded function.
 
1. inverseMap_WS2TP(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, x: float, y: float, out_k: int, out_d: float) -> bool
 
2. inverseMap_WS2TP(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, x: float, y: float, out_k: int, out_d: float, tolerance_dist: float) -> bool
 
The default implementation in this class relies on a look-up-table.
 Derived classes may redefine this to closed-form expressions, when they
 exist.
 See full docs in base class
 CParameterizedTrajectoryGenerator::inverseMap_WS2TP() 
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::inverseMap_WS2TP(double, double, int &, double &, double) const --> bool
onNewNavDynamicState(...)
onNewNavDynamicState(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased) -> None
 
This family of PTGs ignores the dynamic states 
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::onNewNavDynamicState() --> void
setRefDistance(...)
setRefDistance(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, refDist: float) -> None
 
Launches an exception in this class: it is not allowed in numerical
 integration-based PTGs to change the reference distance
 after initialization. 
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::setRefDistance(const double) --> void
updateTPObstacleSingle(...)
updateTPObstacleSingle(self: mrpt.pymrpt.mrpt.nav.CPTG_DiffDrive_CollisionGridBased, ox: float, oy: float, k: int, tp_obstacle_k: float) -> None
 
C++: mrpt::nav::CPTG_DiffDrive_CollisionGridBased::updateTPObstacleSingle(double, double, uint16_t, double &) const --> void

Methods inherited from CPTG_RobotShape_Polygonal:
add_robotShape_to_setOfLines(...)
add_robotShape_to_setOfLines(*args, **kwargs)
Overloaded function.
 
1. add_robotShape_to_setOfLines(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal, gl_shape: mrpt.pymrpt.mrpt.opengl.CSetOfLines) -> None
 
2. add_robotShape_to_setOfLines(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal, gl_shape: mrpt.pymrpt.mrpt.opengl.CSetOfLines, origin: mrpt.pymrpt.mrpt.poses.CPose2D) -> None
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::add_robotShape_to_setOfLines(class mrpt::opengl::CSetOfLines &, const class mrpt::poses::CPose2D &) const --> void
evalClearanceToRobotShape(...)
evalClearanceToRobotShape(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal, ox: float, oy: float) -> float
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::evalClearanceToRobotShape(const double, const double) const --> double
getMaxRobotRadius(...)
getMaxRobotRadius(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal) -> float
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::getMaxRobotRadius() const --> double
getRobotShape(...)
getRobotShape(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal) -> mrpt.pymrpt.mrpt.math.CPolygon
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::getRobotShape() const --> const class mrpt::math::CPolygon &
isPointInsideRobotShape(...)
isPointInsideRobotShape(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal, x: float, y: float) -> bool
 
@} 
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::isPointInsideRobotShape(const double, const double) const --> bool
setRobotShape(...)
setRobotShape(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal, robotShape: mrpt.pymrpt.mrpt.math.CPolygon) -> None
 
@{ *
 
 Robot shape must be set before initialization, either from ctor params
 or via this method. 
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::setRobotShape(const class mrpt::math::CPolygon &) --> void

Static methods inherited from CPTG_RobotShape_Polygonal:
static_add_robotShape_to_setOfLines(...) from builtins.PyCapsule
static_add_robotShape_to_setOfLines(gl_shape: mrpt.pymrpt.mrpt.opengl.CSetOfLines, origin: mrpt.pymrpt.mrpt.poses.CPose2D, robotShape: mrpt.pymrpt.mrpt.math.CPolygon) -> None
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::static_add_robotShape_to_setOfLines(class mrpt::opengl::CSetOfLines &, const class mrpt::poses::CPose2D &, const class mrpt::math::CPolygon &) --> void

Methods inherited from CParameterizedTrajectoryGenerator:
PTG_IsIntoDomain(...)
PTG_IsIntoDomain(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, x: float, y: float) -> bool
 
Returns the same than inverseMap_WS2TP() but without any additional
 cost. The default implementation
 just calls inverseMap_WS2TP() and discards (k,d). 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::PTG_IsIntoDomain(double, double) const --> bool
alpha2index(...)
alpha2index(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, alpha: float) -> int
 
Discrete index value for the corresponding alpha value 
 index2alpha
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::alpha2index(double) const --> uint16_t
debugDumpInFiles(...)
debugDumpInFiles(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, ptg_name: str) -> bool
 
Dump PTG trajectories in four text files:
 `./reactivenav.logs/PTGs/PTG%i_{x,y,phi,d}.txt`
 Text files are loadable from MATLAB/Octave, and can be visualized with
 the script `[MRPT_DIR]/scripts/viewPTG.m`
 
 
 The directory "./reactivenav.logs/PTGs" will be created if doesn't
 exist.
 
 
 false on any error writing to disk.
 
 
 OUTPUT_DEBUG_PATH_PREFIX
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::debugDumpInFiles(const std::string &) const --> bool
deinitialize(...)
deinitialize(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> None
 
This must be called to de-initialize the PTG if some parameter is to be
 changed. After changing it, call initialize again 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::deinitialize() --> void
evalClearanceSingleObstacle(...)
evalClearanceSingleObstacle(*args, **kwargs)
Overloaded function.
 
1. evalClearanceSingleObstacle(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, ox: float, oy: float, k: int, inout_realdist2clearance: Dict[float, float]) -> None
 
2. evalClearanceSingleObstacle(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, ox: float, oy: float, k: int, inout_realdist2clearance: Dict[float, float], treat_as_obstacle: bool) -> None
 
Evals the robot clearance for each robot pose along path `k`, for the
 real distances in
 the key of the map<>, then keep in the map value the minimum of its
 current stored clearance,
 or the computed clearance. In case of collision, clearance is zero.
 
 
 true: normal use for obstacles; false: compute
 shortest distances to a target point (no collision)
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::evalClearanceSingleObstacle(const double, const double, const unsigned short, class std::map<double, double> &, bool) const --> void
evalPathRelativePriority(...)
evalPathRelativePriority(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, target_distance: float) -> float
 
Query the PTG for the relative priority factor (0,1) of this PTG, in
 comparison to others, if the k-th path is to be selected. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::evalPathRelativePriority(uint16_t, double) const --> double
getActualUnloopedPathLength(...)
getActualUnloopedPathLength(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int) -> float
 
Returns the actual distance (in meters) of the path, discounting
 possible circular loops of the path (e.g. if it comes back to the
 origin).
 Default: refDistance 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getActualUnloopedPathLength(uint16_t) const --> double
getAlphaValuesCount(...)
getAlphaValuesCount(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> int
 
Get the number of different, discrete paths in this family 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getAlphaValuesCount() const --> uint16_t
getClearanceDecimatedPaths(...)
getClearanceDecimatedPaths(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> int
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getClearanceDecimatedPaths() const --> unsigned int
getClearanceStepCount(...)
getClearanceStepCount(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> int
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getClearanceStepCount() const --> unsigned int
getCurrentNavDynamicState(...)
getCurrentNavDynamicState(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getCurrentNavDynamicState() const --> const struct mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState &
getPathCount(...)
getPathCount(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> int
 
Get the number of different, discrete paths in this family 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getPathCount() const --> uint16_t
getPathTwist(...)
getPathTwist(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, step: int) -> mrpt::math::TTwist2D
 
Gets velocity ("twist") for path `k` ([0,N-1]=>[-pi,pi] in alpha),
 at vehicle discrete step `step`. The default implementation in this base
 class uses numerical differentiation to estimate the twist (vx,vy,omega).
 Velocity is given in "global" coordinates, relative to the starting pose
 of the robot at t=0 for this PTG path.
 
 
 getPathStepCount(), getAlphaValuesCount(), getPathPose() 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getPathTwist(uint16_t, uint32_t) const --> struct mrpt::math::TTwist2D
getRefDistance(...)
getRefDistance(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> float
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getRefDistance() const --> double
getScorePriority(...)
getScorePriority(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> float
 
When used in path planning, a multiplying factor (default=1.0) for the
 scores for this PTG. Assign values <1 to PTGs with low priority. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getScorePriority() const --> double
index2alpha(...)
index2alpha(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int) -> float
 
Alpha value for the discrete corresponding value 
 alpha2index 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::index2alpha(uint16_t) const --> double
initClearanceDiagram(...)
initClearanceDiagram(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, cd: mrpt.pymrpt.mrpt.nav.ClearanceDiagram) -> None
 
Must be called to resize a CD to its correct size, before calling
 updateClearance() 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::initClearanceDiagram(class mrpt::nav::ClearanceDiagram &) const --> void
initTPObstacleSingle(...)
initTPObstacleSingle(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, TP_Obstacle_k: float) -> None
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::initTPObstacleSingle(uint16_t, double &) const --> void
initialize(...)
initialize(*args, **kwargs)
Overloaded function.
 
1. initialize(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> None
 
2. initialize(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, cacheFilename: str) -> None
 
3. initialize(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, cacheFilename: str, verbose: bool) -> None
 
Must be called after setting all PTG parameters and before requesting
 converting obstacles to TP-Space, inverseMap_WS2TP(), etc. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::initialize(const std::string &, const bool) --> void
isBijectiveAt(...)
isBijectiveAt(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, step: int) -> bool
 
Returns true if a given TP-Space point maps to a unique point in
 Workspace, and viceversa. Default implementation returns `true`. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::isBijectiveAt(uint16_t, uint32_t) const --> bool
isInitialized(...)
isInitialized(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> bool
 
Returns true if `initialize()` has been called and there was no errors,
 so the PTG is ready to be queried for paths, obstacles, etc. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::isInitialized() const --> bool
maxTimeInVelCmdNOP(...)
maxTimeInVelCmdNOP(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, path_k: int) -> float
 
Only for PTGs supporting supportVelCmdNOP(): this is the maximum time
 (in seconds) for which the path
 can be followed without re-issuing a new velcmd. Note that this is only
 an absolute maximum duration,
 navigation implementations will check for many other conditions. Default
 method in the base virtual class returns 0.
 
 
 Queried path `k` index  [0,N-1] 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::maxTimeInVelCmdNOP(int) const --> double
renderPathAsSimpleLine(...)
renderPathAsSimpleLine(*args, **kwargs)
Overloaded function.
 
1. renderPathAsSimpleLine(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, gl_obj: mrpt.pymrpt.mrpt.opengl.CSetOfLines) -> None
 
2. renderPathAsSimpleLine(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, gl_obj: mrpt.pymrpt.mrpt.opengl.CSetOfLines, decimate_distance: float) -> None
 
3. renderPathAsSimpleLine(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, gl_obj: mrpt.pymrpt.mrpt.opengl.CSetOfLines, decimate_distance: float, max_path_distance: float) -> None
 
Returns the representation of one trajectory of this PTG as a 3D OpenGL
 object (a simple curved line).
 
 
 The 0-based index of the selected trajectory (discrete
 "alpha" parameter).
 
 
 Output object.
 
 
 Minimum distance between path points (in
 meters).
 
 
 If >=0, cut the path at this distance (in
 meters).
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::renderPathAsSimpleLine(const unsigned short, class mrpt::opengl::CSetOfLines &, const double, const double) const --> void
setClearanceDecimatedPaths(...)
setClearanceDecimatedPaths(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, num: int) -> None
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::setClearanceDecimatedPaths(const unsigned int) --> void
setClearanceStepCount(...)
setClearanceStepCount(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, res: int) -> None
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::setClearanceStepCount(const unsigned int) --> void
setScorePriorty(...)
setScorePriorty(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, prior: float) -> None
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::setScorePriorty(double) --> void
supportSpeedAtTarget(...)
supportSpeedAtTarget(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> bool
 
Returns true if this PTG takes into account the desired velocity at
 target. 
 
 updateNavDynamicState() 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::supportSpeedAtTarget() const --> bool
supportVelCmdNOP(...)
supportVelCmdNOP(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> bool
 
Returns true if it is possible to stop sending velocity commands to the
 robot and, still, the
 robot controller will be able to keep following the last sent trajectory
 ("NOP" velocity commands).
 Default implementation returns "false". 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::supportVelCmdNOP() const --> bool
updateClearance(...)
updateClearance(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, ox: float, oy: float, cd: mrpt.pymrpt.mrpt.nav.ClearanceDiagram) -> None
 
Updates the clearance diagram given one (ox,oy) obstacle point, in
 coordinates relative
 to the PTG path origin.
 
 
 The clearance will be updated here.
 
 
 m_clearance_dist_resolution
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::updateClearance(const double, const double, class mrpt::nav::ClearanceDiagram &) const --> void
updateNavDynamicState(...)
updateNavDynamicState(*args, **kwargs)
Overloaded function.
 
1. updateNavDynamicState(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, newState: mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState) -> None
 
2. updateNavDynamicState(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, newState: mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState, force_update: bool) -> None
 
To be invoked by the navigator *before* each navigation step, to let the
 PTG to react to changing dynamic conditions. * 
 
 
 onNewNavDynamicState(), m_nav_dyn_state  
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::updateNavDynamicState(const struct mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState &, const bool) --> void

Static methods inherited from CParameterizedTrajectoryGenerator:
Alpha2index(...) from builtins.PyCapsule
Alpha2index(alpha: float, num_paths: int) -> int
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::Alpha2index(double, const unsigned int) --> uint16_t
COLLISION_BEHAVIOR(...) from builtins.PyCapsule
COLLISION_BEHAVIOR() -> mrpt.pymrpt.mrpt.nav.PTG_collision_behavior_t
 
Defines the behavior when there is an obstacle *inside* the robot shape
 right at the beginning of a PTG trajectory.
 Default value: COLL_BEH_BACK_AWAY
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::COLLISION_BEHAVIOR() --> enum mrpt::nav::PTG_collision_behavior_t &
CreatePTG(...) from builtins.PyCapsule
CreatePTG(ptgClassName: str, cfg: mrpt.pymrpt.mrpt.config.CConfigFileBase, sSection: str, sKeyPrefix: str) -> mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator
 
The class factory for creating a PTG from a list of parameters in a
section of a given config file (physical file or in memory).
  Possible parameters are:
          - Those explained in
CParameterizedTrajectoryGenerator::loadFromConfigFile()
          - Those explained in the specific PTG being created (see list of
derived classes)
 
 `ptgClassName` can be any PTG class name which has been registered as
any other
 mrpt::serialization::CSerializable class.
 
 
 std::logic_error On invalid or missing parameters.
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::CreatePTG(const std::string &, const class mrpt::config::CConfigFileBase &, const std::string &, const std::string &) --> class std::shared_ptr<class mrpt::nav::CParameterizedTrajectoryGenerator>
Index2alpha(...) from builtins.PyCapsule
Index2alpha(k: int, num_paths: int) -> float
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::Index2alpha(uint16_t, const unsigned int) --> double
OUTPUT_DEBUG_PATH_PREFIX(...) from builtins.PyCapsule
OUTPUT_DEBUG_PATH_PREFIX() -> str
 
The path used as defaul output in, for example, debugDumpInFiles.
 (Default="./reactivenav.logs/") 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::OUTPUT_DEBUG_PATH_PREFIX() --> std::string &

Data and other attributes inherited from CParameterizedTrajectoryGenerator:
TNavDynamicState = <class 'mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator.TNavDynamicState'>
Dynamic state that may affect the PTG path parameterization. 
 
nav_reactive

Methods inherited from mrpt.pymrpt.mrpt.rtti.CObject:
duplicateGetSmartPtr(...)
duplicateGetSmartPtr(self: mrpt.pymrpt.mrpt.rtti.CObject) -> mrpt.pymrpt.mrpt.rtti.CObject
 
Makes a deep copy of the object and returns a smart pointer to it 
 
C++: mrpt::rtti::CObject::duplicateGetSmartPtr() const --> class std::shared_ptr<class mrpt::rtti::CObject>

Methods inherited from mrpt.pymrpt.mrpt.config.CLoadableOptions:
dumpToConsole(...)
dumpToConsole(self: mrpt.pymrpt.mrpt.config.CLoadableOptions) -> None
 
Just like  but sending the text to the console
 (std::cout) 
 
C++: mrpt::config::CLoadableOptions::dumpToConsole() const --> void
loadFromConfigFileName(...)
loadFromConfigFileName(self: mrpt.pymrpt.mrpt.config.CLoadableOptions, config_file: str, section: str) -> None
 
Behaves like loadFromConfigFile, but you can pass directly a file name
 and a temporary CConfigFile object will be created automatically to load
 the file.
 
 
 loadFromConfigFile
 
C++: mrpt::config::CLoadableOptions::loadFromConfigFileName(const std::string &, const std::string &) --> void
saveToConfigFileName(...)
saveToConfigFileName(self: mrpt.pymrpt.mrpt.config.CLoadableOptions, config_file: str, section: str) -> None
 
Behaves like saveToConfigFile, but you can pass directly a file name and
 a temporary CConfigFile object will be created automatically to save the
 file.
 
 
 saveToConfigFile, loadFromConfigFileName
 
C++: mrpt::config::CLoadableOptions::saveToConfigFileName(const std::string &, const std::string &) const --> void

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class CPTG_Holo_Blend(CPTG_RobotShape_Circular)
    A PTG for circular-shaped robots with holonomic kinematics.
- **Compatible kinematics**: Holonomic robot capable of velocity commands
with a linear interpolation ("ramp "or "blending") time. See
mrpt::kinematics::CVehicleSimul_Holo
- **Compatible robot shape**: Circular robots
- **PTG parameters**: Use the app `ptg-configurator`
 
 
Method resolution order:
CPTG_Holo_Blend
CPTG_RobotShape_Circular
CParameterizedTrajectoryGenerator
mrpt.pymrpt.mrpt.serialization.CSerializable
mrpt.pymrpt.mrpt.rtti.CObject
mrpt.pymrpt.mrpt.config.CLoadableOptions
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
GetRuntimeClass(...)
GetRuntimeClass(self: mrpt.pymrpt.mrpt.nav.CPTG_Holo_Blend) -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
 
C++: mrpt::nav::CPTG_Holo_Blend::GetRuntimeClass() const --> const struct mrpt::rtti::TRuntimeClassId *
PTG_IsIntoDomain(...)
PTG_IsIntoDomain(self: mrpt.pymrpt.mrpt.nav.CPTG_Holo_Blend, x: float, y: float) -> bool
 
C++: mrpt::nav::CPTG_Holo_Blend::PTG_IsIntoDomain(double, double) const --> bool
__init__(...)
__init__(*args, **kwargs)
Overloaded function.
 
1. __init__(self: mrpt.pymrpt.mrpt.nav.CPTG_Holo_Blend) -> None
 
2. __init__(self: mrpt.pymrpt.mrpt.nav.CPTG_Holo_Blend, cfg: mrpt.pymrpt.mrpt.config.CConfigFileBase, sSection: str) -> None
 
3. __init__(self: mrpt.pymrpt.mrpt.nav.CPTG_Holo_Blend, arg0: mrpt.pymrpt.mrpt.nav.CPTG_Holo_Blend) -> None
 
4. __init__(self: mrpt.pymrpt.mrpt.nav.CPTG_Holo_Blend, arg0: mrpt.pymrpt.mrpt.nav.CPTG_Holo_Blend) -> None
assign(...)
assign(self: mrpt.pymrpt.mrpt.nav.CPTG_Holo_Blend, : mrpt.pymrpt.mrpt.nav.CPTG_Holo_Blend) -> mrpt.pymrpt.mrpt.nav.CPTG_Holo_Blend
 
C++: mrpt::nav::CPTG_Holo_Blend::operator=(const class mrpt::nav::CPTG_Holo_Blend &) --> class mrpt::nav::CPTG_Holo_Blend &
clone(...)
clone(self: mrpt.pymrpt.mrpt.nav.CPTG_Holo_Blend) -> mrpt.pymrpt.mrpt.rtti.CObject
 
C++: mrpt::nav::CPTG_Holo_Blend::clone() const --> class mrpt::rtti::CObject *
directionToMotionCommand(...)
directionToMotionCommand(self: mrpt.pymrpt.mrpt.nav.CPTG_Holo_Blend, k: int) -> mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd
 
Converts a discretized "alpha" value into a feasible motion command or
 action. See derived classes for the meaning of these actions 
 
C++: mrpt::nav::CPTG_Holo_Blend::directionToMotionCommand(uint16_t) const --> class std::shared_ptr<class mrpt::kinematics::CVehicleVelCmd>
getDescription(...)
getDescription(self: mrpt.pymrpt.mrpt.nav.CPTG_Holo_Blend) -> str
 
C++: mrpt::nav::CPTG_Holo_Blend::getDescription() const --> std::string
getMaxAngVel(...)
getMaxAngVel(self: mrpt.pymrpt.mrpt.nav.CPTG_Holo_Blend) -> float
 
C++: mrpt::nav::CPTG_Holo_Blend::getMaxAngVel() const --> double
getMaxLinVel(...)
getMaxLinVel(self: mrpt.pymrpt.mrpt.nav.CPTG_Holo_Blend) -> float
 
C++: mrpt::nav::CPTG_Holo_Blend::getMaxLinVel() const --> double
getPathDist(...)
getPathDist(self: mrpt.pymrpt.mrpt.nav.CPTG_Holo_Blend, k: int, step: int) -> float
 
C++: mrpt::nav::CPTG_Holo_Blend::getPathDist(uint16_t, uint32_t) const --> double
getPathPose(...)
getPathPose(self: mrpt.pymrpt.mrpt.nav.CPTG_Holo_Blend, k: int, step: int) -> mrpt.pymrpt.mrpt.math.TPose2D
 
C++: mrpt::nav::CPTG_Holo_Blend::getPathPose(uint16_t, uint32_t) const --> struct mrpt::math::TPose2D
getPathStepCount(...)
getPathStepCount(self: mrpt.pymrpt.mrpt.nav.CPTG_Holo_Blend, k: int) -> int
 
C++: mrpt::nav::CPTG_Holo_Blend::getPathStepCount(uint16_t) const --> size_t
getPathStepDuration(...)
getPathStepDuration(self: mrpt.pymrpt.mrpt.nav.CPTG_Holo_Blend) -> float
 
C++: mrpt::nav::CPTG_Holo_Blend::getPathStepDuration() const --> double
getPathStepForDist(...)
getPathStepForDist(self: mrpt.pymrpt.mrpt.nav.CPTG_Holo_Blend, k: int, dist: float, out_step: int) -> bool
 
C++: mrpt::nav::CPTG_Holo_Blend::getPathStepForDist(uint16_t, double, unsigned int &) const --> bool
getSupportedKinematicVelocityCommand(...)
getSupportedKinematicVelocityCommand(self: mrpt.pymrpt.mrpt.nav.CPTG_Holo_Blend) -> mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd
 
C++: mrpt::nav::CPTG_Holo_Blend::getSupportedKinematicVelocityCommand() const --> class std::shared_ptr<class mrpt::kinematics::CVehicleVelCmd>
inverseMap_WS2TP(...)
inverseMap_WS2TP(*args, **kwargs)
Overloaded function.
 
1. inverseMap_WS2TP(self: mrpt.pymrpt.mrpt.nav.CPTG_Holo_Blend, x: float, y: float, out_k: int, out_d: float) -> bool
 
2. inverseMap_WS2TP(self: mrpt.pymrpt.mrpt.nav.CPTG_Holo_Blend, x: float, y: float, out_k: int, out_d: float, tolerance_dist: float) -> bool
 
C++: mrpt::nav::CPTG_Holo_Blend::inverseMap_WS2TP(double, double, int &, double &, double) const --> bool
loadDefaultParams(...)
loadDefaultParams(self: mrpt.pymrpt.mrpt.nav.CPTG_Holo_Blend) -> None
 
C++: mrpt::nav::CPTG_Holo_Blend::loadDefaultParams() --> void
loadFromConfigFile(...)
loadFromConfigFile(self: mrpt.pymrpt.mrpt.nav.CPTG_Holo_Blend, cfg: mrpt.pymrpt.mrpt.config.CConfigFileBase, sSection: str) -> None
 
C++: mrpt::nav::CPTG_Holo_Blend::loadFromConfigFile(const class mrpt::config::CConfigFileBase &, const std::string &) --> void
maxTimeInVelCmdNOP(...)
maxTimeInVelCmdNOP(self: mrpt.pymrpt.mrpt.nav.CPTG_Holo_Blend, path_k: int) -> float
 
C++: mrpt::nav::CPTG_Holo_Blend::maxTimeInVelCmdNOP(int) const --> double
onNewNavDynamicState(...)
onNewNavDynamicState(self: mrpt.pymrpt.mrpt.nav.CPTG_Holo_Blend) -> None
 
C++: mrpt::nav::CPTG_Holo_Blend::onNewNavDynamicState() --> void
saveToConfigFile(...)
saveToConfigFile(self: mrpt.pymrpt.mrpt.nav.CPTG_Holo_Blend, cfg: mrpt.pymrpt.mrpt.config.CConfigFileBase, sSection: str) -> None
 
C++: mrpt::nav::CPTG_Holo_Blend::saveToConfigFile(class mrpt::config::CConfigFileBase &, const std::string &) const --> void
supportVelCmdNOP(...)
supportVelCmdNOP(self: mrpt.pymrpt.mrpt.nav.CPTG_Holo_Blend) -> bool
 
C++: mrpt::nav::CPTG_Holo_Blend::supportVelCmdNOP() const --> bool
updateTPObstacleSingle(...)
updateTPObstacleSingle(self: mrpt.pymrpt.mrpt.nav.CPTG_Holo_Blend, ox: float, oy: float, k: int, tp_obstacle_k: float) -> None
 
C++: mrpt::nav::CPTG_Holo_Blend::updateTPObstacleSingle(double, double, uint16_t, double &) const --> void

Static methods defined here:
CreateObject(...) from builtins.PyCapsule
CreateObject() -> mrpt.pymrpt.mrpt.rtti.CObject
 
C++: mrpt::nav::CPTG_Holo_Blend::CreateObject() --> class std::shared_ptr<class mrpt::rtti::CObject>
GetRuntimeClassIdStatic(...) from builtins.PyCapsule
GetRuntimeClassIdStatic() -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
 
C++: mrpt::nav::CPTG_Holo_Blend::GetRuntimeClassIdStatic() --> const struct mrpt::rtti::TRuntimeClassId &
calc_trans_distance_t_below_Tramp(...) from builtins.PyCapsule
calc_trans_distance_t_below_Tramp(k2: float, k4: float, vxi: float, vyi: float, t: float) -> float
 
Axiliary function for computing the line-integral distance along the
 trajectory, handling special cases of 1/0: 
 
C++: mrpt::nav::CPTG_Holo_Blend::calc_trans_distance_t_below_Tramp(double, double, double, double, double) --> double
calc_trans_distance_t_below_Tramp_abc(...) from builtins.PyCapsule
calc_trans_distance_t_below_Tramp_abc(t: float, a: float, b: float, c: float) -> float
 
Axiliary function for calc_trans_distance_t_below_Tramp() and others 
 
C++: mrpt::nav::CPTG_Holo_Blend::calc_trans_distance_t_below_Tramp_abc(double, double, double, double) --> double

Methods inherited from CPTG_RobotShape_Circular:
add_robotShape_to_setOfLines(...)
add_robotShape_to_setOfLines(*args, **kwargs)
Overloaded function.
 
1. add_robotShape_to_setOfLines(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Circular, gl_shape: mrpt.pymrpt.mrpt.opengl.CSetOfLines) -> None
 
2. add_robotShape_to_setOfLines(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Circular, gl_shape: mrpt.pymrpt.mrpt.opengl.CSetOfLines, origin: mrpt.pymrpt.mrpt.poses.CPose2D) -> None
 
@} 
 
C++: mrpt::nav::CPTG_RobotShape_Circular::add_robotShape_to_setOfLines(class mrpt::opengl::CSetOfLines &, const class mrpt::poses::CPose2D &) const --> void
evalClearanceToRobotShape(...)
evalClearanceToRobotShape(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Circular, ox: float, oy: float) -> float
 
C++: mrpt::nav::CPTG_RobotShape_Circular::evalClearanceToRobotShape(const double, const double) const --> double
getMaxRobotRadius(...)
getMaxRobotRadius(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Circular) -> float
 
C++: mrpt::nav::CPTG_RobotShape_Circular::getMaxRobotRadius() const --> double
getRobotShapeRadius(...)
getRobotShapeRadius(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Circular) -> float
 
C++: mrpt::nav::CPTG_RobotShape_Circular::getRobotShapeRadius() const --> double
isPointInsideRobotShape(...)
isPointInsideRobotShape(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Circular, x: float, y: float) -> bool
 
C++: mrpt::nav::CPTG_RobotShape_Circular::isPointInsideRobotShape(const double, const double) const --> bool
setRobotShapeRadius(...)
setRobotShapeRadius(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Circular, robot_radius: float) -> None
 
@{ *
 
 Robot shape must be set before initialization, either from ctor params
 or via this method. 
 
C++: mrpt::nav::CPTG_RobotShape_Circular::setRobotShapeRadius(const double) --> void

Static methods inherited from CPTG_RobotShape_Circular:
static_add_robotShape_to_setOfLines(...) from builtins.PyCapsule
static_add_robotShape_to_setOfLines(gl_shape: mrpt.pymrpt.mrpt.opengl.CSetOfLines, origin: mrpt.pymrpt.mrpt.poses.CPose2D, robotRadius: float) -> None
 
C++: mrpt::nav::CPTG_RobotShape_Circular::static_add_robotShape_to_setOfLines(class mrpt::opengl::CSetOfLines &, const class mrpt::poses::CPose2D &, const double) --> void

Methods inherited from CParameterizedTrajectoryGenerator:
alpha2index(...)
alpha2index(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, alpha: float) -> int
 
Discrete index value for the corresponding alpha value 
 index2alpha
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::alpha2index(double) const --> uint16_t
debugDumpInFiles(...)
debugDumpInFiles(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, ptg_name: str) -> bool
 
Dump PTG trajectories in four text files:
 `./reactivenav.logs/PTGs/PTG%i_{x,y,phi,d}.txt`
 Text files are loadable from MATLAB/Octave, and can be visualized with
 the script `[MRPT_DIR]/scripts/viewPTG.m`
 
 
 The directory "./reactivenav.logs/PTGs" will be created if doesn't
 exist.
 
 
 false on any error writing to disk.
 
 
 OUTPUT_DEBUG_PATH_PREFIX
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::debugDumpInFiles(const std::string &) const --> bool
deinitialize(...)
deinitialize(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> None
 
This must be called to de-initialize the PTG if some parameter is to be
 changed. After changing it, call initialize again 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::deinitialize() --> void
evalClearanceSingleObstacle(...)
evalClearanceSingleObstacle(*args, **kwargs)
Overloaded function.
 
1. evalClearanceSingleObstacle(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, ox: float, oy: float, k: int, inout_realdist2clearance: Dict[float, float]) -> None
 
2. evalClearanceSingleObstacle(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, ox: float, oy: float, k: int, inout_realdist2clearance: Dict[float, float], treat_as_obstacle: bool) -> None
 
Evals the robot clearance for each robot pose along path `k`, for the
 real distances in
 the key of the map<>, then keep in the map value the minimum of its
 current stored clearance,
 or the computed clearance. In case of collision, clearance is zero.
 
 
 true: normal use for obstacles; false: compute
 shortest distances to a target point (no collision)
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::evalClearanceSingleObstacle(const double, const double, const unsigned short, class std::map<double, double> &, bool) const --> void
evalPathRelativePriority(...)
evalPathRelativePriority(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, target_distance: float) -> float
 
Query the PTG for the relative priority factor (0,1) of this PTG, in
 comparison to others, if the k-th path is to be selected. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::evalPathRelativePriority(uint16_t, double) const --> double
getActualUnloopedPathLength(...)
getActualUnloopedPathLength(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int) -> float
 
Returns the actual distance (in meters) of the path, discounting
 possible circular loops of the path (e.g. if it comes back to the
 origin).
 Default: refDistance 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getActualUnloopedPathLength(uint16_t) const --> double
getAlphaValuesCount(...)
getAlphaValuesCount(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> int
 
Get the number of different, discrete paths in this family 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getAlphaValuesCount() const --> uint16_t
getClearanceDecimatedPaths(...)
getClearanceDecimatedPaths(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> int
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getClearanceDecimatedPaths() const --> unsigned int
getClearanceStepCount(...)
getClearanceStepCount(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> int
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getClearanceStepCount() const --> unsigned int
getCurrentNavDynamicState(...)
getCurrentNavDynamicState(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getCurrentNavDynamicState() const --> const struct mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState &
getPathCount(...)
getPathCount(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> int
 
Get the number of different, discrete paths in this family 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getPathCount() const --> uint16_t
getPathTwist(...)
getPathTwist(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, step: int) -> mrpt::math::TTwist2D
 
Gets velocity ("twist") for path `k` ([0,N-1]=>[-pi,pi] in alpha),
 at vehicle discrete step `step`. The default implementation in this base
 class uses numerical differentiation to estimate the twist (vx,vy,omega).
 Velocity is given in "global" coordinates, relative to the starting pose
 of the robot at t=0 for this PTG path.
 
 
 getPathStepCount(), getAlphaValuesCount(), getPathPose() 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getPathTwist(uint16_t, uint32_t) const --> struct mrpt::math::TTwist2D
getRefDistance(...)
getRefDistance(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> float
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getRefDistance() const --> double
getScorePriority(...)
getScorePriority(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> float
 
When used in path planning, a multiplying factor (default=1.0) for the
 scores for this PTG. Assign values <1 to PTGs with low priority. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getScorePriority() const --> double
index2alpha(...)
index2alpha(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int) -> float
 
Alpha value for the discrete corresponding value 
 alpha2index 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::index2alpha(uint16_t) const --> double
initClearanceDiagram(...)
initClearanceDiagram(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, cd: mrpt.pymrpt.mrpt.nav.ClearanceDiagram) -> None
 
Must be called to resize a CD to its correct size, before calling
 updateClearance() 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::initClearanceDiagram(class mrpt::nav::ClearanceDiagram &) const --> void
initTPObstacleSingle(...)
initTPObstacleSingle(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, TP_Obstacle_k: float) -> None
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::initTPObstacleSingle(uint16_t, double &) const --> void
initialize(...)
initialize(*args, **kwargs)
Overloaded function.
 
1. initialize(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> None
 
2. initialize(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, cacheFilename: str) -> None
 
3. initialize(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, cacheFilename: str, verbose: bool) -> None
 
Must be called after setting all PTG parameters and before requesting
 converting obstacles to TP-Space, inverseMap_WS2TP(), etc. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::initialize(const std::string &, const bool) --> void
isBijectiveAt(...)
isBijectiveAt(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, step: int) -> bool
 
Returns true if a given TP-Space point maps to a unique point in
 Workspace, and viceversa. Default implementation returns `true`. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::isBijectiveAt(uint16_t, uint32_t) const --> bool
isInitialized(...)
isInitialized(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> bool
 
Returns true if `initialize()` has been called and there was no errors,
 so the PTG is ready to be queried for paths, obstacles, etc. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::isInitialized() const --> bool
renderPathAsSimpleLine(...)
renderPathAsSimpleLine(*args, **kwargs)
Overloaded function.
 
1. renderPathAsSimpleLine(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, gl_obj: mrpt.pymrpt.mrpt.opengl.CSetOfLines) -> None
 
2. renderPathAsSimpleLine(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, gl_obj: mrpt.pymrpt.mrpt.opengl.CSetOfLines, decimate_distance: float) -> None
 
3. renderPathAsSimpleLine(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, gl_obj: mrpt.pymrpt.mrpt.opengl.CSetOfLines, decimate_distance: float, max_path_distance: float) -> None
 
Returns the representation of one trajectory of this PTG as a 3D OpenGL
 object (a simple curved line).
 
 
 The 0-based index of the selected trajectory (discrete
 "alpha" parameter).
 
 
 Output object.
 
 
 Minimum distance between path points (in
 meters).
 
 
 If >=0, cut the path at this distance (in
 meters).
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::renderPathAsSimpleLine(const unsigned short, class mrpt::opengl::CSetOfLines &, const double, const double) const --> void
setClearanceDecimatedPaths(...)
setClearanceDecimatedPaths(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, num: int) -> None
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::setClearanceDecimatedPaths(const unsigned int) --> void
setClearanceStepCount(...)
setClearanceStepCount(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, res: int) -> None
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::setClearanceStepCount(const unsigned int) --> void
setRefDistance(...)
setRefDistance(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, refDist: float) -> None
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::setRefDistance(const double) --> void
setScorePriorty(...)
setScorePriorty(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, prior: float) -> None
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::setScorePriorty(double) --> void
supportSpeedAtTarget(...)
supportSpeedAtTarget(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> bool
 
Returns true if this PTG takes into account the desired velocity at
 target. 
 
 updateNavDynamicState() 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::supportSpeedAtTarget() const --> bool
updateClearance(...)
updateClearance(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, ox: float, oy: float, cd: mrpt.pymrpt.mrpt.nav.ClearanceDiagram) -> None
 
Updates the clearance diagram given one (ox,oy) obstacle point, in
 coordinates relative
 to the PTG path origin.
 
 
 The clearance will be updated here.
 
 
 m_clearance_dist_resolution
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::updateClearance(const double, const double, class mrpt::nav::ClearanceDiagram &) const --> void
updateNavDynamicState(...)
updateNavDynamicState(*args, **kwargs)
Overloaded function.
 
1. updateNavDynamicState(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, newState: mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState) -> None
 
2. updateNavDynamicState(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, newState: mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState, force_update: bool) -> None
 
To be invoked by the navigator *before* each navigation step, to let the
 PTG to react to changing dynamic conditions. * 
 
 
 onNewNavDynamicState(), m_nav_dyn_state  
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::updateNavDynamicState(const struct mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState &, const bool) --> void

Static methods inherited from CParameterizedTrajectoryGenerator:
Alpha2index(...) from builtins.PyCapsule
Alpha2index(alpha: float, num_paths: int) -> int
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::Alpha2index(double, const unsigned int) --> uint16_t
COLLISION_BEHAVIOR(...) from builtins.PyCapsule
COLLISION_BEHAVIOR() -> mrpt.pymrpt.mrpt.nav.PTG_collision_behavior_t
 
Defines the behavior when there is an obstacle *inside* the robot shape
 right at the beginning of a PTG trajectory.
 Default value: COLL_BEH_BACK_AWAY
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::COLLISION_BEHAVIOR() --> enum mrpt::nav::PTG_collision_behavior_t &
CreatePTG(...) from builtins.PyCapsule
CreatePTG(ptgClassName: str, cfg: mrpt.pymrpt.mrpt.config.CConfigFileBase, sSection: str, sKeyPrefix: str) -> mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator
 
The class factory for creating a PTG from a list of parameters in a
section of a given config file (physical file or in memory).
  Possible parameters are:
          - Those explained in
CParameterizedTrajectoryGenerator::loadFromConfigFile()
          - Those explained in the specific PTG being created (see list of
derived classes)
 
 `ptgClassName` can be any PTG class name which has been registered as
any other
 mrpt::serialization::CSerializable class.
 
 
 std::logic_error On invalid or missing parameters.
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::CreatePTG(const std::string &, const class mrpt::config::CConfigFileBase &, const std::string &, const std::string &) --> class std::shared_ptr<class mrpt::nav::CParameterizedTrajectoryGenerator>
Index2alpha(...) from builtins.PyCapsule
Index2alpha(k: int, num_paths: int) -> float
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::Index2alpha(uint16_t, const unsigned int) --> double
OUTPUT_DEBUG_PATH_PREFIX(...) from builtins.PyCapsule
OUTPUT_DEBUG_PATH_PREFIX() -> str
 
The path used as defaul output in, for example, debugDumpInFiles.
 (Default="./reactivenav.logs/") 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::OUTPUT_DEBUG_PATH_PREFIX() --> std::string &

Data and other attributes inherited from CParameterizedTrajectoryGenerator:
TNavDynamicState = <class 'mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator.TNavDynamicState'>
Dynamic state that may affect the PTG path parameterization. 
 
nav_reactive

Methods inherited from mrpt.pymrpt.mrpt.rtti.CObject:
duplicateGetSmartPtr(...)
duplicateGetSmartPtr(self: mrpt.pymrpt.mrpt.rtti.CObject) -> mrpt.pymrpt.mrpt.rtti.CObject
 
Makes a deep copy of the object and returns a smart pointer to it 
 
C++: mrpt::rtti::CObject::duplicateGetSmartPtr() const --> class std::shared_ptr<class mrpt::rtti::CObject>

Methods inherited from mrpt.pymrpt.mrpt.config.CLoadableOptions:
dumpToConsole(...)
dumpToConsole(self: mrpt.pymrpt.mrpt.config.CLoadableOptions) -> None
 
Just like  but sending the text to the console
 (std::cout) 
 
C++: mrpt::config::CLoadableOptions::dumpToConsole() const --> void
loadFromConfigFileName(...)
loadFromConfigFileName(self: mrpt.pymrpt.mrpt.config.CLoadableOptions, config_file: str, section: str) -> None
 
Behaves like loadFromConfigFile, but you can pass directly a file name
 and a temporary CConfigFile object will be created automatically to load
 the file.
 
 
 loadFromConfigFile
 
C++: mrpt::config::CLoadableOptions::loadFromConfigFileName(const std::string &, const std::string &) --> void
saveToConfigFileName(...)
saveToConfigFileName(self: mrpt.pymrpt.mrpt.config.CLoadableOptions, config_file: str, section: str) -> None
 
Behaves like saveToConfigFile, but you can pass directly a file name and
 a temporary CConfigFile object will be created automatically to save the
 file.
 
 
 saveToConfigFile, loadFromConfigFileName
 
C++: mrpt::config::CLoadableOptions::saveToConfigFileName(const std::string &, const std::string &) const --> void

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class CPTG_RobotShape_Circular(CParameterizedTrajectoryGenerator)
    Base class for all PTGs using a 2D circular robot shape model.
 
 
Method resolution order:
CPTG_RobotShape_Circular
CParameterizedTrajectoryGenerator
mrpt.pymrpt.mrpt.serialization.CSerializable
mrpt.pymrpt.mrpt.rtti.CObject
mrpt.pymrpt.mrpt.config.CLoadableOptions
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
__init__(self, /, *args, **kwargs)
Initialize self.  See help(type(self)) for accurate signature.
add_robotShape_to_setOfLines(...)
add_robotShape_to_setOfLines(*args, **kwargs)
Overloaded function.
 
1. add_robotShape_to_setOfLines(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Circular, gl_shape: mrpt.pymrpt.mrpt.opengl.CSetOfLines) -> None
 
2. add_robotShape_to_setOfLines(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Circular, gl_shape: mrpt.pymrpt.mrpt.opengl.CSetOfLines, origin: mrpt.pymrpt.mrpt.poses.CPose2D) -> None
 
@} 
 
C++: mrpt::nav::CPTG_RobotShape_Circular::add_robotShape_to_setOfLines(class mrpt::opengl::CSetOfLines &, const class mrpt::poses::CPose2D &) const --> void
assign(...)
assign(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Circular, : mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Circular) -> mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Circular
 
C++: mrpt::nav::CPTG_RobotShape_Circular::operator=(const class mrpt::nav::CPTG_RobotShape_Circular &) --> class mrpt::nav::CPTG_RobotShape_Circular &
evalClearanceToRobotShape(...)
evalClearanceToRobotShape(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Circular, ox: float, oy: float) -> float
 
C++: mrpt::nav::CPTG_RobotShape_Circular::evalClearanceToRobotShape(const double, const double) const --> double
getMaxRobotRadius(...)
getMaxRobotRadius(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Circular) -> float
 
C++: mrpt::nav::CPTG_RobotShape_Circular::getMaxRobotRadius() const --> double
getRobotShapeRadius(...)
getRobotShapeRadius(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Circular) -> float
 
C++: mrpt::nav::CPTG_RobotShape_Circular::getRobotShapeRadius() const --> double
isPointInsideRobotShape(...)
isPointInsideRobotShape(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Circular, x: float, y: float) -> bool
 
C++: mrpt::nav::CPTG_RobotShape_Circular::isPointInsideRobotShape(const double, const double) const --> bool
setRobotShapeRadius(...)
setRobotShapeRadius(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Circular, robot_radius: float) -> None
 
@{ *
 
 Robot shape must be set before initialization, either from ctor params
 or via this method. 
 
C++: mrpt::nav::CPTG_RobotShape_Circular::setRobotShapeRadius(const double) --> void

Static methods defined here:
static_add_robotShape_to_setOfLines(...) from builtins.PyCapsule
static_add_robotShape_to_setOfLines(gl_shape: mrpt.pymrpt.mrpt.opengl.CSetOfLines, origin: mrpt.pymrpt.mrpt.poses.CPose2D, robotRadius: float) -> None
 
C++: mrpt::nav::CPTG_RobotShape_Circular::static_add_robotShape_to_setOfLines(class mrpt::opengl::CSetOfLines &, const class mrpt::poses::CPose2D &, const double) --> void

Methods inherited from CParameterizedTrajectoryGenerator:
GetRuntimeClass(...)
GetRuntimeClass(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::GetRuntimeClass() const --> const struct mrpt::rtti::TRuntimeClassId *
PTG_IsIntoDomain(...)
PTG_IsIntoDomain(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, x: float, y: float) -> bool
 
Returns the same than inverseMap_WS2TP() but without any additional
 cost. The default implementation
 just calls inverseMap_WS2TP() and discards (k,d). 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::PTG_IsIntoDomain(double, double) const --> bool
alpha2index(...)
alpha2index(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, alpha: float) -> int
 
Discrete index value for the corresponding alpha value 
 index2alpha
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::alpha2index(double) const --> uint16_t
debugDumpInFiles(...)
debugDumpInFiles(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, ptg_name: str) -> bool
 
Dump PTG trajectories in four text files:
 `./reactivenav.logs/PTGs/PTG%i_{x,y,phi,d}.txt`
 Text files are loadable from MATLAB/Octave, and can be visualized with
 the script `[MRPT_DIR]/scripts/viewPTG.m`
 
 
 The directory "./reactivenav.logs/PTGs" will be created if doesn't
 exist.
 
 
 false on any error writing to disk.
 
 
 OUTPUT_DEBUG_PATH_PREFIX
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::debugDumpInFiles(const std::string &) const --> bool
deinitialize(...)
deinitialize(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> None
 
This must be called to de-initialize the PTG if some parameter is to be
 changed. After changing it, call initialize again 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::deinitialize() --> void
directionToMotionCommand(...)
directionToMotionCommand(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int) -> mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd
 
Converts a discretized "alpha" value into a feasible motion command or
 action. See derived classes for the meaning of these actions 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::directionToMotionCommand(uint16_t) const --> class std::shared_ptr<class mrpt::kinematics::CVehicleVelCmd>
evalClearanceSingleObstacle(...)
evalClearanceSingleObstacle(*args, **kwargs)
Overloaded function.
 
1. evalClearanceSingleObstacle(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, ox: float, oy: float, k: int, inout_realdist2clearance: Dict[float, float]) -> None
 
2. evalClearanceSingleObstacle(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, ox: float, oy: float, k: int, inout_realdist2clearance: Dict[float, float], treat_as_obstacle: bool) -> None
 
Evals the robot clearance for each robot pose along path `k`, for the
 real distances in
 the key of the map<>, then keep in the map value the minimum of its
 current stored clearance,
 or the computed clearance. In case of collision, clearance is zero.
 
 
 true: normal use for obstacles; false: compute
 shortest distances to a target point (no collision)
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::evalClearanceSingleObstacle(const double, const double, const unsigned short, class std::map<double, double> &, bool) const --> void
evalPathRelativePriority(...)
evalPathRelativePriority(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, target_distance: float) -> float
 
Query the PTG for the relative priority factor (0,1) of this PTG, in
 comparison to others, if the k-th path is to be selected. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::evalPathRelativePriority(uint16_t, double) const --> double
getActualUnloopedPathLength(...)
getActualUnloopedPathLength(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int) -> float
 
Returns the actual distance (in meters) of the path, discounting
 possible circular loops of the path (e.g. if it comes back to the
 origin).
 Default: refDistance 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getActualUnloopedPathLength(uint16_t) const --> double
getAlphaValuesCount(...)
getAlphaValuesCount(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> int
 
Get the number of different, discrete paths in this family 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getAlphaValuesCount() const --> uint16_t
getClearanceDecimatedPaths(...)
getClearanceDecimatedPaths(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> int
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getClearanceDecimatedPaths() const --> unsigned int
getClearanceStepCount(...)
getClearanceStepCount(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> int
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getClearanceStepCount() const --> unsigned int
getCurrentNavDynamicState(...)
getCurrentNavDynamicState(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getCurrentNavDynamicState() const --> const struct mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState &
getDescription(...)
getDescription(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> str
 
@{ 
 
 Gets a short textual description of the PTG and its parameters 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getDescription() const --> std::string
getMaxAngVel(...)
getMaxAngVel(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> float
 
Returns the maximum angular velocity expected from this PTG [rad/s] 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getMaxAngVel() const --> double
getMaxLinVel(...)
getMaxLinVel(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> float
 
Returns the maximum linear velocity expected from this PTG [m/s] 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getMaxLinVel() const --> double
getPathCount(...)
getPathCount(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> int
 
Get the number of different, discrete paths in this family 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getPathCount() const --> uint16_t
getPathDist(...)
getPathDist(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, step: int) -> float
 
Access path `k` ([0,N-1]=>[-pi,pi] in alpha): traversed distance at
 discrete step `step`.
 
 
 Distance in pseudometers (real distance, NOT normalized to [0,1]
 for [0,refDist])
 
 
 getPathStepCount(), getAlphaValuesCount() 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getPathDist(uint16_t, uint32_t) const --> double
getPathPose(...)
getPathPose(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, step: int) -> mrpt.pymrpt.mrpt.math.TPose2D
 
Access path `k` ([0,N-1]=>[-pi,pi] in alpha): pose of the vehicle at
 discrete step `step`.
 
 
 getPathStepCount(), getAlphaValuesCount(), getPathTwist() 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getPathPose(uint16_t, uint32_t) const --> struct mrpt::math::TPose2D
getPathStepCount(...)
getPathStepCount(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int) -> int
 
Access path `k` ([0,N-1]=>[-pi,pi] in alpha): number of discrete "steps"
 along the trajectory.
 May be actual steps from a numerical integration or an arbitrary small
 length for analytical PTGs.
 
 
 getAlphaValuesCount() 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getPathStepCount(uint16_t) const --> size_t
getPathStepDuration(...)
getPathStepDuration(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> float
 
Returns the duration (in seconds) of each "step"
 
 
 getPathStepCount() 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getPathStepDuration() const --> double
getPathStepForDist(...)
getPathStepForDist(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, dist: float, out_step: int) -> bool
 
Access path `k` ([0,N-1]=>[-pi,pi] in alpha): largest step count for
 which the traversed distance is < `dist`
 
 
 Distance in pseudometers (real distance, NOT normalized
 to [0,1] for [0,refDist])
 
 
 false if no step fulfills the condition for the given trajectory
 `k` (e.g. out of reference distance).
 Note that, anyway, the maximum distance (closest point) is returned in
 `out_step`.
 
 
 getPathStepCount(), getAlphaValuesCount() 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getPathStepForDist(uint16_t, double, unsigned int &) const --> bool
getPathTwist(...)
getPathTwist(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, step: int) -> mrpt::math::TTwist2D
 
Gets velocity ("twist") for path `k` ([0,N-1]=>[-pi,pi] in alpha),
 at vehicle discrete step `step`. The default implementation in this base
 class uses numerical differentiation to estimate the twist (vx,vy,omega).
 Velocity is given in "global" coordinates, relative to the starting pose
 of the robot at t=0 for this PTG path.
 
 
 getPathStepCount(), getAlphaValuesCount(), getPathPose() 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getPathTwist(uint16_t, uint32_t) const --> struct mrpt::math::TTwist2D
getRefDistance(...)
getRefDistance(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> float
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getRefDistance() const --> double
getScorePriority(...)
getScorePriority(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> float
 
When used in path planning, a multiplying factor (default=1.0) for the
 scores for this PTG. Assign values <1 to PTGs with low priority. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getScorePriority() const --> double
getSupportedKinematicVelocityCommand(...)
getSupportedKinematicVelocityCommand(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd
 
Returns an empty kinematic velocity command object of the type supported
 by this PTG.
 Can be queried to determine the expected kinematic interface of the PTG.
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getSupportedKinematicVelocityCommand() const --> class std::shared_ptr<class mrpt::kinematics::CVehicleVelCmd>
index2alpha(...)
index2alpha(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int) -> float
 
Alpha value for the discrete corresponding value 
 alpha2index 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::index2alpha(uint16_t) const --> double
initClearanceDiagram(...)
initClearanceDiagram(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, cd: mrpt.pymrpt.mrpt.nav.ClearanceDiagram) -> None
 
Must be called to resize a CD to its correct size, before calling
 updateClearance() 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::initClearanceDiagram(class mrpt::nav::ClearanceDiagram &) const --> void
initTPObstacleSingle(...)
initTPObstacleSingle(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, TP_Obstacle_k: float) -> None
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::initTPObstacleSingle(uint16_t, double &) const --> void
initialize(...)
initialize(*args, **kwargs)
Overloaded function.
 
1. initialize(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> None
 
2. initialize(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, cacheFilename: str) -> None
 
3. initialize(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, cacheFilename: str, verbose: bool) -> None
 
Must be called after setting all PTG parameters and before requesting
 converting obstacles to TP-Space, inverseMap_WS2TP(), etc. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::initialize(const std::string &, const bool) --> void
inverseMap_WS2TP(...)
inverseMap_WS2TP(*args, **kwargs)
Overloaded function.
 
1. inverseMap_WS2TP(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, x: float, y: float, out_k: int, out_normalized_d: float) -> bool
 
2. inverseMap_WS2TP(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, x: float, y: float, out_k: int, out_normalized_d: float, tolerance_dist: float) -> bool
 
Computes the closest (alpha,d) TP coordinates of the trajectory point
 closest to the Workspace (WS)
   Cartesian coordinates (x,y), relative to the current robot frame.
 
 
 X coordinate of the query point, relative to the robot
 frame.
 
 
 Y coordinate of the query point, relative to the robot
 frame.
 
 
 Trajectory parameter index (discretized alpha value,
 0-based index).
 
 
 Trajectory distance, normalized such that D_max
 becomes 1.
 
 
 true if the distance between (x,y) and the actual trajectory
 point is below the given tolerance (in meters).
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::inverseMap_WS2TP(double, double, int &, double &, double) const --> bool
isBijectiveAt(...)
isBijectiveAt(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, step: int) -> bool
 
Returns true if a given TP-Space point maps to a unique point in
 Workspace, and viceversa. Default implementation returns `true`. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::isBijectiveAt(uint16_t, uint32_t) const --> bool
isInitialized(...)
isInitialized(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> bool
 
Returns true if `initialize()` has been called and there was no errors,
 so the PTG is ready to be queried for paths, obstacles, etc. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::isInitialized() const --> bool
loadDefaultParams(...)
loadDefaultParams(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> None
 
Loads a set of default parameters into the PTG. Users normally will call
 `loadFromConfigFile()` instead, this method is provided
 exclusively for the PTG-configurator tool. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::loadDefaultParams() --> void
loadFromConfigFile(...)
loadFromConfigFile(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, cfg: mrpt.pymrpt.mrpt.config.CConfigFileBase, sSection: str) -> None
 
Parameters accepted by this base class:
   - `${sKeyPrefix}num_paths`: The number of different paths in this
 family (number of discrete `alpha` values).
   - `${sKeyPrefix}ref_distance`: The maximum distance in PTGs [meters]
   - `${sKeyPrefix}score_priority`: When used in path planning, a
 multiplying factor (default=1.0) for the scores for this PTG. Assign
 values <1 to PTGs with low priority.
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::loadFromConfigFile(const class mrpt::config::CConfigFileBase &, const std::string &) --> void
maxTimeInVelCmdNOP(...)
maxTimeInVelCmdNOP(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, path_k: int) -> float
 
Only for PTGs supporting supportVelCmdNOP(): this is the maximum time
 (in seconds) for which the path
 can be followed without re-issuing a new velcmd. Note that this is only
 an absolute maximum duration,
 navigation implementations will check for many other conditions. Default
 method in the base virtual class returns 0.
 
 
 Queried path `k` index  [0,N-1] 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::maxTimeInVelCmdNOP(int) const --> double
renderPathAsSimpleLine(...)
renderPathAsSimpleLine(*args, **kwargs)
Overloaded function.
 
1. renderPathAsSimpleLine(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, gl_obj: mrpt.pymrpt.mrpt.opengl.CSetOfLines) -> None
 
2. renderPathAsSimpleLine(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, gl_obj: mrpt.pymrpt.mrpt.opengl.CSetOfLines, decimate_distance: float) -> None
 
3. renderPathAsSimpleLine(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, gl_obj: mrpt.pymrpt.mrpt.opengl.CSetOfLines, decimate_distance: float, max_path_distance: float) -> None
 
Returns the representation of one trajectory of this PTG as a 3D OpenGL
 object (a simple curved line).
 
 
 The 0-based index of the selected trajectory (discrete
 "alpha" parameter).
 
 
 Output object.
 
 
 Minimum distance between path points (in
 meters).
 
 
 If >=0, cut the path at this distance (in
 meters).
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::renderPathAsSimpleLine(const unsigned short, class mrpt::opengl::CSetOfLines &, const double, const double) const --> void
saveToConfigFile(...)
saveToConfigFile(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, cfg: mrpt.pymrpt.mrpt.config.CConfigFileBase, sSection: str) -> None
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::saveToConfigFile(class mrpt::config::CConfigFileBase &, const std::string &) const --> void
setClearanceDecimatedPaths(...)
setClearanceDecimatedPaths(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, num: int) -> None
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::setClearanceDecimatedPaths(const unsigned int) --> void
setClearanceStepCount(...)
setClearanceStepCount(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, res: int) -> None
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::setClearanceStepCount(const unsigned int) --> void
setRefDistance(...)
setRefDistance(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, refDist: float) -> None
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::setRefDistance(const double) --> void
setScorePriorty(...)
setScorePriorty(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, prior: float) -> None
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::setScorePriorty(double) --> void
supportSpeedAtTarget(...)
supportSpeedAtTarget(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> bool
 
Returns true if this PTG takes into account the desired velocity at
 target. 
 
 updateNavDynamicState() 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::supportSpeedAtTarget() const --> bool
supportVelCmdNOP(...)
supportVelCmdNOP(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> bool
 
Returns true if it is possible to stop sending velocity commands to the
 robot and, still, the
 robot controller will be able to keep following the last sent trajectory
 ("NOP" velocity commands).
 Default implementation returns "false". 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::supportVelCmdNOP() const --> bool
updateClearance(...)
updateClearance(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, ox: float, oy: float, cd: mrpt.pymrpt.mrpt.nav.ClearanceDiagram) -> None
 
Updates the clearance diagram given one (ox,oy) obstacle point, in
 coordinates relative
 to the PTG path origin.
 
 
 The clearance will be updated here.
 
 
 m_clearance_dist_resolution
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::updateClearance(const double, const double, class mrpt::nav::ClearanceDiagram &) const --> void
updateNavDynamicState(...)
updateNavDynamicState(*args, **kwargs)
Overloaded function.
 
1. updateNavDynamicState(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, newState: mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState) -> None
 
2. updateNavDynamicState(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, newState: mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState, force_update: bool) -> None
 
To be invoked by the navigator *before* each navigation step, to let the
 PTG to react to changing dynamic conditions. * 
 
 
 onNewNavDynamicState(), m_nav_dyn_state  
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::updateNavDynamicState(const struct mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState &, const bool) --> void
updateTPObstacleSingle(...)
updateTPObstacleSingle(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, ox: float, oy: float, k: int, tp_obstacle_k: float) -> None
 
Like updateTPObstacle() but for one direction only (`k`) in TP-Space.
 `tp_obstacle_k` must be initialized with initTPObstacleSingle() before
 call (collision-free ranges, in "pseudometers", un-normalized). 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::updateTPObstacleSingle(double, double, uint16_t, double &) const --> void

Static methods inherited from CParameterizedTrajectoryGenerator:
Alpha2index(...) from builtins.PyCapsule
Alpha2index(alpha: float, num_paths: int) -> int
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::Alpha2index(double, const unsigned int) --> uint16_t
COLLISION_BEHAVIOR(...) from builtins.PyCapsule
COLLISION_BEHAVIOR() -> mrpt.pymrpt.mrpt.nav.PTG_collision_behavior_t
 
Defines the behavior when there is an obstacle *inside* the robot shape
 right at the beginning of a PTG trajectory.
 Default value: COLL_BEH_BACK_AWAY
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::COLLISION_BEHAVIOR() --> enum mrpt::nav::PTG_collision_behavior_t &
CreatePTG(...) from builtins.PyCapsule
CreatePTG(ptgClassName: str, cfg: mrpt.pymrpt.mrpt.config.CConfigFileBase, sSection: str, sKeyPrefix: str) -> mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator
 
The class factory for creating a PTG from a list of parameters in a
section of a given config file (physical file or in memory).
  Possible parameters are:
          - Those explained in
CParameterizedTrajectoryGenerator::loadFromConfigFile()
          - Those explained in the specific PTG being created (see list of
derived classes)
 
 `ptgClassName` can be any PTG class name which has been registered as
any other
 mrpt::serialization::CSerializable class.
 
 
 std::logic_error On invalid or missing parameters.
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::CreatePTG(const std::string &, const class mrpt::config::CConfigFileBase &, const std::string &, const std::string &) --> class std::shared_ptr<class mrpt::nav::CParameterizedTrajectoryGenerator>
GetRuntimeClassIdStatic(...) from builtins.PyCapsule
GetRuntimeClassIdStatic() -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::GetRuntimeClassIdStatic() --> const struct mrpt::rtti::TRuntimeClassId &
Index2alpha(...) from builtins.PyCapsule
Index2alpha(k: int, num_paths: int) -> float
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::Index2alpha(uint16_t, const unsigned int) --> double
OUTPUT_DEBUG_PATH_PREFIX(...) from builtins.PyCapsule
OUTPUT_DEBUG_PATH_PREFIX() -> str
 
The path used as defaul output in, for example, debugDumpInFiles.
 (Default="./reactivenav.logs/") 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::OUTPUT_DEBUG_PATH_PREFIX() --> std::string &

Data and other attributes inherited from CParameterizedTrajectoryGenerator:
TNavDynamicState = <class 'mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator.TNavDynamicState'>
Dynamic state that may affect the PTG path parameterization. 
 
nav_reactive

Methods inherited from mrpt.pymrpt.mrpt.rtti.CObject:
clone(...)
clone(self: mrpt.pymrpt.mrpt.rtti.CObject) -> mrpt.pymrpt.mrpt.rtti.CObject
 
Returns a deep copy (clone) of the object, indepently of its class. 
 
C++: mrpt::rtti::CObject::clone() const --> class mrpt::rtti::CObject *
duplicateGetSmartPtr(...)
duplicateGetSmartPtr(self: mrpt.pymrpt.mrpt.rtti.CObject) -> mrpt.pymrpt.mrpt.rtti.CObject
 
Makes a deep copy of the object and returns a smart pointer to it 
 
C++: mrpt::rtti::CObject::duplicateGetSmartPtr() const --> class std::shared_ptr<class mrpt::rtti::CObject>

Methods inherited from mrpt.pymrpt.mrpt.config.CLoadableOptions:
dumpToConsole(...)
dumpToConsole(self: mrpt.pymrpt.mrpt.config.CLoadableOptions) -> None
 
Just like  but sending the text to the console
 (std::cout) 
 
C++: mrpt::config::CLoadableOptions::dumpToConsole() const --> void
loadFromConfigFileName(...)
loadFromConfigFileName(self: mrpt.pymrpt.mrpt.config.CLoadableOptions, config_file: str, section: str) -> None
 
Behaves like loadFromConfigFile, but you can pass directly a file name
 and a temporary CConfigFile object will be created automatically to load
 the file.
 
 
 loadFromConfigFile
 
C++: mrpt::config::CLoadableOptions::loadFromConfigFileName(const std::string &, const std::string &) --> void
saveToConfigFileName(...)
saveToConfigFileName(self: mrpt.pymrpt.mrpt.config.CLoadableOptions, config_file: str, section: str) -> None
 
Behaves like saveToConfigFile, but you can pass directly a file name and
 a temporary CConfigFile object will be created automatically to save the
 file.
 
 
 saveToConfigFile, loadFromConfigFileName
 
C++: mrpt::config::CLoadableOptions::saveToConfigFileName(const std::string &, const std::string &) const --> void

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class CPTG_RobotShape_Polygonal(CParameterizedTrajectoryGenerator)
    Base class for all PTGs using a 2D polygonal robot shape model.
 
 
Method resolution order:
CPTG_RobotShape_Polygonal
CParameterizedTrajectoryGenerator
mrpt.pymrpt.mrpt.serialization.CSerializable
mrpt.pymrpt.mrpt.rtti.CObject
mrpt.pymrpt.mrpt.config.CLoadableOptions
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
__init__(self, /, *args, **kwargs)
Initialize self.  See help(type(self)) for accurate signature.
add_robotShape_to_setOfLines(...)
add_robotShape_to_setOfLines(*args, **kwargs)
Overloaded function.
 
1. add_robotShape_to_setOfLines(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal, gl_shape: mrpt.pymrpt.mrpt.opengl.CSetOfLines) -> None
 
2. add_robotShape_to_setOfLines(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal, gl_shape: mrpt.pymrpt.mrpt.opengl.CSetOfLines, origin: mrpt.pymrpt.mrpt.poses.CPose2D) -> None
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::add_robotShape_to_setOfLines(class mrpt::opengl::CSetOfLines &, const class mrpt::poses::CPose2D &) const --> void
assign(...)
assign(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal, : mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal) -> mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::operator=(const class mrpt::nav::CPTG_RobotShape_Polygonal &) --> class mrpt::nav::CPTG_RobotShape_Polygonal &
evalClearanceToRobotShape(...)
evalClearanceToRobotShape(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal, ox: float, oy: float) -> float
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::evalClearanceToRobotShape(const double, const double) const --> double
getMaxRobotRadius(...)
getMaxRobotRadius(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal) -> float
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::getMaxRobotRadius() const --> double
getRobotShape(...)
getRobotShape(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal) -> mrpt.pymrpt.mrpt.math.CPolygon
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::getRobotShape() const --> const class mrpt::math::CPolygon &
isPointInsideRobotShape(...)
isPointInsideRobotShape(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal, x: float, y: float) -> bool
 
@} 
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::isPointInsideRobotShape(const double, const double) const --> bool
setRobotShape(...)
setRobotShape(self: mrpt.pymrpt.mrpt.nav.CPTG_RobotShape_Polygonal, robotShape: mrpt.pymrpt.mrpt.math.CPolygon) -> None
 
@{ *
 
 Robot shape must be set before initialization, either from ctor params
 or via this method. 
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::setRobotShape(const class mrpt::math::CPolygon &) --> void

Static methods defined here:
static_add_robotShape_to_setOfLines(...) from builtins.PyCapsule
static_add_robotShape_to_setOfLines(gl_shape: mrpt.pymrpt.mrpt.opengl.CSetOfLines, origin: mrpt.pymrpt.mrpt.poses.CPose2D, robotShape: mrpt.pymrpt.mrpt.math.CPolygon) -> None
 
C++: mrpt::nav::CPTG_RobotShape_Polygonal::static_add_robotShape_to_setOfLines(class mrpt::opengl::CSetOfLines &, const class mrpt::poses::CPose2D &, const class mrpt::math::CPolygon &) --> void

Methods inherited from CParameterizedTrajectoryGenerator:
GetRuntimeClass(...)
GetRuntimeClass(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::GetRuntimeClass() const --> const struct mrpt::rtti::TRuntimeClassId *
PTG_IsIntoDomain(...)
PTG_IsIntoDomain(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, x: float, y: float) -> bool
 
Returns the same than inverseMap_WS2TP() but without any additional
 cost. The default implementation
 just calls inverseMap_WS2TP() and discards (k,d). 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::PTG_IsIntoDomain(double, double) const --> bool
alpha2index(...)
alpha2index(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, alpha: float) -> int
 
Discrete index value for the corresponding alpha value 
 index2alpha
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::alpha2index(double) const --> uint16_t
debugDumpInFiles(...)
debugDumpInFiles(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, ptg_name: str) -> bool
 
Dump PTG trajectories in four text files:
 `./reactivenav.logs/PTGs/PTG%i_{x,y,phi,d}.txt`
 Text files are loadable from MATLAB/Octave, and can be visualized with
 the script `[MRPT_DIR]/scripts/viewPTG.m`
 
 
 The directory "./reactivenav.logs/PTGs" will be created if doesn't
 exist.
 
 
 false on any error writing to disk.
 
 
 OUTPUT_DEBUG_PATH_PREFIX
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::debugDumpInFiles(const std::string &) const --> bool
deinitialize(...)
deinitialize(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> None
 
This must be called to de-initialize the PTG if some parameter is to be
 changed. After changing it, call initialize again 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::deinitialize() --> void
directionToMotionCommand(...)
directionToMotionCommand(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int) -> mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd
 
Converts a discretized "alpha" value into a feasible motion command or
 action. See derived classes for the meaning of these actions 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::directionToMotionCommand(uint16_t) const --> class std::shared_ptr<class mrpt::kinematics::CVehicleVelCmd>
evalClearanceSingleObstacle(...)
evalClearanceSingleObstacle(*args, **kwargs)
Overloaded function.
 
1. evalClearanceSingleObstacle(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, ox: float, oy: float, k: int, inout_realdist2clearance: Dict[float, float]) -> None
 
2. evalClearanceSingleObstacle(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, ox: float, oy: float, k: int, inout_realdist2clearance: Dict[float, float], treat_as_obstacle: bool) -> None
 
Evals the robot clearance for each robot pose along path `k`, for the
 real distances in
 the key of the map<>, then keep in the map value the minimum of its
 current stored clearance,
 or the computed clearance. In case of collision, clearance is zero.
 
 
 true: normal use for obstacles; false: compute
 shortest distances to a target point (no collision)
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::evalClearanceSingleObstacle(const double, const double, const unsigned short, class std::map<double, double> &, bool) const --> void
evalPathRelativePriority(...)
evalPathRelativePriority(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, target_distance: float) -> float
 
Query the PTG for the relative priority factor (0,1) of this PTG, in
 comparison to others, if the k-th path is to be selected. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::evalPathRelativePriority(uint16_t, double) const --> double
getActualUnloopedPathLength(...)
getActualUnloopedPathLength(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int) -> float
 
Returns the actual distance (in meters) of the path, discounting
 possible circular loops of the path (e.g. if it comes back to the
 origin).
 Default: refDistance 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getActualUnloopedPathLength(uint16_t) const --> double
getAlphaValuesCount(...)
getAlphaValuesCount(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> int
 
Get the number of different, discrete paths in this family 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getAlphaValuesCount() const --> uint16_t
getClearanceDecimatedPaths(...)
getClearanceDecimatedPaths(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> int
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getClearanceDecimatedPaths() const --> unsigned int
getClearanceStepCount(...)
getClearanceStepCount(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> int
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getClearanceStepCount() const --> unsigned int
getCurrentNavDynamicState(...)
getCurrentNavDynamicState(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getCurrentNavDynamicState() const --> const struct mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState &
getDescription(...)
getDescription(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> str
 
@{ 
 
 Gets a short textual description of the PTG and its parameters 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getDescription() const --> std::string
getMaxAngVel(...)
getMaxAngVel(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> float
 
Returns the maximum angular velocity expected from this PTG [rad/s] 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getMaxAngVel() const --> double
getMaxLinVel(...)
getMaxLinVel(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> float
 
Returns the maximum linear velocity expected from this PTG [m/s] 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getMaxLinVel() const --> double
getPathCount(...)
getPathCount(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> int
 
Get the number of different, discrete paths in this family 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getPathCount() const --> uint16_t
getPathDist(...)
getPathDist(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, step: int) -> float
 
Access path `k` ([0,N-1]=>[-pi,pi] in alpha): traversed distance at
 discrete step `step`.
 
 
 Distance in pseudometers (real distance, NOT normalized to [0,1]
 for [0,refDist])
 
 
 getPathStepCount(), getAlphaValuesCount() 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getPathDist(uint16_t, uint32_t) const --> double
getPathPose(...)
getPathPose(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, step: int) -> mrpt.pymrpt.mrpt.math.TPose2D
 
Access path `k` ([0,N-1]=>[-pi,pi] in alpha): pose of the vehicle at
 discrete step `step`.
 
 
 getPathStepCount(), getAlphaValuesCount(), getPathTwist() 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getPathPose(uint16_t, uint32_t) const --> struct mrpt::math::TPose2D
getPathStepCount(...)
getPathStepCount(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int) -> int
 
Access path `k` ([0,N-1]=>[-pi,pi] in alpha): number of discrete "steps"
 along the trajectory.
 May be actual steps from a numerical integration or an arbitrary small
 length for analytical PTGs.
 
 
 getAlphaValuesCount() 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getPathStepCount(uint16_t) const --> size_t
getPathStepDuration(...)
getPathStepDuration(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> float
 
Returns the duration (in seconds) of each "step"
 
 
 getPathStepCount() 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getPathStepDuration() const --> double
getPathStepForDist(...)
getPathStepForDist(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, dist: float, out_step: int) -> bool
 
Access path `k` ([0,N-1]=>[-pi,pi] in alpha): largest step count for
 which the traversed distance is < `dist`
 
 
 Distance in pseudometers (real distance, NOT normalized
 to [0,1] for [0,refDist])
 
 
 false if no step fulfills the condition for the given trajectory
 `k` (e.g. out of reference distance).
 Note that, anyway, the maximum distance (closest point) is returned in
 `out_step`.
 
 
 getPathStepCount(), getAlphaValuesCount() 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getPathStepForDist(uint16_t, double, unsigned int &) const --> bool
getPathTwist(...)
getPathTwist(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, step: int) -> mrpt::math::TTwist2D
 
Gets velocity ("twist") for path `k` ([0,N-1]=>[-pi,pi] in alpha),
 at vehicle discrete step `step`. The default implementation in this base
 class uses numerical differentiation to estimate the twist (vx,vy,omega).
 Velocity is given in "global" coordinates, relative to the starting pose
 of the robot at t=0 for this PTG path.
 
 
 getPathStepCount(), getAlphaValuesCount(), getPathPose() 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getPathTwist(uint16_t, uint32_t) const --> struct mrpt::math::TTwist2D
getRefDistance(...)
getRefDistance(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> float
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getRefDistance() const --> double
getScorePriority(...)
getScorePriority(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> float
 
When used in path planning, a multiplying factor (default=1.0) for the
 scores for this PTG. Assign values <1 to PTGs with low priority. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getScorePriority() const --> double
getSupportedKinematicVelocityCommand(...)
getSupportedKinematicVelocityCommand(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd
 
Returns an empty kinematic velocity command object of the type supported
 by this PTG.
 Can be queried to determine the expected kinematic interface of the PTG.
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getSupportedKinematicVelocityCommand() const --> class std::shared_ptr<class mrpt::kinematics::CVehicleVelCmd>
index2alpha(...)
index2alpha(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int) -> float
 
Alpha value for the discrete corresponding value 
 alpha2index 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::index2alpha(uint16_t) const --> double
initClearanceDiagram(...)
initClearanceDiagram(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, cd: mrpt.pymrpt.mrpt.nav.ClearanceDiagram) -> None
 
Must be called to resize a CD to its correct size, before calling
 updateClearance() 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::initClearanceDiagram(class mrpt::nav::ClearanceDiagram &) const --> void
initTPObstacleSingle(...)
initTPObstacleSingle(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, TP_Obstacle_k: float) -> None
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::initTPObstacleSingle(uint16_t, double &) const --> void
initialize(...)
initialize(*args, **kwargs)
Overloaded function.
 
1. initialize(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> None
 
2. initialize(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, cacheFilename: str) -> None
 
3. initialize(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, cacheFilename: str, verbose: bool) -> None
 
Must be called after setting all PTG parameters and before requesting
 converting obstacles to TP-Space, inverseMap_WS2TP(), etc. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::initialize(const std::string &, const bool) --> void
inverseMap_WS2TP(...)
inverseMap_WS2TP(*args, **kwargs)
Overloaded function.
 
1. inverseMap_WS2TP(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, x: float, y: float, out_k: int, out_normalized_d: float) -> bool
 
2. inverseMap_WS2TP(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, x: float, y: float, out_k: int, out_normalized_d: float, tolerance_dist: float) -> bool
 
Computes the closest (alpha,d) TP coordinates of the trajectory point
 closest to the Workspace (WS)
   Cartesian coordinates (x,y), relative to the current robot frame.
 
 
 X coordinate of the query point, relative to the robot
 frame.
 
 
 Y coordinate of the query point, relative to the robot
 frame.
 
 
 Trajectory parameter index (discretized alpha value,
 0-based index).
 
 
 Trajectory distance, normalized such that D_max
 becomes 1.
 
 
 true if the distance between (x,y) and the actual trajectory
 point is below the given tolerance (in meters).
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::inverseMap_WS2TP(double, double, int &, double &, double) const --> bool
isBijectiveAt(...)
isBijectiveAt(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, step: int) -> bool
 
Returns true if a given TP-Space point maps to a unique point in
 Workspace, and viceversa. Default implementation returns `true`. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::isBijectiveAt(uint16_t, uint32_t) const --> bool
isInitialized(...)
isInitialized(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> bool
 
Returns true if `initialize()` has been called and there was no errors,
 so the PTG is ready to be queried for paths, obstacles, etc. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::isInitialized() const --> bool
loadDefaultParams(...)
loadDefaultParams(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> None
 
Loads a set of default parameters into the PTG. Users normally will call
 `loadFromConfigFile()` instead, this method is provided
 exclusively for the PTG-configurator tool. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::loadDefaultParams() --> void
loadFromConfigFile(...)
loadFromConfigFile(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, cfg: mrpt.pymrpt.mrpt.config.CConfigFileBase, sSection: str) -> None
 
Parameters accepted by this base class:
   - `${sKeyPrefix}num_paths`: The number of different paths in this
 family (number of discrete `alpha` values).
   - `${sKeyPrefix}ref_distance`: The maximum distance in PTGs [meters]
   - `${sKeyPrefix}score_priority`: When used in path planning, a
 multiplying factor (default=1.0) for the scores for this PTG. Assign
 values <1 to PTGs with low priority.
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::loadFromConfigFile(const class mrpt::config::CConfigFileBase &, const std::string &) --> void
maxTimeInVelCmdNOP(...)
maxTimeInVelCmdNOP(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, path_k: int) -> float
 
Only for PTGs supporting supportVelCmdNOP(): this is the maximum time
 (in seconds) for which the path
 can be followed without re-issuing a new velcmd. Note that this is only
 an absolute maximum duration,
 navigation implementations will check for many other conditions. Default
 method in the base virtual class returns 0.
 
 
 Queried path `k` index  [0,N-1] 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::maxTimeInVelCmdNOP(int) const --> double
renderPathAsSimpleLine(...)
renderPathAsSimpleLine(*args, **kwargs)
Overloaded function.
 
1. renderPathAsSimpleLine(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, gl_obj: mrpt.pymrpt.mrpt.opengl.CSetOfLines) -> None
 
2. renderPathAsSimpleLine(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, gl_obj: mrpt.pymrpt.mrpt.opengl.CSetOfLines, decimate_distance: float) -> None
 
3. renderPathAsSimpleLine(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, gl_obj: mrpt.pymrpt.mrpt.opengl.CSetOfLines, decimate_distance: float, max_path_distance: float) -> None
 
Returns the representation of one trajectory of this PTG as a 3D OpenGL
 object (a simple curved line).
 
 
 The 0-based index of the selected trajectory (discrete
 "alpha" parameter).
 
 
 Output object.
 
 
 Minimum distance between path points (in
 meters).
 
 
 If >=0, cut the path at this distance (in
 meters).
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::renderPathAsSimpleLine(const unsigned short, class mrpt::opengl::CSetOfLines &, const double, const double) const --> void
saveToConfigFile(...)
saveToConfigFile(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, cfg: mrpt.pymrpt.mrpt.config.CConfigFileBase, sSection: str) -> None
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::saveToConfigFile(class mrpt::config::CConfigFileBase &, const std::string &) const --> void
setClearanceDecimatedPaths(...)
setClearanceDecimatedPaths(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, num: int) -> None
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::setClearanceDecimatedPaths(const unsigned int) --> void
setClearanceStepCount(...)
setClearanceStepCount(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, res: int) -> None
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::setClearanceStepCount(const unsigned int) --> void
setRefDistance(...)
setRefDistance(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, refDist: float) -> None
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::setRefDistance(const double) --> void
setScorePriorty(...)
setScorePriorty(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, prior: float) -> None
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::setScorePriorty(double) --> void
supportSpeedAtTarget(...)
supportSpeedAtTarget(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> bool
 
Returns true if this PTG takes into account the desired velocity at
 target. 
 
 updateNavDynamicState() 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::supportSpeedAtTarget() const --> bool
supportVelCmdNOP(...)
supportVelCmdNOP(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> bool
 
Returns true if it is possible to stop sending velocity commands to the
 robot and, still, the
 robot controller will be able to keep following the last sent trajectory
 ("NOP" velocity commands).
 Default implementation returns "false". 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::supportVelCmdNOP() const --> bool
updateClearance(...)
updateClearance(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, ox: float, oy: float, cd: mrpt.pymrpt.mrpt.nav.ClearanceDiagram) -> None
 
Updates the clearance diagram given one (ox,oy) obstacle point, in
 coordinates relative
 to the PTG path origin.
 
 
 The clearance will be updated here.
 
 
 m_clearance_dist_resolution
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::updateClearance(const double, const double, class mrpt::nav::ClearanceDiagram &) const --> void
updateNavDynamicState(...)
updateNavDynamicState(*args, **kwargs)
Overloaded function.
 
1. updateNavDynamicState(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, newState: mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState) -> None
 
2. updateNavDynamicState(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, newState: mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState, force_update: bool) -> None
 
To be invoked by the navigator *before* each navigation step, to let the
 PTG to react to changing dynamic conditions. * 
 
 
 onNewNavDynamicState(), m_nav_dyn_state  
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::updateNavDynamicState(const struct mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState &, const bool) --> void
updateTPObstacleSingle(...)
updateTPObstacleSingle(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, ox: float, oy: float, k: int, tp_obstacle_k: float) -> None
 
Like updateTPObstacle() but for one direction only (`k`) in TP-Space.
 `tp_obstacle_k` must be initialized with initTPObstacleSingle() before
 call (collision-free ranges, in "pseudometers", un-normalized). 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::updateTPObstacleSingle(double, double, uint16_t, double &) const --> void

Static methods inherited from CParameterizedTrajectoryGenerator:
Alpha2index(...) from builtins.PyCapsule
Alpha2index(alpha: float, num_paths: int) -> int
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::Alpha2index(double, const unsigned int) --> uint16_t
COLLISION_BEHAVIOR(...) from builtins.PyCapsule
COLLISION_BEHAVIOR() -> mrpt.pymrpt.mrpt.nav.PTG_collision_behavior_t
 
Defines the behavior when there is an obstacle *inside* the robot shape
 right at the beginning of a PTG trajectory.
 Default value: COLL_BEH_BACK_AWAY
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::COLLISION_BEHAVIOR() --> enum mrpt::nav::PTG_collision_behavior_t &
CreatePTG(...) from builtins.PyCapsule
CreatePTG(ptgClassName: str, cfg: mrpt.pymrpt.mrpt.config.CConfigFileBase, sSection: str, sKeyPrefix: str) -> mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator
 
The class factory for creating a PTG from a list of parameters in a
section of a given config file (physical file or in memory).
  Possible parameters are:
          - Those explained in
CParameterizedTrajectoryGenerator::loadFromConfigFile()
          - Those explained in the specific PTG being created (see list of
derived classes)
 
 `ptgClassName` can be any PTG class name which has been registered as
any other
 mrpt::serialization::CSerializable class.
 
 
 std::logic_error On invalid or missing parameters.
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::CreatePTG(const std::string &, const class mrpt::config::CConfigFileBase &, const std::string &, const std::string &) --> class std::shared_ptr<class mrpt::nav::CParameterizedTrajectoryGenerator>
GetRuntimeClassIdStatic(...) from builtins.PyCapsule
GetRuntimeClassIdStatic() -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::GetRuntimeClassIdStatic() --> const struct mrpt::rtti::TRuntimeClassId &
Index2alpha(...) from builtins.PyCapsule
Index2alpha(k: int, num_paths: int) -> float
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::Index2alpha(uint16_t, const unsigned int) --> double
OUTPUT_DEBUG_PATH_PREFIX(...) from builtins.PyCapsule
OUTPUT_DEBUG_PATH_PREFIX() -> str
 
The path used as defaul output in, for example, debugDumpInFiles.
 (Default="./reactivenav.logs/") 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::OUTPUT_DEBUG_PATH_PREFIX() --> std::string &

Data and other attributes inherited from CParameterizedTrajectoryGenerator:
TNavDynamicState = <class 'mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator.TNavDynamicState'>
Dynamic state that may affect the PTG path parameterization. 
 
nav_reactive

Methods inherited from mrpt.pymrpt.mrpt.rtti.CObject:
clone(...)
clone(self: mrpt.pymrpt.mrpt.rtti.CObject) -> mrpt.pymrpt.mrpt.rtti.CObject
 
Returns a deep copy (clone) of the object, indepently of its class. 
 
C++: mrpt::rtti::CObject::clone() const --> class mrpt::rtti::CObject *
duplicateGetSmartPtr(...)
duplicateGetSmartPtr(self: mrpt.pymrpt.mrpt.rtti.CObject) -> mrpt.pymrpt.mrpt.rtti.CObject
 
Makes a deep copy of the object and returns a smart pointer to it 
 
C++: mrpt::rtti::CObject::duplicateGetSmartPtr() const --> class std::shared_ptr<class mrpt::rtti::CObject>

Methods inherited from mrpt.pymrpt.mrpt.config.CLoadableOptions:
dumpToConsole(...)
dumpToConsole(self: mrpt.pymrpt.mrpt.config.CLoadableOptions) -> None
 
Just like  but sending the text to the console
 (std::cout) 
 
C++: mrpt::config::CLoadableOptions::dumpToConsole() const --> void
loadFromConfigFileName(...)
loadFromConfigFileName(self: mrpt.pymrpt.mrpt.config.CLoadableOptions, config_file: str, section: str) -> None
 
Behaves like loadFromConfigFile, but you can pass directly a file name
 and a temporary CConfigFile object will be created automatically to load
 the file.
 
 
 loadFromConfigFile
 
C++: mrpt::config::CLoadableOptions::loadFromConfigFileName(const std::string &, const std::string &) --> void
saveToConfigFileName(...)
saveToConfigFileName(self: mrpt.pymrpt.mrpt.config.CLoadableOptions, config_file: str, section: str) -> None
 
Behaves like saveToConfigFile, but you can pass directly a file name and
 a temporary CConfigFile object will be created automatically to save the
 file.
 
 
 saveToConfigFile, loadFromConfigFileName
 
C++: mrpt::config::CLoadableOptions::saveToConfigFileName(const std::string &, const std::string &) const --> void

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class CParameterizedTrajectoryGenerator(mrpt.pymrpt.mrpt.serialization.CSerializable, mrpt.pymrpt.mrpt.config.CLoadableOptions)
    This is the base class for any user-defined PTG.
  There is a class factory interface in
CParameterizedTrajectoryGenerator::CreatePTG.
 
 Papers:
  - J.L. Blanco, J. Gonzalez-Jimenez, J.A. Fernandez-Madrigal, "Extending
Obstacle Avoidance Methods through Multiple Parameter-Space Transformations",
Autonomous Robots, vol. 24, no. 1, 2008.
http://ingmec.ual.es/~jlblanco/papers/blanco2008eoa_DRAFT.pdf
 
 Changes history:
        - 30/JUN/2004: Creation (JLBC)
        - 16/SEP/2004: Totally redesigned.
        - 15/SEP/2005: Totally rewritten again, for integration into MRPT
Applications Repository.
        - 19/JUL/2009: Simplified to use only STL data types, and created the class
factory interface.
        - MAY/2016: Refactored into CParameterizedTrajectoryGenerator,
CPTG_DiffDrive_CollisionGridBased, PTG classes renamed.
        - 2016-2018: Many features added to support "PTG continuation", dynamic
paths depending on vehicle speeds, etc.
 
 
Method resolution order:
CParameterizedTrajectoryGenerator
mrpt.pymrpt.mrpt.serialization.CSerializable
mrpt.pymrpt.mrpt.rtti.CObject
mrpt.pymrpt.mrpt.config.CLoadableOptions
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
GetRuntimeClass(...)
GetRuntimeClass(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::GetRuntimeClass() const --> const struct mrpt::rtti::TRuntimeClassId *
PTG_IsIntoDomain(...)
PTG_IsIntoDomain(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, x: float, y: float) -> bool
 
Returns the same than inverseMap_WS2TP() but without any additional
 cost. The default implementation
 just calls inverseMap_WS2TP() and discards (k,d). 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::PTG_IsIntoDomain(double, double) const --> bool
__init__(self, /, *args, **kwargs)
Initialize self.  See help(type(self)) for accurate signature.
add_robotShape_to_setOfLines(...)
add_robotShape_to_setOfLines(*args, **kwargs)
Overloaded function.
 
1. add_robotShape_to_setOfLines(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, gl_shape: mrpt.pymrpt.mrpt.opengl.CSetOfLines) -> None
 
2. add_robotShape_to_setOfLines(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, gl_shape: mrpt.pymrpt.mrpt.opengl.CSetOfLines, origin: mrpt.pymrpt.mrpt.poses.CPose2D) -> None
 
Auxiliary function for rendering 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::add_robotShape_to_setOfLines(class mrpt::opengl::CSetOfLines &, const class mrpt::poses::CPose2D &) const --> void
alpha2index(...)
alpha2index(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, alpha: float) -> int
 
Discrete index value for the corresponding alpha value 
 index2alpha
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::alpha2index(double) const --> uint16_t
assign(...)
assign(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, : mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::operator=(const class mrpt::nav::CParameterizedTrajectoryGenerator &) --> class mrpt::nav::CParameterizedTrajectoryGenerator &
debugDumpInFiles(...)
debugDumpInFiles(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, ptg_name: str) -> bool
 
Dump PTG trajectories in four text files:
 `./reactivenav.logs/PTGs/PTG%i_{x,y,phi,d}.txt`
 Text files are loadable from MATLAB/Octave, and can be visualized with
 the script `[MRPT_DIR]/scripts/viewPTG.m`
 
 
 The directory "./reactivenav.logs/PTGs" will be created if doesn't
 exist.
 
 
 false on any error writing to disk.
 
 
 OUTPUT_DEBUG_PATH_PREFIX
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::debugDumpInFiles(const std::string &) const --> bool
deinitialize(...)
deinitialize(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> None
 
This must be called to de-initialize the PTG if some parameter is to be
 changed. After changing it, call initialize again 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::deinitialize() --> void
directionToMotionCommand(...)
directionToMotionCommand(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int) -> mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd
 
Converts a discretized "alpha" value into a feasible motion command or
 action. See derived classes for the meaning of these actions 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::directionToMotionCommand(uint16_t) const --> class std::shared_ptr<class mrpt::kinematics::CVehicleVelCmd>
evalClearanceSingleObstacle(...)
evalClearanceSingleObstacle(*args, **kwargs)
Overloaded function.
 
1. evalClearanceSingleObstacle(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, ox: float, oy: float, k: int, inout_realdist2clearance: Dict[float, float]) -> None
 
2. evalClearanceSingleObstacle(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, ox: float, oy: float, k: int, inout_realdist2clearance: Dict[float, float], treat_as_obstacle: bool) -> None
 
Evals the robot clearance for each robot pose along path `k`, for the
 real distances in
 the key of the map<>, then keep in the map value the minimum of its
 current stored clearance,
 or the computed clearance. In case of collision, clearance is zero.
 
 
 true: normal use for obstacles; false: compute
 shortest distances to a target point (no collision)
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::evalClearanceSingleObstacle(const double, const double, const unsigned short, class std::map<double, double> &, bool) const --> void
evalClearanceToRobotShape(...)
evalClearanceToRobotShape(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, ox: float, oy: float) -> float
 
Evals the clearance from an obstacle (ox,oy) in coordinates relative to
 the robot center. Zero or negative means collision. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::evalClearanceToRobotShape(const double, const double) const --> double
evalPathRelativePriority(...)
evalPathRelativePriority(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, target_distance: float) -> float
 
Query the PTG for the relative priority factor (0,1) of this PTG, in
 comparison to others, if the k-th path is to be selected. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::evalPathRelativePriority(uint16_t, double) const --> double
getActualUnloopedPathLength(...)
getActualUnloopedPathLength(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int) -> float
 
Returns the actual distance (in meters) of the path, discounting
 possible circular loops of the path (e.g. if it comes back to the
 origin).
 Default: refDistance 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getActualUnloopedPathLength(uint16_t) const --> double
getAlphaValuesCount(...)
getAlphaValuesCount(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> int
 
Get the number of different, discrete paths in this family 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getAlphaValuesCount() const --> uint16_t
getClearanceDecimatedPaths(...)
getClearanceDecimatedPaths(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> int
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getClearanceDecimatedPaths() const --> unsigned int
getClearanceStepCount(...)
getClearanceStepCount(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> int
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getClearanceStepCount() const --> unsigned int
getCurrentNavDynamicState(...)
getCurrentNavDynamicState(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getCurrentNavDynamicState() const --> const struct mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState &
getDescription(...)
getDescription(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> str
 
@{ 
 
 Gets a short textual description of the PTG and its parameters 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getDescription() const --> std::string
getMaxAngVel(...)
getMaxAngVel(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> float
 
Returns the maximum angular velocity expected from this PTG [rad/s] 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getMaxAngVel() const --> double
getMaxLinVel(...)
getMaxLinVel(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> float
 
Returns the maximum linear velocity expected from this PTG [m/s] 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getMaxLinVel() const --> double
getMaxRobotRadius(...)
getMaxRobotRadius(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> float
 
Returns an approximation of the robot radius. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getMaxRobotRadius() const --> double
getPathCount(...)
getPathCount(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> int
 
Get the number of different, discrete paths in this family 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getPathCount() const --> uint16_t
getPathDist(...)
getPathDist(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, step: int) -> float
 
Access path `k` ([0,N-1]=>[-pi,pi] in alpha): traversed distance at
 discrete step `step`.
 
 
 Distance in pseudometers (real distance, NOT normalized to [0,1]
 for [0,refDist])
 
 
 getPathStepCount(), getAlphaValuesCount() 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getPathDist(uint16_t, uint32_t) const --> double
getPathPose(...)
getPathPose(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, step: int) -> mrpt.pymrpt.mrpt.math.TPose2D
 
Access path `k` ([0,N-1]=>[-pi,pi] in alpha): pose of the vehicle at
 discrete step `step`.
 
 
 getPathStepCount(), getAlphaValuesCount(), getPathTwist() 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getPathPose(uint16_t, uint32_t) const --> struct mrpt::math::TPose2D
getPathStepCount(...)
getPathStepCount(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int) -> int
 
Access path `k` ([0,N-1]=>[-pi,pi] in alpha): number of discrete "steps"
 along the trajectory.
 May be actual steps from a numerical integration or an arbitrary small
 length for analytical PTGs.
 
 
 getAlphaValuesCount() 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getPathStepCount(uint16_t) const --> size_t
getPathStepDuration(...)
getPathStepDuration(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> float
 
Returns the duration (in seconds) of each "step"
 
 
 getPathStepCount() 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getPathStepDuration() const --> double
getPathStepForDist(...)
getPathStepForDist(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, dist: float, out_step: int) -> bool
 
Access path `k` ([0,N-1]=>[-pi,pi] in alpha): largest step count for
 which the traversed distance is < `dist`
 
 
 Distance in pseudometers (real distance, NOT normalized
 to [0,1] for [0,refDist])
 
 
 false if no step fulfills the condition for the given trajectory
 `k` (e.g. out of reference distance).
 Note that, anyway, the maximum distance (closest point) is returned in
 `out_step`.
 
 
 getPathStepCount(), getAlphaValuesCount() 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getPathStepForDist(uint16_t, double, unsigned int &) const --> bool
getPathTwist(...)
getPathTwist(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, step: int) -> mrpt::math::TTwist2D
 
Gets velocity ("twist") for path `k` ([0,N-1]=>[-pi,pi] in alpha),
 at vehicle discrete step `step`. The default implementation in this base
 class uses numerical differentiation to estimate the twist (vx,vy,omega).
 Velocity is given in "global" coordinates, relative to the starting pose
 of the robot at t=0 for this PTG path.
 
 
 getPathStepCount(), getAlphaValuesCount(), getPathPose() 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getPathTwist(uint16_t, uint32_t) const --> struct mrpt::math::TTwist2D
getRefDistance(...)
getRefDistance(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> float
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getRefDistance() const --> double
getScorePriority(...)
getScorePriority(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> float
 
When used in path planning, a multiplying factor (default=1.0) for the
 scores for this PTG. Assign values <1 to PTGs with low priority. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getScorePriority() const --> double
getSupportedKinematicVelocityCommand(...)
getSupportedKinematicVelocityCommand(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd
 
Returns an empty kinematic velocity command object of the type supported
 by this PTG.
 Can be queried to determine the expected kinematic interface of the PTG.
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::getSupportedKinematicVelocityCommand() const --> class std::shared_ptr<class mrpt::kinematics::CVehicleVelCmd>
index2alpha(...)
index2alpha(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int) -> float
 
Alpha value for the discrete corresponding value 
 alpha2index 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::index2alpha(uint16_t) const --> double
initClearanceDiagram(...)
initClearanceDiagram(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, cd: mrpt.pymrpt.mrpt.nav.ClearanceDiagram) -> None
 
Must be called to resize a CD to its correct size, before calling
 updateClearance() 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::initClearanceDiagram(class mrpt::nav::ClearanceDiagram &) const --> void
initTPObstacleSingle(...)
initTPObstacleSingle(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, TP_Obstacle_k: float) -> None
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::initTPObstacleSingle(uint16_t, double &) const --> void
initialize(...)
initialize(*args, **kwargs)
Overloaded function.
 
1. initialize(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> None
 
2. initialize(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, cacheFilename: str) -> None
 
3. initialize(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, cacheFilename: str, verbose: bool) -> None
 
Must be called after setting all PTG parameters and before requesting
 converting obstacles to TP-Space, inverseMap_WS2TP(), etc. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::initialize(const std::string &, const bool) --> void
inverseMap_WS2TP(...)
inverseMap_WS2TP(*args, **kwargs)
Overloaded function.
 
1. inverseMap_WS2TP(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, x: float, y: float, out_k: int, out_normalized_d: float) -> bool
 
2. inverseMap_WS2TP(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, x: float, y: float, out_k: int, out_normalized_d: float, tolerance_dist: float) -> bool
 
Computes the closest (alpha,d) TP coordinates of the trajectory point
 closest to the Workspace (WS)
   Cartesian coordinates (x,y), relative to the current robot frame.
 
 
 X coordinate of the query point, relative to the robot
 frame.
 
 
 Y coordinate of the query point, relative to the robot
 frame.
 
 
 Trajectory parameter index (discretized alpha value,
 0-based index).
 
 
 Trajectory distance, normalized such that D_max
 becomes 1.
 
 
 true if the distance between (x,y) and the actual trajectory
 point is below the given tolerance (in meters).
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::inverseMap_WS2TP(double, double, int &, double &, double) const --> bool
isBijectiveAt(...)
isBijectiveAt(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, step: int) -> bool
 
Returns true if a given TP-Space point maps to a unique point in
 Workspace, and viceversa. Default implementation returns `true`. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::isBijectiveAt(uint16_t, uint32_t) const --> bool
isInitialized(...)
isInitialized(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> bool
 
Returns true if `initialize()` has been called and there was no errors,
 so the PTG is ready to be queried for paths, obstacles, etc. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::isInitialized() const --> bool
isPointInsideRobotShape(...)
isPointInsideRobotShape(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, x: float, y: float) -> bool
 
Returns true if the point lies within the robot shape. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::isPointInsideRobotShape(const double, const double) const --> bool
loadDefaultParams(...)
loadDefaultParams(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> None
 
Loads a set of default parameters into the PTG. Users normally will call
 `loadFromConfigFile()` instead, this method is provided
 exclusively for the PTG-configurator tool. 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::loadDefaultParams() --> void
loadFromConfigFile(...)
loadFromConfigFile(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, cfg: mrpt.pymrpt.mrpt.config.CConfigFileBase, sSection: str) -> None
 
Parameters accepted by this base class:
   - `${sKeyPrefix}num_paths`: The number of different paths in this
 family (number of discrete `alpha` values).
   - `${sKeyPrefix}ref_distance`: The maximum distance in PTGs [meters]
   - `${sKeyPrefix}score_priority`: When used in path planning, a
 multiplying factor (default=1.0) for the scores for this PTG. Assign
 values <1 to PTGs with low priority.
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::loadFromConfigFile(const class mrpt::config::CConfigFileBase &, const std::string &) --> void
maxTimeInVelCmdNOP(...)
maxTimeInVelCmdNOP(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, path_k: int) -> float
 
Only for PTGs supporting supportVelCmdNOP(): this is the maximum time
 (in seconds) for which the path
 can be followed without re-issuing a new velcmd. Note that this is only
 an absolute maximum duration,
 navigation implementations will check for many other conditions. Default
 method in the base virtual class returns 0.
 
 
 Queried path `k` index  [0,N-1] 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::maxTimeInVelCmdNOP(int) const --> double
renderPathAsSimpleLine(...)
renderPathAsSimpleLine(*args, **kwargs)
Overloaded function.
 
1. renderPathAsSimpleLine(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, gl_obj: mrpt.pymrpt.mrpt.opengl.CSetOfLines) -> None
 
2. renderPathAsSimpleLine(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, gl_obj: mrpt.pymrpt.mrpt.opengl.CSetOfLines, decimate_distance: float) -> None
 
3. renderPathAsSimpleLine(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, k: int, gl_obj: mrpt.pymrpt.mrpt.opengl.CSetOfLines, decimate_distance: float, max_path_distance: float) -> None
 
Returns the representation of one trajectory of this PTG as a 3D OpenGL
 object (a simple curved line).
 
 
 The 0-based index of the selected trajectory (discrete
 "alpha" parameter).
 
 
 Output object.
 
 
 Minimum distance between path points (in
 meters).
 
 
 If >=0, cut the path at this distance (in
 meters).
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::renderPathAsSimpleLine(const unsigned short, class mrpt::opengl::CSetOfLines &, const double, const double) const --> void
saveToConfigFile(...)
saveToConfigFile(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, cfg: mrpt.pymrpt.mrpt.config.CConfigFileBase, sSection: str) -> None
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::saveToConfigFile(class mrpt::config::CConfigFileBase &, const std::string &) const --> void
setClearanceDecimatedPaths(...)
setClearanceDecimatedPaths(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, num: int) -> None
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::setClearanceDecimatedPaths(const unsigned int) --> void
setClearanceStepCount(...)
setClearanceStepCount(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, res: int) -> None
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::setClearanceStepCount(const unsigned int) --> void
setRefDistance(...)
setRefDistance(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, refDist: float) -> None
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::setRefDistance(const double) --> void
setScorePriorty(...)
setScorePriorty(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, prior: float) -> None
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::setScorePriorty(double) --> void
supportSpeedAtTarget(...)
supportSpeedAtTarget(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> bool
 
Returns true if this PTG takes into account the desired velocity at
 target. 
 
 updateNavDynamicState() 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::supportSpeedAtTarget() const --> bool
supportVelCmdNOP(...)
supportVelCmdNOP(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> bool
 
Returns true if it is possible to stop sending velocity commands to the
 robot and, still, the
 robot controller will be able to keep following the last sent trajectory
 ("NOP" velocity commands).
 Default implementation returns "false". 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::supportVelCmdNOP() const --> bool
updateClearance(...)
updateClearance(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, ox: float, oy: float, cd: mrpt.pymrpt.mrpt.nav.ClearanceDiagram) -> None
 
Updates the clearance diagram given one (ox,oy) obstacle point, in
 coordinates relative
 to the PTG path origin.
 
 
 The clearance will be updated here.
 
 
 m_clearance_dist_resolution
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::updateClearance(const double, const double, class mrpt::nav::ClearanceDiagram &) const --> void
updateNavDynamicState(...)
updateNavDynamicState(*args, **kwargs)
Overloaded function.
 
1. updateNavDynamicState(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, newState: mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState) -> None
 
2. updateNavDynamicState(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, newState: mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState, force_update: bool) -> None
 
To be invoked by the navigator *before* each navigation step, to let the
 PTG to react to changing dynamic conditions. * 
 
 
 onNewNavDynamicState(), m_nav_dyn_state  
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::updateNavDynamicState(const struct mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState &, const bool) --> void
updateTPObstacleSingle(...)
updateTPObstacleSingle(self: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator, ox: float, oy: float, k: int, tp_obstacle_k: float) -> None
 
Like updateTPObstacle() but for one direction only (`k`) in TP-Space.
 `tp_obstacle_k` must be initialized with initTPObstacleSingle() before
 call (collision-free ranges, in "pseudometers", un-normalized). 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::updateTPObstacleSingle(double, double, uint16_t, double &) const --> void

Static methods defined here:
Alpha2index(...) from builtins.PyCapsule
Alpha2index(alpha: float, num_paths: int) -> int
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::Alpha2index(double, const unsigned int) --> uint16_t
COLLISION_BEHAVIOR(...) from builtins.PyCapsule
COLLISION_BEHAVIOR() -> mrpt.pymrpt.mrpt.nav.PTG_collision_behavior_t
 
Defines the behavior when there is an obstacle *inside* the robot shape
 right at the beginning of a PTG trajectory.
 Default value: COLL_BEH_BACK_AWAY
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::COLLISION_BEHAVIOR() --> enum mrpt::nav::PTG_collision_behavior_t &
CreatePTG(...) from builtins.PyCapsule
CreatePTG(ptgClassName: str, cfg: mrpt.pymrpt.mrpt.config.CConfigFileBase, sSection: str, sKeyPrefix: str) -> mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator
 
The class factory for creating a PTG from a list of parameters in a
section of a given config file (physical file or in memory).
  Possible parameters are:
          - Those explained in
CParameterizedTrajectoryGenerator::loadFromConfigFile()
          - Those explained in the specific PTG being created (see list of
derived classes)
 
 `ptgClassName` can be any PTG class name which has been registered as
any other
 mrpt::serialization::CSerializable class.
 
 
 std::logic_error On invalid or missing parameters.
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::CreatePTG(const std::string &, const class mrpt::config::CConfigFileBase &, const std::string &, const std::string &) --> class std::shared_ptr<class mrpt::nav::CParameterizedTrajectoryGenerator>
GetRuntimeClassIdStatic(...) from builtins.PyCapsule
GetRuntimeClassIdStatic() -> mrpt.pymrpt.mrpt.rtti.TRuntimeClassId
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::GetRuntimeClassIdStatic() --> const struct mrpt::rtti::TRuntimeClassId &
Index2alpha(...) from builtins.PyCapsule
Index2alpha(k: int, num_paths: int) -> float
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::Index2alpha(uint16_t, const unsigned int) --> double
OUTPUT_DEBUG_PATH_PREFIX(...) from builtins.PyCapsule
OUTPUT_DEBUG_PATH_PREFIX() -> str
 
The path used as defaul output in, for example, debugDumpInFiles.
 (Default="./reactivenav.logs/") 
 
C++: mrpt::nav::CParameterizedTrajectoryGenerator::OUTPUT_DEBUG_PATH_PREFIX() --> std::string &

Data and other attributes defined here:
TNavDynamicState = <class 'mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator.TNavDynamicState'>
Dynamic state that may affect the PTG path parameterization. 
 
nav_reactive

Methods inherited from mrpt.pymrpt.mrpt.rtti.CObject:
clone(...)
clone(self: mrpt.pymrpt.mrpt.rtti.CObject) -> mrpt.pymrpt.mrpt.rtti.CObject
 
Returns a deep copy (clone) of the object, indepently of its class. 
 
C++: mrpt::rtti::CObject::clone() const --> class mrpt::rtti::CObject *
duplicateGetSmartPtr(...)
duplicateGetSmartPtr(self: mrpt.pymrpt.mrpt.rtti.CObject) -> mrpt.pymrpt.mrpt.rtti.CObject
 
Makes a deep copy of the object and returns a smart pointer to it 
 
C++: mrpt::rtti::CObject::duplicateGetSmartPtr() const --> class std::shared_ptr<class mrpt::rtti::CObject>

Methods inherited from mrpt.pymrpt.mrpt.config.CLoadableOptions:
dumpToConsole(...)
dumpToConsole(self: mrpt.pymrpt.mrpt.config.CLoadableOptions) -> None
 
Just like  but sending the text to the console
 (std::cout) 
 
C++: mrpt::config::CLoadableOptions::dumpToConsole() const --> void
loadFromConfigFileName(...)
loadFromConfigFileName(self: mrpt.pymrpt.mrpt.config.CLoadableOptions, config_file: str, section: str) -> None
 
Behaves like loadFromConfigFile, but you can pass directly a file name
 and a temporary CConfigFile object will be created automatically to load
 the file.
 
 
 loadFromConfigFile
 
C++: mrpt::config::CLoadableOptions::loadFromConfigFileName(const std::string &, const std::string &) --> void
saveToConfigFileName(...)
saveToConfigFileName(self: mrpt.pymrpt.mrpt.config.CLoadableOptions, config_file: str, section: str) -> None
 
Behaves like saveToConfigFile, but you can pass directly a file name and
 a temporary CConfigFile object will be created automatically to save the
 file.
 
 
 saveToConfigFile, loadFromConfigFileName
 
C++: mrpt::config::CLoadableOptions::saveToConfigFileName(const std::string &, const std::string &) const --> void

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class CReactiveNavigationSystem(CAbstractPTGBasedReactive)
    See base class CAbstractPTGBasedReactive for a description and instructions
of use.
This particular implementation assumes a 2D robot shape which can be
polygonal or circular (depending on the selected PTGs).
 
Publications:
 - Blanco, Jose-Luis, Javier Gonzalez, and Juan-Antonio Fernandez-Madrigal.
["Extending obstacle avoidance methods through multiple parameter-space
transformations"](http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.190.4672&rep=rep1&type=pdf).
Autonomous Robots 24.1 (2008): 29-48.
 
Class history:
- 17/JUN/2004: First design.
- 16/SEP/2004: Totally redesigned, according to document "MultiParametric
Based Space Transformation for Reactive Navigation"
- 29/SEP/2005: Totally rewritten again, for integration into MRPT library and
according to the ICRA paper.
- 17/OCT/2007: Whole code updated to accomodate to MRPT 0.5 and make it
portable to Linux.
- DEC/2013: Code refactoring between this class and
CAbstractHolonomicReactiveMethod
- FEB/2017: Refactoring of all parameters for a consistent organization in
sections by class names (MRPT 1.5.0)
 
This class requires a number of parameters which are usually provided via an
external config (".ini") file.
Alternatively, a memory-only object can be used to avoid physical files, see
mrpt::config::CConfigFileMemory.
 
A template config file can be generated at any moment by the user by calling
saveConfigFile() with a default-constructed object.
 
Next we provide a self-documented template config file; or see it online:
https://github.com/MRPT/mrpt/blob/master/share/mrpt/config_files/navigation-ptgs/reactive2d_config.ini
 
 
 
 
CAbstractNavigatorCParameterizedTrajectoryGenerator,
CAbstractHolonomicReactiveMethod
 
 
Method resolution order:
CReactiveNavigationSystem
CAbstractPTGBasedReactive
CWaypointsNavigator
CAbstractNavigator
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
__init__(...)
__init__(*args, **kwargs)
Overloaded function.
 
1. __init__(self: mrpt.pymrpt.mrpt.nav.CReactiveNavigationSystem, arg0: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface) -> None
 
doc
 
2. __init__(self: mrpt.pymrpt.mrpt.nav.CReactiveNavigationSystem, arg0: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface, arg1: bool) -> None
 
doc
 
3. __init__(self: mrpt.pymrpt.mrpt.nav.CReactiveNavigationSystem, arg0: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface, arg1: bool, arg2: bool) -> None
 
doc
 
4. __init__(self: mrpt.pymrpt.mrpt.nav.CReactiveNavigationSystem, react_iterf_impl: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface, enableConsoleOutput: bool, enableLogFile: bool, logFileDirectory: str) -> None
changeRobotCircularShapeRadius(...)
changeRobotCircularShapeRadius(self: mrpt.pymrpt.mrpt.nav.CReactiveNavigationSystem, R: float) -> None
 
Defines the 2D circular robot shape radius, used for some PTGs for
 collision checking. 
 
C++: mrpt::nav::CReactiveNavigationSystem::changeRobotCircularShapeRadius(const double) --> void
changeRobotShape(...)
changeRobotShape(self: mrpt.pymrpt.mrpt.nav.CReactiveNavigationSystem, shape: mrpt.pymrpt.mrpt.math.CPolygon) -> None
 
Defines the 2D polygonal robot shape, used for some PTGs for collision
 checking. 
 
C++: mrpt::nav::CReactiveNavigationSystem::changeRobotShape(const class mrpt::math::CPolygon &) --> void
checkCollisionWithLatestObstacles(...)
checkCollisionWithLatestObstacles(self: mrpt.pymrpt.mrpt.nav.CReactiveNavigationSystem, relative_robot_pose: mrpt.pymrpt.mrpt.math.TPose2D) -> bool
 
C++: mrpt::nav::CReactiveNavigationSystem::checkCollisionWithLatestObstacles(const struct mrpt::math::TPose2D &) const --> bool
getPTG(...)
getPTG(self: mrpt.pymrpt.mrpt.nav.CReactiveNavigationSystem, i: int) -> mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator
 
C++: mrpt::nav::CReactiveNavigationSystem::getPTG(size_t) --> class mrpt::nav::CParameterizedTrajectoryGenerator *
getPTG_count(...)
getPTG_count(self: mrpt.pymrpt.mrpt.nav.CReactiveNavigationSystem) -> int
 
C++: mrpt::nav::CReactiveNavigationSystem::getPTG_count() const --> size_t
loadConfigFile(...)
loadConfigFile(self: mrpt.pymrpt.mrpt.nav.CReactiveNavigationSystem, c: mrpt.pymrpt.mrpt.config.CConfigFileBase) -> None
 
C++: mrpt::nav::CReactiveNavigationSystem::loadConfigFile(const class mrpt::config::CConfigFileBase &) --> void
saveConfigFile(...)
saveConfigFile(self: mrpt.pymrpt.mrpt.nav.CReactiveNavigationSystem, c: mrpt.pymrpt.mrpt.config.CConfigFileBase) -> None
 
C++: mrpt::nav::CReactiveNavigationSystem::saveConfigFile(class mrpt::config::CConfigFileBase &) const --> void

Data descriptors defined here:
params_reactive_nav

Data and other attributes defined here:
TReactiveNavigatorParams = <class 'mrpt.pymrpt.mrpt.nav.CReactiveNavigationSystem.TReactiveNavigatorParams'>

Methods inherited from CAbstractPTGBasedReactive:
changeCurrentRobotSpeedLimits(...)
changeCurrentRobotSpeedLimits(self: mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive) -> mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd.TVelCmdParams
 
Changes the current, global (honored for all PTGs) robot speed limits,
 via returning a reference to a structure that holds those limits 
 
C++: mrpt::nav::CAbstractPTGBasedReactive::changeCurrentRobotSpeedLimits() --> struct mrpt::kinematics::CVehicleVelCmd::TVelCmdParams &
enableKeepLogRecords(...)
enableKeepLogRecords(*args, **kwargs)
Overloaded function.
 
1. enableKeepLogRecords(self: mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive) -> None
 
2. enableKeepLogRecords(self: mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive, enable: bool) -> None
 
Enables keeping an internal registry of navigation logs that can be
 queried with getLastLogRecord() 
 
C++: mrpt::nav::CAbstractPTGBasedReactive::enableKeepLogRecords(bool) --> void
enableLogFile(...)
enableLogFile(self: mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive, enable: bool) -> None
 
Enables/disables saving log files. 
 
C++: mrpt::nav::CAbstractPTGBasedReactive::enableLogFile(bool) --> void
enableTimeLog(...)
enableTimeLog(*args, **kwargs)
Overloaded function.
 
1. enableTimeLog(self: mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive) -> None
 
2. enableTimeLog(self: mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive, enable: bool) -> None
 
Enables/disables the detailed time logger (default:disabled upon
 construction)
  When enabled, a report will be dumped to std::cout upon destruction.
 
 
 getTimeLogger
 
C++: mrpt::nav::CAbstractPTGBasedReactive::enableTimeLog(bool) --> void
getCurrentRobotSpeedLimits(...)
getCurrentRobotSpeedLimits(self: mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive) -> mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd.TVelCmdParams
 
Get the current, global (honored for all PTGs) robot speed limits 
 
C++: mrpt::nav::CAbstractPTGBasedReactive::getCurrentRobotSpeedLimits() const --> const struct mrpt::kinematics::CVehicleVelCmd::TVelCmdParams &
getLastLogRecord(...)
getLastLogRecord(self: mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive, o: mrpt.pymrpt.mrpt.nav.CLogFileRecord) -> None
 
Provides a copy of the last log record with information about execution.
 
 
 An object where the log will be stored into.
 
 
 Log records are not prepared unless either "enableLogFile" is
 enabled in the constructor or "enableLogFile()" has been called.
 
C++: mrpt::nav::CAbstractPTGBasedReactive::getLastLogRecord(class mrpt::nav::CLogFileRecord &) --> void
getLogFileDirectory(...)
getLogFileDirectory(self: mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive) -> str
 
C++: mrpt::nav::CAbstractPTGBasedReactive::getLogFileDirectory() const --> std::string
getTargetApproachSlowDownDistance(...)
getTargetApproachSlowDownDistance(self: mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive) -> float
 
Returns this parameter for the first inner holonomic navigator instances
 [m] (should be the same in all of them?) 
 
C++: mrpt::nav::CAbstractPTGBasedReactive::getTargetApproachSlowDownDistance() const --> double
getTimeLogger(...)
getTimeLogger(self: mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive) -> mrpt.pymrpt.mrpt.system.CTimeLogger
 
Gives access to a const-ref to the internal time logger 
 
 enableTimeLog 
 
C++: mrpt::nav::CAbstractPTGBasedReactive::getTimeLogger() const --> const class mrpt::system::CTimeLogger &
initialize(...)
initialize(self: mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive) -> None
 
Must be called for loading collision grids, or the first navigation
 command may last a long time to be executed.
 Internally, it just calls STEP1_CollisionGridsBuilder().
 
C++: mrpt::nav::CAbstractPTGBasedReactive::initialize() --> void
setHolonomicMethod(...)
setHolonomicMethod(self: mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive, method: str, cfgBase: mrpt.pymrpt.mrpt.config.CConfigFileBase) -> None
 
Selects which one from the set of available holonomic methods will be
 used
  into transformed TP-Space, and sets its configuration from a
 configuration file.
 Available methods: class names of those derived from
 CAbstractHolonomicReactiveMethod
 
C++: mrpt::nav::CAbstractPTGBasedReactive::setHolonomicMethod(const std::string &, const class mrpt::config::CConfigFileBase &) --> void
setLogFileDirectory(...)
setLogFileDirectory(self: mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive, sDir: str) -> None
 
Changes the prefix for new log files. 
 
C++: mrpt::nav::CAbstractPTGBasedReactive::setLogFileDirectory(const std::string &) --> void
setTargetApproachSlowDownDistance(...)
setTargetApproachSlowDownDistance(self: mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive, dist: float) -> None
 
Changes this parameter in all inner holonomic navigator instances [m].
 
C++: mrpt::nav::CAbstractPTGBasedReactive::setTargetApproachSlowDownDistance(const double) --> void

Data descriptors inherited from CAbstractPTGBasedReactive:
params_abstract_ptg_navigator

Data and other attributes inherited from CAbstractPTGBasedReactive:
TAbstractPTGNavigatorParams = <class 'mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive.TAbstractPTGNavigatorParams'>
TNavigationParamsPTG = <class 'mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive.TNavigationParamsPTG'>
The struct for configuring navigation requests to
CAbstractPTGBasedReactive and derived classes.

Methods inherited from CWaypointsNavigator:
beginWaypointsAccess(...)
beginWaypointsAccess(self: mrpt.pymrpt.mrpt.nav.CWaypointsNavigator) -> mrpt.pymrpt.mrpt.nav.TWaypointStatusSequence
 
Gets a write-enabled reference to the list of waypoints, simultanously
 acquiring the critical section mutex.
 Caller must call endWaypointsAccess() when done editing the waypoints.
 
C++: mrpt::nav::CWaypointsNavigator::beginWaypointsAccess() --> struct mrpt::nav::TWaypointStatusSequence &
cancel(...)
cancel(self: mrpt.pymrpt.mrpt.nav.CWaypointsNavigator) -> None
 
Cancel current navegation. 
 
C++: mrpt::nav::CWaypointsNavigator::cancel() --> void
endWaypointsAccess(...)
endWaypointsAccess(self: mrpt.pymrpt.mrpt.nav.CWaypointsNavigator) -> None
 
Must be called after beginWaypointsAccess() 
 
C++: mrpt::nav::CWaypointsNavigator::endWaypointsAccess() --> void
getWaypointNavStatus(...)
getWaypointNavStatus(*args, **kwargs)
Overloaded function.
 
1. getWaypointNavStatus(self: mrpt.pymrpt.mrpt.nav.CWaypointsNavigator, out_nav_status: mrpt.pymrpt.mrpt.nav.TWaypointStatusSequence) -> None
 
Get a copy of the control structure which describes the progress status
 of the waypoint navigation. 
 
C++: mrpt::nav::CWaypointsNavigator::getWaypointNavStatus(struct mrpt::nav::TWaypointStatusSequence &) const --> void
 
2. getWaypointNavStatus(self: mrpt.pymrpt.mrpt.nav.CWaypointsNavigator) -> mrpt.pymrpt.mrpt.nav.TWaypointStatusSequence
 
Get a copy of the control structure which describes the progress status
 of the waypoint navigation.
 
         
 
C++: mrpt::nav::CWaypointsNavigator::getWaypointNavStatus() const --> struct mrpt::nav::TWaypointStatusSequence
isRelativePointReachable(...)
isRelativePointReachable(self: mrpt.pymrpt.mrpt.nav.CWaypointsNavigator, wp_local_wrt_robot: mrpt::math::TPoint2D_<double>) -> bool
 
Returns `true` if, according to the information gathered at the last
 navigation step,
 there is a free path to the given point; `false` otherwise: if way is
 blocked or there is missing information,
 the point is out of range for the existing PTGs, etc. 
 
C++: mrpt::nav::CWaypointsNavigator::isRelativePointReachable(const struct mrpt::math::TPoint2D_<double> &) const --> bool
navigateWaypoints(...)
navigateWaypoints(self: mrpt.pymrpt.mrpt.nav.CWaypointsNavigator, nav_request: mrpt.pymrpt.mrpt.nav.TWaypointSequence) -> None
 
Waypoint navigation request. This immediately cancels any other previous
 on-going navigation.
 
 
 CAbstractNavigator::navigate() for single waypoint navigation
 requests.
 
C++: mrpt::nav::CWaypointsNavigator::navigateWaypoints(const struct mrpt::nav::TWaypointSequence &) --> void
navigationStep(...)
navigationStep(self: mrpt.pymrpt.mrpt.nav.CWaypointsNavigator) -> None
 
C++: mrpt::nav::CWaypointsNavigator::navigationStep() --> void

Data descriptors inherited from CWaypointsNavigator:
params_waypoints_navigator

Data and other attributes inherited from CWaypointsNavigator:
TNavigationParamsWaypoints = <class 'mrpt.pymrpt.mrpt.nav.CWaypointsNavigator.TNavigationParamsWaypoints'>
The struct for configuring navigation requests to CWaypointsNavigator
and derived classes.
TWaypointsNavigatorParams = <class 'mrpt.pymrpt.mrpt.nav.CWaypointsNavigator.TWaypointsNavigatorParams'>

Methods inherited from CAbstractNavigator:
enableRethrowNavExceptions(...)
enableRethrowNavExceptions(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator, enable: bool) -> None
 
By default, error exceptions on navigationStep() will dump an error
 message to the output logger interface. If rethrow is enabled
 (default=false), the error message will be reported as well, but
 exceptions will be re-thrown.
 
C++: mrpt::nav::CAbstractNavigator::enableRethrowNavExceptions(const bool) --> void
getCurrentState(...)
getCurrentState(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator) -> mrpt.pymrpt.mrpt.nav.CAbstractNavigator.TState
 
Returns the current navigator state. 
 
C++: mrpt::nav::CAbstractNavigator::getCurrentState() const --> enum mrpt::nav::CAbstractNavigator::TState
getDelaysTimeLogger(...)
getDelaysTimeLogger(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator) -> mrpt.pymrpt.mrpt.system.CTimeLogger
 
Gives access to a const-ref to the internal time logger used to estimate
 delays 
 
 getTimeLogger() in derived classes 
 
C++: mrpt::nav::CAbstractNavigator::getDelaysTimeLogger() const --> const class mrpt::system::CTimeLogger &
getErrorReason(...)
getErrorReason(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator) -> mrpt::nav::CAbstractNavigator::TErrorReason
 
In case of state=NAV_ERROR, this returns the reason for the error.
 Error state is reseted every time a new navigation starts with
 a call to navigate(), or when resetNavError() is called.
 
C++: mrpt::nav::CAbstractNavigator::getErrorReason() const --> const struct mrpt::nav::CAbstractNavigator::TErrorReason &
isRethrowNavExceptionsEnabled(...)
isRethrowNavExceptionsEnabled(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator) -> bool
 
C++: mrpt::nav::CAbstractNavigator::isRethrowNavExceptionsEnabled() const --> bool
resetNavError(...)
resetNavError(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator) -> None
 
Resets a `NAV_ERROR` state back to `IDLE` 
 
C++: mrpt::nav::CAbstractNavigator::resetNavError() --> void
resume(...)
resume(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator) -> None
 
Continues with suspended navigation. 
 suspend 
 
C++: mrpt::nav::CAbstractNavigator::resume() --> void
suspend(...)
suspend(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator) -> None
 
Suspend current navegation. 
 resume 
 
C++: mrpt::nav::CAbstractNavigator::suspend() --> void

Data descriptors inherited from CAbstractNavigator:
m_navProfiler
params_abstract_navigator

Data and other attributes inherited from CAbstractNavigator:
ERR_CANNOT_REACH_TARGET = <TErrorCode.ERR_CANNOT_REACH_TARGET: 2>
ERR_EMERGENCY_STOP = <TErrorCode.ERR_EMERGENCY_STOP: 1>
ERR_NONE = <TErrorCode.ERR_NONE: 0>
ERR_OTHER = <TErrorCode.ERR_OTHER: 3>
IDLE = <TState.IDLE: 0>
NAVIGATING = <TState.NAVIGATING: 1>
NAV_ERROR = <TState.NAV_ERROR: 3>
SUSPENDED = <TState.SUSPENDED: 2>
TAbstractNavigatorParams = <class 'mrpt.pymrpt.mrpt.nav.CAbstractNavigator.TAbstractNavigatorParams'>
@}
TErrorCode = <class 'mrpt.pymrpt.mrpt.nav.CAbstractNavigator.TErrorCode'>
TErrorReason = <class 'mrpt.pymrpt.mrpt.nav.CAbstractNavigator.TErrorReason'>
TNavigationParams = <class 'mrpt.pymrpt.mrpt.nav.CAbstractNavigator.TNavigationParams'>
The struct for configuring navigation requests. Used in
CAbstractPTGBasedReactive::navigate()
TNavigationParamsBase = <class 'mrpt.pymrpt.mrpt.nav.CAbstractNavigator.TNavigationParamsBase'>
Base for all high-level navigation commands. See derived classes
TState = <class 'mrpt.pymrpt.mrpt.nav.CAbstractNavigator.TState'>
TargetInfo = <class 'mrpt.pymrpt.mrpt.nav.CAbstractNavigator.TargetInfo'>
Individual target info in CAbstractNavigator::TNavigationParamsBase and
derived classes

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class CReactiveNavigationSystem3D(CAbstractPTGBasedReactive)
    See base class CAbstractPTGBasedReactive for a description and instructions
of use.
This particular implementation assumes a 3D (or "2.5D") robot shape model,
build as a vertical stack of "2D slices".
 
 Paper describing the method:
 - M. Jaimez-Tarifa, J. Gonzalez-Jimenez, J.L. Blanco,
   "Efficient Reactive Navigation with Exact Collision Determination for 3D
Robot Shapes",
    International Journal of Advanced Robotic Systems, 2015.
 
Class history:
- SEP/2012: First design.
- JUL/2013: Integrated into MRPT library.
- DEC/2013: Code refactoring between this class and
CAbstractHolonomicReactiveMethod
- FEB/2017: Refactoring of all parameters for a consistent organization in
sections by class names (MRPT 1.5.0)
 
This class requires a number of parameters which are usually provided via an
external config (".ini") file.
Alternatively, a memory-only object can be used to avoid physical files, see
mrpt::config::CConfigFileMemory.
 
A template config file can be generated at any moment by the user by calling
saveConfigFile() with a default-constructed object.
 
Next we provide a self-documented template config file; or see it online:
https://github.com/MRPT/mrpt/blob/master/share/mrpt/config_files/navigation-ptgs/reactive3d_config.ini
 
 
 
 
CAbstractNavigatorCParameterizedTrajectoryGenerator,
CAbstractHolonomicReactiveMethod
 
 
Method resolution order:
CReactiveNavigationSystem3D
CAbstractPTGBasedReactive
CWaypointsNavigator
CAbstractNavigator
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
__init__(...)
__init__(*args, **kwargs)
Overloaded function.
 
1. __init__(self: mrpt.pymrpt.mrpt.nav.CReactiveNavigationSystem3D, arg0: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface) -> None
 
doc
 
2. __init__(self: mrpt.pymrpt.mrpt.nav.CReactiveNavigationSystem3D, arg0: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface, arg1: bool) -> None
 
doc
 
3. __init__(self: mrpt.pymrpt.mrpt.nav.CReactiveNavigationSystem3D, arg0: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface, arg1: bool, arg2: bool) -> None
 
doc
 
4. __init__(self: mrpt.pymrpt.mrpt.nav.CReactiveNavigationSystem3D, react_iterf_impl: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface, enableConsoleOutput: bool, enableLogFile: bool, logFileDirectory: str) -> None
changeRobotShape(...)
changeRobotShape(self: mrpt.pymrpt.mrpt.nav.CReactiveNavigationSystem3D, robotShape: mrpt.pymrpt.mrpt.nav.TRobotShape) -> None
 
Change the robot shape, which is taken into account for collision grid
 building. 
 
C++: mrpt::nav::CReactiveNavigationSystem3D::changeRobotShape(struct mrpt::nav::TRobotShape) --> void
checkCollisionWithLatestObstacles(...)
checkCollisionWithLatestObstacles(self: mrpt.pymrpt.mrpt.nav.CReactiveNavigationSystem3D, relative_robot_pose: mrpt.pymrpt.mrpt.math.TPose2D) -> bool
 
C++: mrpt::nav::CReactiveNavigationSystem3D::checkCollisionWithLatestObstacles(const struct mrpt::math::TPose2D &) const --> bool
getPTG(...)
getPTG(self: mrpt.pymrpt.mrpt.nav.CReactiveNavigationSystem3D, i: int) -> mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator
 
C++: mrpt::nav::CReactiveNavigationSystem3D::getPTG(size_t) --> class mrpt::nav::CParameterizedTrajectoryGenerator *
getPTG_count(...)
getPTG_count(self: mrpt.pymrpt.mrpt.nav.CReactiveNavigationSystem3D) -> int
 
C++: mrpt::nav::CReactiveNavigationSystem3D::getPTG_count() const --> size_t
loadConfigFile(...)
loadConfigFile(self: mrpt.pymrpt.mrpt.nav.CReactiveNavigationSystem3D, c: mrpt.pymrpt.mrpt.config.CConfigFileBase) -> None
 
C++: mrpt::nav::CReactiveNavigationSystem3D::loadConfigFile(const class mrpt::config::CConfigFileBase &) --> void
saveConfigFile(...)
saveConfigFile(self: mrpt.pymrpt.mrpt.nav.CReactiveNavigationSystem3D, c: mrpt.pymrpt.mrpt.config.CConfigFileBase) -> None
 
C++: mrpt::nav::CReactiveNavigationSystem3D::saveConfigFile(class mrpt::config::CConfigFileBase &) const --> void

Methods inherited from CAbstractPTGBasedReactive:
changeCurrentRobotSpeedLimits(...)
changeCurrentRobotSpeedLimits(self: mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive) -> mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd.TVelCmdParams
 
Changes the current, global (honored for all PTGs) robot speed limits,
 via returning a reference to a structure that holds those limits 
 
C++: mrpt::nav::CAbstractPTGBasedReactive::changeCurrentRobotSpeedLimits() --> struct mrpt::kinematics::CVehicleVelCmd::TVelCmdParams &
enableKeepLogRecords(...)
enableKeepLogRecords(*args, **kwargs)
Overloaded function.
 
1. enableKeepLogRecords(self: mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive) -> None
 
2. enableKeepLogRecords(self: mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive, enable: bool) -> None
 
Enables keeping an internal registry of navigation logs that can be
 queried with getLastLogRecord() 
 
C++: mrpt::nav::CAbstractPTGBasedReactive::enableKeepLogRecords(bool) --> void
enableLogFile(...)
enableLogFile(self: mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive, enable: bool) -> None
 
Enables/disables saving log files. 
 
C++: mrpt::nav::CAbstractPTGBasedReactive::enableLogFile(bool) --> void
enableTimeLog(...)
enableTimeLog(*args, **kwargs)
Overloaded function.
 
1. enableTimeLog(self: mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive) -> None
 
2. enableTimeLog(self: mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive, enable: bool) -> None
 
Enables/disables the detailed time logger (default:disabled upon
 construction)
  When enabled, a report will be dumped to std::cout upon destruction.
 
 
 getTimeLogger
 
C++: mrpt::nav::CAbstractPTGBasedReactive::enableTimeLog(bool) --> void
getCurrentRobotSpeedLimits(...)
getCurrentRobotSpeedLimits(self: mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive) -> mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd.TVelCmdParams
 
Get the current, global (honored for all PTGs) robot speed limits 
 
C++: mrpt::nav::CAbstractPTGBasedReactive::getCurrentRobotSpeedLimits() const --> const struct mrpt::kinematics::CVehicleVelCmd::TVelCmdParams &
getLastLogRecord(...)
getLastLogRecord(self: mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive, o: mrpt.pymrpt.mrpt.nav.CLogFileRecord) -> None
 
Provides a copy of the last log record with information about execution.
 
 
 An object where the log will be stored into.
 
 
 Log records are not prepared unless either "enableLogFile" is
 enabled in the constructor or "enableLogFile()" has been called.
 
C++: mrpt::nav::CAbstractPTGBasedReactive::getLastLogRecord(class mrpt::nav::CLogFileRecord &) --> void
getLogFileDirectory(...)
getLogFileDirectory(self: mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive) -> str
 
C++: mrpt::nav::CAbstractPTGBasedReactive::getLogFileDirectory() const --> std::string
getTargetApproachSlowDownDistance(...)
getTargetApproachSlowDownDistance(self: mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive) -> float
 
Returns this parameter for the first inner holonomic navigator instances
 [m] (should be the same in all of them?) 
 
C++: mrpt::nav::CAbstractPTGBasedReactive::getTargetApproachSlowDownDistance() const --> double
getTimeLogger(...)
getTimeLogger(self: mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive) -> mrpt.pymrpt.mrpt.system.CTimeLogger
 
Gives access to a const-ref to the internal time logger 
 
 enableTimeLog 
 
C++: mrpt::nav::CAbstractPTGBasedReactive::getTimeLogger() const --> const class mrpt::system::CTimeLogger &
initialize(...)
initialize(self: mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive) -> None
 
Must be called for loading collision grids, or the first navigation
 command may last a long time to be executed.
 Internally, it just calls STEP1_CollisionGridsBuilder().
 
C++: mrpt::nav::CAbstractPTGBasedReactive::initialize() --> void
setHolonomicMethod(...)
setHolonomicMethod(self: mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive, method: str, cfgBase: mrpt.pymrpt.mrpt.config.CConfigFileBase) -> None
 
Selects which one from the set of available holonomic methods will be
 used
  into transformed TP-Space, and sets its configuration from a
 configuration file.
 Available methods: class names of those derived from
 CAbstractHolonomicReactiveMethod
 
C++: mrpt::nav::CAbstractPTGBasedReactive::setHolonomicMethod(const std::string &, const class mrpt::config::CConfigFileBase &) --> void
setLogFileDirectory(...)
setLogFileDirectory(self: mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive, sDir: str) -> None
 
Changes the prefix for new log files. 
 
C++: mrpt::nav::CAbstractPTGBasedReactive::setLogFileDirectory(const std::string &) --> void
setTargetApproachSlowDownDistance(...)
setTargetApproachSlowDownDistance(self: mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive, dist: float) -> None
 
Changes this parameter in all inner holonomic navigator instances [m].
 
C++: mrpt::nav::CAbstractPTGBasedReactive::setTargetApproachSlowDownDistance(const double) --> void

Data descriptors inherited from CAbstractPTGBasedReactive:
params_abstract_ptg_navigator

Data and other attributes inherited from CAbstractPTGBasedReactive:
TAbstractPTGNavigatorParams = <class 'mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive.TAbstractPTGNavigatorParams'>
TNavigationParamsPTG = <class 'mrpt.pymrpt.mrpt.nav.CAbstractPTGBasedReactive.TNavigationParamsPTG'>
The struct for configuring navigation requests to
CAbstractPTGBasedReactive and derived classes.

Methods inherited from CWaypointsNavigator:
beginWaypointsAccess(...)
beginWaypointsAccess(self: mrpt.pymrpt.mrpt.nav.CWaypointsNavigator) -> mrpt.pymrpt.mrpt.nav.TWaypointStatusSequence
 
Gets a write-enabled reference to the list of waypoints, simultanously
 acquiring the critical section mutex.
 Caller must call endWaypointsAccess() when done editing the waypoints.
 
C++: mrpt::nav::CWaypointsNavigator::beginWaypointsAccess() --> struct mrpt::nav::TWaypointStatusSequence &
cancel(...)
cancel(self: mrpt.pymrpt.mrpt.nav.CWaypointsNavigator) -> None
 
Cancel current navegation. 
 
C++: mrpt::nav::CWaypointsNavigator::cancel() --> void
endWaypointsAccess(...)
endWaypointsAccess(self: mrpt.pymrpt.mrpt.nav.CWaypointsNavigator) -> None
 
Must be called after beginWaypointsAccess() 
 
C++: mrpt::nav::CWaypointsNavigator::endWaypointsAccess() --> void
getWaypointNavStatus(...)
getWaypointNavStatus(*args, **kwargs)
Overloaded function.
 
1. getWaypointNavStatus(self: mrpt.pymrpt.mrpt.nav.CWaypointsNavigator, out_nav_status: mrpt.pymrpt.mrpt.nav.TWaypointStatusSequence) -> None
 
Get a copy of the control structure which describes the progress status
 of the waypoint navigation. 
 
C++: mrpt::nav::CWaypointsNavigator::getWaypointNavStatus(struct mrpt::nav::TWaypointStatusSequence &) const --> void
 
2. getWaypointNavStatus(self: mrpt.pymrpt.mrpt.nav.CWaypointsNavigator) -> mrpt.pymrpt.mrpt.nav.TWaypointStatusSequence
 
Get a copy of the control structure which describes the progress status
 of the waypoint navigation.
 
         
 
C++: mrpt::nav::CWaypointsNavigator::getWaypointNavStatus() const --> struct mrpt::nav::TWaypointStatusSequence
isRelativePointReachable(...)
isRelativePointReachable(self: mrpt.pymrpt.mrpt.nav.CWaypointsNavigator, wp_local_wrt_robot: mrpt::math::TPoint2D_<double>) -> bool
 
Returns `true` if, according to the information gathered at the last
 navigation step,
 there is a free path to the given point; `false` otherwise: if way is
 blocked or there is missing information,
 the point is out of range for the existing PTGs, etc. 
 
C++: mrpt::nav::CWaypointsNavigator::isRelativePointReachable(const struct mrpt::math::TPoint2D_<double> &) const --> bool
navigateWaypoints(...)
navigateWaypoints(self: mrpt.pymrpt.mrpt.nav.CWaypointsNavigator, nav_request: mrpt.pymrpt.mrpt.nav.TWaypointSequence) -> None
 
Waypoint navigation request. This immediately cancels any other previous
 on-going navigation.
 
 
 CAbstractNavigator::navigate() for single waypoint navigation
 requests.
 
C++: mrpt::nav::CWaypointsNavigator::navigateWaypoints(const struct mrpt::nav::TWaypointSequence &) --> void
navigationStep(...)
navigationStep(self: mrpt.pymrpt.mrpt.nav.CWaypointsNavigator) -> None
 
C++: mrpt::nav::CWaypointsNavigator::navigationStep() --> void

Data descriptors inherited from CWaypointsNavigator:
params_waypoints_navigator

Data and other attributes inherited from CWaypointsNavigator:
TNavigationParamsWaypoints = <class 'mrpt.pymrpt.mrpt.nav.CWaypointsNavigator.TNavigationParamsWaypoints'>
The struct for configuring navigation requests to CWaypointsNavigator
and derived classes.
TWaypointsNavigatorParams = <class 'mrpt.pymrpt.mrpt.nav.CWaypointsNavigator.TWaypointsNavigatorParams'>

Methods inherited from CAbstractNavigator:
enableRethrowNavExceptions(...)
enableRethrowNavExceptions(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator, enable: bool) -> None
 
By default, error exceptions on navigationStep() will dump an error
 message to the output logger interface. If rethrow is enabled
 (default=false), the error message will be reported as well, but
 exceptions will be re-thrown.
 
C++: mrpt::nav::CAbstractNavigator::enableRethrowNavExceptions(const bool) --> void
getCurrentState(...)
getCurrentState(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator) -> mrpt.pymrpt.mrpt.nav.CAbstractNavigator.TState
 
Returns the current navigator state. 
 
C++: mrpt::nav::CAbstractNavigator::getCurrentState() const --> enum mrpt::nav::CAbstractNavigator::TState
getDelaysTimeLogger(...)
getDelaysTimeLogger(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator) -> mrpt.pymrpt.mrpt.system.CTimeLogger
 
Gives access to a const-ref to the internal time logger used to estimate
 delays 
 
 getTimeLogger() in derived classes 
 
C++: mrpt::nav::CAbstractNavigator::getDelaysTimeLogger() const --> const class mrpt::system::CTimeLogger &
getErrorReason(...)
getErrorReason(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator) -> mrpt::nav::CAbstractNavigator::TErrorReason
 
In case of state=NAV_ERROR, this returns the reason for the error.
 Error state is reseted every time a new navigation starts with
 a call to navigate(), or when resetNavError() is called.
 
C++: mrpt::nav::CAbstractNavigator::getErrorReason() const --> const struct mrpt::nav::CAbstractNavigator::TErrorReason &
isRethrowNavExceptionsEnabled(...)
isRethrowNavExceptionsEnabled(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator) -> bool
 
C++: mrpt::nav::CAbstractNavigator::isRethrowNavExceptionsEnabled() const --> bool
resetNavError(...)
resetNavError(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator) -> None
 
Resets a `NAV_ERROR` state back to `IDLE` 
 
C++: mrpt::nav::CAbstractNavigator::resetNavError() --> void
resume(...)
resume(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator) -> None
 
Continues with suspended navigation. 
 suspend 
 
C++: mrpt::nav::CAbstractNavigator::resume() --> void
suspend(...)
suspend(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator) -> None
 
Suspend current navegation. 
 resume 
 
C++: mrpt::nav::CAbstractNavigator::suspend() --> void

Data descriptors inherited from CAbstractNavigator:
m_navProfiler
params_abstract_navigator

Data and other attributes inherited from CAbstractNavigator:
ERR_CANNOT_REACH_TARGET = <TErrorCode.ERR_CANNOT_REACH_TARGET: 2>
ERR_EMERGENCY_STOP = <TErrorCode.ERR_EMERGENCY_STOP: 1>
ERR_NONE = <TErrorCode.ERR_NONE: 0>
ERR_OTHER = <TErrorCode.ERR_OTHER: 3>
IDLE = <TState.IDLE: 0>
NAVIGATING = <TState.NAVIGATING: 1>
NAV_ERROR = <TState.NAV_ERROR: 3>
SUSPENDED = <TState.SUSPENDED: 2>
TAbstractNavigatorParams = <class 'mrpt.pymrpt.mrpt.nav.CAbstractNavigator.TAbstractNavigatorParams'>
@}
TErrorCode = <class 'mrpt.pymrpt.mrpt.nav.CAbstractNavigator.TErrorCode'>
TErrorReason = <class 'mrpt.pymrpt.mrpt.nav.CAbstractNavigator.TErrorReason'>
TNavigationParams = <class 'mrpt.pymrpt.mrpt.nav.CAbstractNavigator.TNavigationParams'>
The struct for configuring navigation requests. Used in
CAbstractPTGBasedReactive::navigate()
TNavigationParamsBase = <class 'mrpt.pymrpt.mrpt.nav.CAbstractNavigator.TNavigationParamsBase'>
Base for all high-level navigation commands. See derived classes
TState = <class 'mrpt.pymrpt.mrpt.nav.CAbstractNavigator.TState'>
TargetInfo = <class 'mrpt.pymrpt.mrpt.nav.CAbstractNavigator.TargetInfo'>
Individual target info in CAbstractNavigator::TNavigationParamsBase and
derived classes

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class CRobot2NavInterface(pybind11_builtins.pybind11_object)
    The pure virtual interface between a real or simulated robot and any
`CAbstractNavigator`-derived class.
 
 The user must define a new class derived from `CRobot2NavInterface` and
reimplement
  all pure virtual and the desired virtual methods according to the
documentation in this class.
 
This class does not make assumptions about the kinematic
model of the robot, so it can work with either
Ackermann, differential-driven or holonomic robots. It will depend on the
used PTGs, so checkout
each PTG documentation for the length and meaning of velocity commands.
 
If used for a simulator, users may prefer to inherit from one of these
classes, which already provide partial implementations:
 - mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven
 - mrpt::nav::CRobot2NavInterfaceForSimulator_Holo
 
 
CReactiveNavigationSystemCAbstractNavigator
 
 
Method resolution order:
CRobot2NavInterface
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
__init__(...)
__init__(*args, **kwargs)
Overloaded function.
 
1. __init__(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface) -> None
 
2. __init__(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface, arg0: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface) -> None
assign(...)
assign(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface, : mrpt.pymrpt.mrpt.nav.CRobot2NavInterface) -> mrpt.pymrpt.mrpt.nav.CRobot2NavInterface
 
C++: mrpt::nav::CRobot2NavInterface::operator=(const class mrpt::nav::CRobot2NavInterface &) --> class mrpt::nav::CRobot2NavInterface &
changeSpeeds(...)
changeSpeeds(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface, vel_cmd: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd) -> bool
 
Sends a velocity command to the robot.
 The number components in each command depends on children classes of
 mrpt::kinematics::CVehicleVelCmd.
 One robot may accept one or more different CVehicleVelCmd classes.
 This method resets the watchdog timer (that may be or may be not
 implemented in a particular robotic platform) started with
 startWatchdog()
 
 
 false on any error.
 
 
 startWatchdog
 
 
 
         
 
C++: mrpt::nav::CRobot2NavInterface::changeSpeeds(const class mrpt::kinematics::CVehicleVelCmd &) --> bool
changeSpeedsNOP(...)
changeSpeedsNOP(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface) -> bool
 
Just like changeSpeeds(), but will be called when the last velocity
 command is still the preferred solution,
 so there is no need to change that past command. The unique effect of
 this callback would be resetting the watchdog timer.
 
 
 false on any error.
 
 
 changeSpeeds(), startWatchdog()
 
 
 
C++: mrpt::nav::CRobot2NavInterface::changeSpeedsNOP() --> bool
getAlignCmd(...)
getAlignCmd(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface, relative_heading_radians: float) -> mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd
 
Gets a motion command to make the robot to align with a given *relative*
 heading, without translating.
 Only for circular robots that can rotate in place; otherwise, return an
 empty smart pointer to indicate
 that the operation is not possible (this is what the default
 implementation does). 
 
C++: mrpt::nav::CRobot2NavInterface::getAlignCmd(const double) --> class std::shared_ptr<class mrpt::kinematics::CVehicleVelCmd>
getCurrentPoseAndSpeeds(...)
getCurrentPoseAndSpeeds(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface, curPose: mrpt.pymrpt.mrpt.math.TPose2D, curVelGlobal: mrpt::math::TTwist2D, timestamp: mrpt.pymrpt.std.chrono.time_point_mrpt_Clock_std_chrono_duration_long_std_ratio_1_10000000_t, curOdometry: mrpt.pymrpt.mrpt.math.TPose2D, frame_id: str) -> bool
 
Get the current pose and velocity of the robot. The implementation
 should not take too much time to return,
   so if it might take more than ~10ms to ask the robot for the
 instantaneous data, it may be good enough to
   return the latest values from a cache which is updated in a parallel
 thread.
 
 
 false on any error retrieving these values from the robot.
 
 
 
C++: mrpt::nav::CRobot2NavInterface::getCurrentPoseAndSpeeds(struct mrpt::math::TPose2D &, struct mrpt::math::TTwist2D &, mrpt::Clock::time_point &, struct mrpt::math::TPose2D &, std::string &) --> bool
getEmergencyStopCmd(...)
getEmergencyStopCmd(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface) -> mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd
 
Gets the emergency stop command for the current robot
 
 
 the emergency stop command
 
C++: mrpt::nav::CRobot2NavInterface::getEmergencyStopCmd() --> class std::shared_ptr<class mrpt::kinematics::CVehicleVelCmd>
getNavigationTime(...)
getNavigationTime(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface) -> float
 
Returns the number of seconds ellapsed since the constructor of this
 class was invoked, or since
 the last call of resetNavigationTimer(). This will be normally
 wall-clock time, except in simulators where this method will return
 simulation time. 
 
C++: mrpt::nav::CRobot2NavInterface::getNavigationTime() --> double
getStopCmd(...)
getStopCmd(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface) -> mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd
 
Gets the emergency stop command for the current robot
 
 
 the emergency stop command
 
C++: mrpt::nav::CRobot2NavInterface::getStopCmd() --> class std::shared_ptr<class mrpt::kinematics::CVehicleVelCmd>
resetNavigationTimer(...)
resetNavigationTimer(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface) -> None
 
see getNavigationTime() 
 
C++: mrpt::nav::CRobot2NavInterface::resetNavigationTimer() --> void
sendApparentCollisionEvent(...)
sendApparentCollisionEvent(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface) -> None
 
Callback: Apparent collision event (i.e. there is at least one obstacle
 point inside the robot shape) 
 
C++: mrpt::nav::CRobot2NavInterface::sendApparentCollisionEvent() --> void
sendCannotGetCloserToBlockedTargetEvent(...)
sendCannotGetCloserToBlockedTargetEvent(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface) -> None
 
Callback: Target seems to be blocked by an obstacle. 
 
C++: mrpt::nav::CRobot2NavInterface::sendCannotGetCloserToBlockedTargetEvent() --> void
sendNavigationEndDueToErrorEvent(...)
sendNavigationEndDueToErrorEvent(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface) -> None
 
Callback: Error asking sensory data from robot or sending motor
 commands. 
 
C++: mrpt::nav::CRobot2NavInterface::sendNavigationEndDueToErrorEvent() --> void
sendNavigationEndEvent(...)
sendNavigationEndEvent(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface) -> None
 
Callback: End of navigation command (reach of single goal, or final
 waypoint of waypoint list) 
 
C++: mrpt::nav::CRobot2NavInterface::sendNavigationEndEvent() --> void
sendNavigationStartEvent(...)
sendNavigationStartEvent(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface) -> None
 
@{ 
 
 Callback: Start of navigation command 
 
C++: mrpt::nav::CRobot2NavInterface::sendNavigationStartEvent() --> void
sendNewWaypointTargetEvent(...)
sendNewWaypointTargetEvent(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface, waypoint_index: int) -> None
 
Callback: Heading towards a new intermediary/final waypoint in waypoint
 list navigation 
 
C++: mrpt::nav::CRobot2NavInterface::sendNewWaypointTargetEvent(int) --> void
sendWaySeemsBlockedEvent(...)
sendWaySeemsBlockedEvent(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface) -> None
 
Callback: No progression made towards target for a predefined period of
 time. 
 
C++: mrpt::nav::CRobot2NavInterface::sendWaySeemsBlockedEvent() --> void
sendWaypointReachedEvent(...)
sendWaypointReachedEvent(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface, waypoint_index: int, reached_nSkipped: bool) -> None
 
Callback: Reached an intermediary waypoint in waypoint list navigation.
 reached_nSkipped will be `true` if the waypoint was physically reached;
 `false` if it was actually "skipped".
 
C++: mrpt::nav::CRobot2NavInterface::sendWaypointReachedEvent(int, bool) --> void
senseObstacles(...)
senseObstacles(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface, obstacles: mrpt.pymrpt.mrpt.maps.CSimplePointsMap, timestamp: mrpt.pymrpt.std.chrono.time_point_mrpt_Clock_std_chrono_duration_long_std_ratio_1_10000000_t) -> bool
 
Return the current set of obstacle points, as seen from the local
 coordinate frame of the robot.
 
 
 false on any error.
 
 
  A representation of obstacles in robot-centric
 coordinates.
 
 
  The timestamp for the read obstacles. Use
 mrpt::system::now() unless you have something more accurate.
 
C++: mrpt::nav::CRobot2NavInterface::senseObstacles(class mrpt::maps::CSimplePointsMap &, mrpt::Clock::time_point &) --> bool
startWatchdog(...)
startWatchdog(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface, T_ms: float) -> bool
 
Start the watchdog timer of the robot platform, if any, for maximum
 expected delay between consecutive calls to changeSpeeds().
 
 
 Period, in ms.
 
 
 false on any error. 
 
C++: mrpt::nav::CRobot2NavInterface::startWatchdog(float) --> bool
stop(...)
stop(*args, **kwargs)
Overloaded function.
 
1. stop(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface) -> bool
 
2. stop(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface, isEmergencyStop: bool) -> bool
 
Stop the robot right now.
  
 
 true if stop is due to some unexpected error.
 false if "stop" happens as part of a normal operation (e.g. target
 reached).
 
 
 false on any error.
 
C++: mrpt::nav::CRobot2NavInterface::stop(bool) --> bool
stopWatchdog(...)
stopWatchdog(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface) -> bool
 
Stop the watchdog timer.
 
 
 false on any error. 
 startWatchdog 
 
C++: mrpt::nav::CRobot2NavInterface::stopWatchdog() --> bool

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class CRobot2NavInterfaceForSimulator_DiffDriven(CRobot2NavInterface)
    CRobot2NavInterface implemented for a simulator object based on
mrpt::kinematics::CVehicleSimul_DiffDriven
Only `senseObstacles()` remains virtual for the user to implement it.
 
 
CReactiveNavigationSystemCAbstractNavigator,
mrpt::kinematics::CVehicleSimulVirtualBase
 
 
Method resolution order:
CRobot2NavInterfaceForSimulator_DiffDriven
CRobot2NavInterface
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
__init__(...)
__init__(*args, **kwargs)
Overloaded function.
 
1. __init__(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterfaceForSimulator_DiffDriven, simul: mrpt.pymrpt.mrpt.kinematics.CVehicleSimul_DiffDriven) -> None
 
2. __init__(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterfaceForSimulator_DiffDriven, arg0: mrpt.pymrpt.mrpt.nav.CRobot2NavInterfaceForSimulator_DiffDriven) -> None
changeSpeeds(...)
changeSpeeds(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterfaceForSimulator_DiffDriven, vel_cmd: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd) -> bool
 
C++: mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven::changeSpeeds(const class mrpt::kinematics::CVehicleVelCmd &) --> bool
getCurrentPoseAndSpeeds(...)
getCurrentPoseAndSpeeds(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterfaceForSimulator_DiffDriven, curPose: mrpt.pymrpt.mrpt.math.TPose2D, curVel: mrpt::math::TTwist2D, timestamp: mrpt.pymrpt.std.chrono.time_point_mrpt_Clock_std_chrono_duration_long_std_ratio_1_10000000_t, curOdometry: mrpt.pymrpt.mrpt.math.TPose2D, frame_id: str) -> bool
 
C++: mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven::getCurrentPoseAndSpeeds(struct mrpt::math::TPose2D &, struct mrpt::math::TTwist2D &, mrpt::Clock::time_point &, struct mrpt::math::TPose2D &, std::string &) --> bool
getEmergencyStopCmd(...)
getEmergencyStopCmd(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterfaceForSimulator_DiffDriven) -> mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd
 
C++: mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven::getEmergencyStopCmd() --> class std::shared_ptr<class mrpt::kinematics::CVehicleVelCmd>
getNavigationTime(...)
getNavigationTime(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterfaceForSimulator_DiffDriven) -> float
 
See CRobot2NavInterface::getNavigationTime(). In this class, simulation
 time is returned instead of wall-clock time. 
 
C++: mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven::getNavigationTime() --> double
getStopCmd(...)
getStopCmd(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterfaceForSimulator_DiffDriven) -> mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd
 
C++: mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven::getStopCmd() --> class std::shared_ptr<class mrpt::kinematics::CVehicleVelCmd>
resetNavigationTimer(...)
resetNavigationTimer(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterfaceForSimulator_DiffDriven) -> None
 
See CRobot2NavInterface::resetNavigationTimer() 
 
C++: mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven::resetNavigationTimer() --> void
stop(...)
stop(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterfaceForSimulator_DiffDriven, isEmergencyStop: bool) -> bool
 
C++: mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven::stop(bool) --> bool

Methods inherited from CRobot2NavInterface:
assign(...)
assign(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface, : mrpt.pymrpt.mrpt.nav.CRobot2NavInterface) -> mrpt.pymrpt.mrpt.nav.CRobot2NavInterface
 
C++: mrpt::nav::CRobot2NavInterface::operator=(const class mrpt::nav::CRobot2NavInterface &) --> class mrpt::nav::CRobot2NavInterface &
changeSpeedsNOP(...)
changeSpeedsNOP(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface) -> bool
 
Just like changeSpeeds(), but will be called when the last velocity
 command is still the preferred solution,
 so there is no need to change that past command. The unique effect of
 this callback would be resetting the watchdog timer.
 
 
 false on any error.
 
 
 changeSpeeds(), startWatchdog()
 
 
 
C++: mrpt::nav::CRobot2NavInterface::changeSpeedsNOP() --> bool
getAlignCmd(...)
getAlignCmd(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface, relative_heading_radians: float) -> mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd
 
Gets a motion command to make the robot to align with a given *relative*
 heading, without translating.
 Only for circular robots that can rotate in place; otherwise, return an
 empty smart pointer to indicate
 that the operation is not possible (this is what the default
 implementation does). 
 
C++: mrpt::nav::CRobot2NavInterface::getAlignCmd(const double) --> class std::shared_ptr<class mrpt::kinematics::CVehicleVelCmd>
sendApparentCollisionEvent(...)
sendApparentCollisionEvent(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface) -> None
 
Callback: Apparent collision event (i.e. there is at least one obstacle
 point inside the robot shape) 
 
C++: mrpt::nav::CRobot2NavInterface::sendApparentCollisionEvent() --> void
sendCannotGetCloserToBlockedTargetEvent(...)
sendCannotGetCloserToBlockedTargetEvent(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface) -> None
 
Callback: Target seems to be blocked by an obstacle. 
 
C++: mrpt::nav::CRobot2NavInterface::sendCannotGetCloserToBlockedTargetEvent() --> void
sendNavigationEndDueToErrorEvent(...)
sendNavigationEndDueToErrorEvent(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface) -> None
 
Callback: Error asking sensory data from robot or sending motor
 commands. 
 
C++: mrpt::nav::CRobot2NavInterface::sendNavigationEndDueToErrorEvent() --> void
sendNavigationEndEvent(...)
sendNavigationEndEvent(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface) -> None
 
Callback: End of navigation command (reach of single goal, or final
 waypoint of waypoint list) 
 
C++: mrpt::nav::CRobot2NavInterface::sendNavigationEndEvent() --> void
sendNavigationStartEvent(...)
sendNavigationStartEvent(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface) -> None
 
@{ 
 
 Callback: Start of navigation command 
 
C++: mrpt::nav::CRobot2NavInterface::sendNavigationStartEvent() --> void
sendNewWaypointTargetEvent(...)
sendNewWaypointTargetEvent(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface, waypoint_index: int) -> None
 
Callback: Heading towards a new intermediary/final waypoint in waypoint
 list navigation 
 
C++: mrpt::nav::CRobot2NavInterface::sendNewWaypointTargetEvent(int) --> void
sendWaySeemsBlockedEvent(...)
sendWaySeemsBlockedEvent(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface) -> None
 
Callback: No progression made towards target for a predefined period of
 time. 
 
C++: mrpt::nav::CRobot2NavInterface::sendWaySeemsBlockedEvent() --> void
sendWaypointReachedEvent(...)
sendWaypointReachedEvent(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface, waypoint_index: int, reached_nSkipped: bool) -> None
 
Callback: Reached an intermediary waypoint in waypoint list navigation.
 reached_nSkipped will be `true` if the waypoint was physically reached;
 `false` if it was actually "skipped".
 
C++: mrpt::nav::CRobot2NavInterface::sendWaypointReachedEvent(int, bool) --> void
senseObstacles(...)
senseObstacles(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface, obstacles: mrpt.pymrpt.mrpt.maps.CSimplePointsMap, timestamp: mrpt.pymrpt.std.chrono.time_point_mrpt_Clock_std_chrono_duration_long_std_ratio_1_10000000_t) -> bool
 
Return the current set of obstacle points, as seen from the local
 coordinate frame of the robot.
 
 
 false on any error.
 
 
  A representation of obstacles in robot-centric
 coordinates.
 
 
  The timestamp for the read obstacles. Use
 mrpt::system::now() unless you have something more accurate.
 
C++: mrpt::nav::CRobot2NavInterface::senseObstacles(class mrpt::maps::CSimplePointsMap &, mrpt::Clock::time_point &) --> bool
startWatchdog(...)
startWatchdog(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface, T_ms: float) -> bool
 
Start the watchdog timer of the robot platform, if any, for maximum
 expected delay between consecutive calls to changeSpeeds().
 
 
 Period, in ms.
 
 
 false on any error. 
 
C++: mrpt::nav::CRobot2NavInterface::startWatchdog(float) --> bool
stopWatchdog(...)
stopWatchdog(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface) -> bool
 
Stop the watchdog timer.
 
 
 false on any error. 
 startWatchdog 
 
C++: mrpt::nav::CRobot2NavInterface::stopWatchdog() --> bool

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class CRobot2NavInterfaceForSimulator_Holo(CRobot2NavInterface)
    CRobot2NavInterface implemented for a simulator object based on
mrpt::kinematics::CVehicleSimul_Holo.
Only `senseObstacles()` remains virtual for the user to implement it.
 
 
CReactiveNavigationSystemCAbstractNavigator,
mrpt::kinematics::CVehicleSimulVirtualBase
 
 
Method resolution order:
CRobot2NavInterfaceForSimulator_Holo
CRobot2NavInterface
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
__init__(...)
__init__(*args, **kwargs)
Overloaded function.
 
1. __init__(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterfaceForSimulator_Holo, simul: mrpt.pymrpt.mrpt.kinematics.CVehicleSimul_Holo) -> None
 
2. __init__(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterfaceForSimulator_Holo, arg0: mrpt.pymrpt.mrpt.nav.CRobot2NavInterfaceForSimulator_Holo) -> None
changeSpeeds(...)
changeSpeeds(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterfaceForSimulator_Holo, vel_cmd: mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd) -> bool
 
C++: mrpt::nav::CRobot2NavInterfaceForSimulator_Holo::changeSpeeds(const class mrpt::kinematics::CVehicleVelCmd &) --> bool
getAlignCmd(...)
getAlignCmd(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterfaceForSimulator_Holo, relative_heading_radians: float) -> mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd
 
C++: mrpt::nav::CRobot2NavInterfaceForSimulator_Holo::getAlignCmd(const double) --> class std::shared_ptr<class mrpt::kinematics::CVehicleVelCmd>
getCurrentPoseAndSpeeds(...)
getCurrentPoseAndSpeeds(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterfaceForSimulator_Holo, curPose: mrpt.pymrpt.mrpt.math.TPose2D, curVel: mrpt::math::TTwist2D, timestamp: mrpt.pymrpt.std.chrono.time_point_mrpt_Clock_std_chrono_duration_long_std_ratio_1_10000000_t, curOdometry: mrpt.pymrpt.mrpt.math.TPose2D, frame_id: str) -> bool
 
C++: mrpt::nav::CRobot2NavInterfaceForSimulator_Holo::getCurrentPoseAndSpeeds(struct mrpt::math::TPose2D &, struct mrpt::math::TTwist2D &, mrpt::Clock::time_point &, struct mrpt::math::TPose2D &, std::string &) --> bool
getEmergencyStopCmd(...)
getEmergencyStopCmd(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterfaceForSimulator_Holo) -> mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd
 
C++: mrpt::nav::CRobot2NavInterfaceForSimulator_Holo::getEmergencyStopCmd() --> class std::shared_ptr<class mrpt::kinematics::CVehicleVelCmd>
getNavigationTime(...)
getNavigationTime(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterfaceForSimulator_Holo) -> float
 
See CRobot2NavInterface::getNavigationTime(). In this class, simulation
 time is returned instead of wall-clock time. 
 
C++: mrpt::nav::CRobot2NavInterfaceForSimulator_Holo::getNavigationTime() --> double
getStopCmd(...)
getStopCmd(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterfaceForSimulator_Holo) -> mrpt.pymrpt.mrpt.kinematics.CVehicleVelCmd
 
C++: mrpt::nav::CRobot2NavInterfaceForSimulator_Holo::getStopCmd() --> class std::shared_ptr<class mrpt::kinematics::CVehicleVelCmd>
resetNavigationTimer(...)
resetNavigationTimer(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterfaceForSimulator_Holo) -> None
 
See CRobot2NavInterface::resetNavigationTimer() 
 
C++: mrpt::nav::CRobot2NavInterfaceForSimulator_Holo::resetNavigationTimer() --> void
stop(...)
stop(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterfaceForSimulator_Holo, isEmergencyStop: bool) -> bool
 
C++: mrpt::nav::CRobot2NavInterfaceForSimulator_Holo::stop(bool) --> bool

Methods inherited from CRobot2NavInterface:
assign(...)
assign(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface, : mrpt.pymrpt.mrpt.nav.CRobot2NavInterface) -> mrpt.pymrpt.mrpt.nav.CRobot2NavInterface
 
C++: mrpt::nav::CRobot2NavInterface::operator=(const class mrpt::nav::CRobot2NavInterface &) --> class mrpt::nav::CRobot2NavInterface &
changeSpeedsNOP(...)
changeSpeedsNOP(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface) -> bool
 
Just like changeSpeeds(), but will be called when the last velocity
 command is still the preferred solution,
 so there is no need to change that past command. The unique effect of
 this callback would be resetting the watchdog timer.
 
 
 false on any error.
 
 
 changeSpeeds(), startWatchdog()
 
 
 
C++: mrpt::nav::CRobot2NavInterface::changeSpeedsNOP() --> bool
sendApparentCollisionEvent(...)
sendApparentCollisionEvent(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface) -> None
 
Callback: Apparent collision event (i.e. there is at least one obstacle
 point inside the robot shape) 
 
C++: mrpt::nav::CRobot2NavInterface::sendApparentCollisionEvent() --> void
sendCannotGetCloserToBlockedTargetEvent(...)
sendCannotGetCloserToBlockedTargetEvent(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface) -> None
 
Callback: Target seems to be blocked by an obstacle. 
 
C++: mrpt::nav::CRobot2NavInterface::sendCannotGetCloserToBlockedTargetEvent() --> void
sendNavigationEndDueToErrorEvent(...)
sendNavigationEndDueToErrorEvent(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface) -> None
 
Callback: Error asking sensory data from robot or sending motor
 commands. 
 
C++: mrpt::nav::CRobot2NavInterface::sendNavigationEndDueToErrorEvent() --> void
sendNavigationEndEvent(...)
sendNavigationEndEvent(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface) -> None
 
Callback: End of navigation command (reach of single goal, or final
 waypoint of waypoint list) 
 
C++: mrpt::nav::CRobot2NavInterface::sendNavigationEndEvent() --> void
sendNavigationStartEvent(...)
sendNavigationStartEvent(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface) -> None
 
@{ 
 
 Callback: Start of navigation command 
 
C++: mrpt::nav::CRobot2NavInterface::sendNavigationStartEvent() --> void
sendNewWaypointTargetEvent(...)
sendNewWaypointTargetEvent(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface, waypoint_index: int) -> None
 
Callback: Heading towards a new intermediary/final waypoint in waypoint
 list navigation 
 
C++: mrpt::nav::CRobot2NavInterface::sendNewWaypointTargetEvent(int) --> void
sendWaySeemsBlockedEvent(...)
sendWaySeemsBlockedEvent(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface) -> None
 
Callback: No progression made towards target for a predefined period of
 time. 
 
C++: mrpt::nav::CRobot2NavInterface::sendWaySeemsBlockedEvent() --> void
sendWaypointReachedEvent(...)
sendWaypointReachedEvent(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface, waypoint_index: int, reached_nSkipped: bool) -> None
 
Callback: Reached an intermediary waypoint in waypoint list navigation.
 reached_nSkipped will be `true` if the waypoint was physically reached;
 `false` if it was actually "skipped".
 
C++: mrpt::nav::CRobot2NavInterface::sendWaypointReachedEvent(int, bool) --> void
senseObstacles(...)
senseObstacles(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface, obstacles: mrpt.pymrpt.mrpt.maps.CSimplePointsMap, timestamp: mrpt.pymrpt.std.chrono.time_point_mrpt_Clock_std_chrono_duration_long_std_ratio_1_10000000_t) -> bool
 
Return the current set of obstacle points, as seen from the local
 coordinate frame of the robot.
 
 
 false on any error.
 
 
  A representation of obstacles in robot-centric
 coordinates.
 
 
  The timestamp for the read obstacles. Use
 mrpt::system::now() unless you have something more accurate.
 
C++: mrpt::nav::CRobot2NavInterface::senseObstacles(class mrpt::maps::CSimplePointsMap &, mrpt::Clock::time_point &) --> bool
startWatchdog(...)
startWatchdog(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface, T_ms: float) -> bool
 
Start the watchdog timer of the robot platform, if any, for maximum
 expected delay between consecutive calls to changeSpeeds().
 
 
 Period, in ms.
 
 
 false on any error. 
 
C++: mrpt::nav::CRobot2NavInterface::startWatchdog(float) --> bool
stopWatchdog(...)
stopWatchdog(self: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface) -> bool
 
Stop the watchdog timer.
 
 
 false on any error. 
 startWatchdog 
 
C++: mrpt::nav::CRobot2NavInterface::stopWatchdog() --> bool

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class CWaypointsNavigator(CAbstractNavigator)
    This class extends `CAbstractNavigator` with the capability of following a
list of waypoints. By default, waypoints are followed one by one,
 but, if they are tagged with `allow_skip=true` **and** the derived navigator
class supports it, the navigator may choose to skip some to
 make a smoother, safer and shorter navigation.
 
Waypoints have an optional `target_heading` field, which will be honored only
for waypoints that are skipped, and if the underlying robot
interface supports the pure-rotation methods.
 
Notes on navigation status and event dispatchment:
 - Navigation state may briefly pass by the `IDLE` status between a waypoint
is reached and a new navigation command is issued towards the next waypoint.
 - `sendNavigationEndEvent()` will be called only when the last waypoint is
reached.
 - Reaching an intermediary waypoint (or skipping it if considered so by the
navigator) generates a call to `sendWaypointReachedEvent()` instead.
 
 
Base class CAbstractNavigatorCWaypointsNavigator::navigateWaypoints(),
and derived classes.
 
 
Method resolution order:
CWaypointsNavigator
CAbstractNavigator
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
__init__(...)
__init__(self: mrpt.pymrpt.mrpt.nav.CWaypointsNavigator, robot_interface_impl: mrpt.pymrpt.mrpt.nav.CRobot2NavInterface) -> None
beginWaypointsAccess(...)
beginWaypointsAccess(self: mrpt.pymrpt.mrpt.nav.CWaypointsNavigator) -> mrpt.pymrpt.mrpt.nav.TWaypointStatusSequence
 
Gets a write-enabled reference to the list of waypoints, simultanously
 acquiring the critical section mutex.
 Caller must call endWaypointsAccess() when done editing the waypoints.
 
C++: mrpt::nav::CWaypointsNavigator::beginWaypointsAccess() --> struct mrpt::nav::TWaypointStatusSequence &
cancel(...)
cancel(self: mrpt.pymrpt.mrpt.nav.CWaypointsNavigator) -> None
 
Cancel current navegation. 
 
C++: mrpt::nav::CWaypointsNavigator::cancel() --> void
endWaypointsAccess(...)
endWaypointsAccess(self: mrpt.pymrpt.mrpt.nav.CWaypointsNavigator) -> None
 
Must be called after beginWaypointsAccess() 
 
C++: mrpt::nav::CWaypointsNavigator::endWaypointsAccess() --> void
getWaypointNavStatus(...)
getWaypointNavStatus(*args, **kwargs)
Overloaded function.
 
1. getWaypointNavStatus(self: mrpt.pymrpt.mrpt.nav.CWaypointsNavigator, out_nav_status: mrpt.pymrpt.mrpt.nav.TWaypointStatusSequence) -> None
 
Get a copy of the control structure which describes the progress status
 of the waypoint navigation. 
 
C++: mrpt::nav::CWaypointsNavigator::getWaypointNavStatus(struct mrpt::nav::TWaypointStatusSequence &) const --> void
 
2. getWaypointNavStatus(self: mrpt.pymrpt.mrpt.nav.CWaypointsNavigator) -> mrpt.pymrpt.mrpt.nav.TWaypointStatusSequence
 
Get a copy of the control structure which describes the progress status
 of the waypoint navigation.
 
         
 
C++: mrpt::nav::CWaypointsNavigator::getWaypointNavStatus() const --> struct mrpt::nav::TWaypointStatusSequence
isRelativePointReachable(...)
isRelativePointReachable(self: mrpt.pymrpt.mrpt.nav.CWaypointsNavigator, wp_local_wrt_robot: mrpt::math::TPoint2D_<double>) -> bool
 
Returns `true` if, according to the information gathered at the last
 navigation step,
 there is a free path to the given point; `false` otherwise: if way is
 blocked or there is missing information,
 the point is out of range for the existing PTGs, etc. 
 
C++: mrpt::nav::CWaypointsNavigator::isRelativePointReachable(const struct mrpt::math::TPoint2D_<double> &) const --> bool
loadConfigFile(...)
loadConfigFile(self: mrpt.pymrpt.mrpt.nav.CWaypointsNavigator, c: mrpt.pymrpt.mrpt.config.CConfigFileBase) -> None
 
C++: mrpt::nav::CWaypointsNavigator::loadConfigFile(const class mrpt::config::CConfigFileBase &) --> void
navigateWaypoints(...)
navigateWaypoints(self: mrpt.pymrpt.mrpt.nav.CWaypointsNavigator, nav_request: mrpt.pymrpt.mrpt.nav.TWaypointSequence) -> None
 
Waypoint navigation request. This immediately cancels any other previous
 on-going navigation.
 
 
 CAbstractNavigator::navigate() for single waypoint navigation
 requests.
 
C++: mrpt::nav::CWaypointsNavigator::navigateWaypoints(const struct mrpt::nav::TWaypointSequence &) --> void
navigationStep(...)
navigationStep(self: mrpt.pymrpt.mrpt.nav.CWaypointsNavigator) -> None
 
C++: mrpt::nav::CWaypointsNavigator::navigationStep() --> void
saveConfigFile(...)
saveConfigFile(self: mrpt.pymrpt.mrpt.nav.CWaypointsNavigator, c: mrpt.pymrpt.mrpt.config.CConfigFileBase) -> None
 
C++: mrpt::nav::CWaypointsNavigator::saveConfigFile(class mrpt::config::CConfigFileBase &) const --> void

Data descriptors defined here:
params_waypoints_navigator

Data and other attributes defined here:
TNavigationParamsWaypoints = <class 'mrpt.pymrpt.mrpt.nav.CWaypointsNavigator.TNavigationParamsWaypoints'>
The struct for configuring navigation requests to CWaypointsNavigator
and derived classes.
TWaypointsNavigatorParams = <class 'mrpt.pymrpt.mrpt.nav.CWaypointsNavigator.TWaypointsNavigatorParams'>

Methods inherited from CAbstractNavigator:
enableRethrowNavExceptions(...)
enableRethrowNavExceptions(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator, enable: bool) -> None
 
By default, error exceptions on navigationStep() will dump an error
 message to the output logger interface. If rethrow is enabled
 (default=false), the error message will be reported as well, but
 exceptions will be re-thrown.
 
C++: mrpt::nav::CAbstractNavigator::enableRethrowNavExceptions(const bool) --> void
getCurrentState(...)
getCurrentState(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator) -> mrpt.pymrpt.mrpt.nav.CAbstractNavigator.TState
 
Returns the current navigator state. 
 
C++: mrpt::nav::CAbstractNavigator::getCurrentState() const --> enum mrpt::nav::CAbstractNavigator::TState
getDelaysTimeLogger(...)
getDelaysTimeLogger(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator) -> mrpt.pymrpt.mrpt.system.CTimeLogger
 
Gives access to a const-ref to the internal time logger used to estimate
 delays 
 
 getTimeLogger() in derived classes 
 
C++: mrpt::nav::CAbstractNavigator::getDelaysTimeLogger() const --> const class mrpt::system::CTimeLogger &
getErrorReason(...)
getErrorReason(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator) -> mrpt::nav::CAbstractNavigator::TErrorReason
 
In case of state=NAV_ERROR, this returns the reason for the error.
 Error state is reseted every time a new navigation starts with
 a call to navigate(), or when resetNavError() is called.
 
C++: mrpt::nav::CAbstractNavigator::getErrorReason() const --> const struct mrpt::nav::CAbstractNavigator::TErrorReason &
initialize(...)
initialize(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator) -> None
 
Must be called before any other navigation command 
 
C++: mrpt::nav::CAbstractNavigator::initialize() --> void
isRethrowNavExceptionsEnabled(...)
isRethrowNavExceptionsEnabled(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator) -> bool
 
C++: mrpt::nav::CAbstractNavigator::isRethrowNavExceptionsEnabled() const --> bool
resetNavError(...)
resetNavError(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator) -> None
 
Resets a `NAV_ERROR` state back to `IDLE` 
 
C++: mrpt::nav::CAbstractNavigator::resetNavError() --> void
resume(...)
resume(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator) -> None
 
Continues with suspended navigation. 
 suspend 
 
C++: mrpt::nav::CAbstractNavigator::resume() --> void
suspend(...)
suspend(self: mrpt.pymrpt.mrpt.nav.CAbstractNavigator) -> None
 
Suspend current navegation. 
 resume 
 
C++: mrpt::nav::CAbstractNavigator::suspend() --> void

Data descriptors inherited from CAbstractNavigator:
m_navProfiler
params_abstract_navigator

Data and other attributes inherited from CAbstractNavigator:
ERR_CANNOT_REACH_TARGET = <TErrorCode.ERR_CANNOT_REACH_TARGET: 2>
ERR_EMERGENCY_STOP = <TErrorCode.ERR_EMERGENCY_STOP: 1>
ERR_NONE = <TErrorCode.ERR_NONE: 0>
ERR_OTHER = <TErrorCode.ERR_OTHER: 3>
IDLE = <TState.IDLE: 0>
NAVIGATING = <TState.NAVIGATING: 1>
NAV_ERROR = <TState.NAV_ERROR: 3>
SUSPENDED = <TState.SUSPENDED: 2>
TAbstractNavigatorParams = <class 'mrpt.pymrpt.mrpt.nav.CAbstractNavigator.TAbstractNavigatorParams'>
@}
TErrorCode = <class 'mrpt.pymrpt.mrpt.nav.CAbstractNavigator.TErrorCode'>
TErrorReason = <class 'mrpt.pymrpt.mrpt.nav.CAbstractNavigator.TErrorReason'>
TNavigationParams = <class 'mrpt.pymrpt.mrpt.nav.CAbstractNavigator.TNavigationParams'>
The struct for configuring navigation requests. Used in
CAbstractPTGBasedReactive::navigate()
TNavigationParamsBase = <class 'mrpt.pymrpt.mrpt.nav.CAbstractNavigator.TNavigationParamsBase'>
Base for all high-level navigation commands. See derived classes
TState = <class 'mrpt.pymrpt.mrpt.nav.CAbstractNavigator.TState'>
TargetInfo = <class 'mrpt.pymrpt.mrpt.nav.CAbstractNavigator.TargetInfo'>
Individual target info in CAbstractNavigator::TNavigationParamsBase and
derived classes

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class ClearanceDiagram(pybind11_builtins.pybind11_object)
    Clearance information for one particular PTG and one set of obstacles.
Usage:
- Declare an object of this type (it will be initialized to "empty"),
- Call CParameterizedTrajectoryGenerator::initClearanceDiagram()
- Repeatedly call CParameterizedTrajectoryGenerator::updateClearance() for
each 2D obstacle point.
 
 
Method resolution order:
ClearanceDiagram
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
__init__(...)
__init__(*args, **kwargs)
Overloaded function.
 
1. __init__(self: mrpt.pymrpt.mrpt.nav.ClearanceDiagram) -> None
 
2. __init__(self: mrpt.pymrpt.mrpt.nav.ClearanceDiagram, arg0: mrpt.pymrpt.mrpt.nav.ClearanceDiagram) -> None
assign(...)
assign(self: mrpt.pymrpt.mrpt.nav.ClearanceDiagram, : mrpt.pymrpt.mrpt.nav.ClearanceDiagram) -> mrpt.pymrpt.mrpt.nav.ClearanceDiagram
 
C++: mrpt::nav::ClearanceDiagram::operator=(const class mrpt::nav::ClearanceDiagram &) --> class mrpt::nav::ClearanceDiagram &
clear(...)
clear(self: mrpt.pymrpt.mrpt.nav.ClearanceDiagram) -> None
 
Reset to default, empty state 
 
C++: mrpt::nav::ClearanceDiagram::clear() --> void
decimated_k_to_real_k(...)
decimated_k_to_real_k(self: mrpt.pymrpt.mrpt.nav.ClearanceDiagram, k: int) -> int
 
C++: mrpt::nav::ClearanceDiagram::decimated_k_to_real_k(size_t) const --> size_t
empty(...)
empty(self: mrpt.pymrpt.mrpt.nav.ClearanceDiagram) -> bool
 
C++: mrpt::nav::ClearanceDiagram::empty() const --> bool
getClearance(...)
getClearance(self: mrpt.pymrpt.mrpt.nav.ClearanceDiagram, k: int, TPS_query_distance: float, integrate_over_path: bool) -> float
 
Gets the clearance for path `k` and distance `TPS_query_distance` in one
 of two modes:
 - [integrate_over_path=false] clearance from that specific spot, or
 - [integrate_over_path=true] average clearance over the path from the
 origin to that specific spot.
 
C++: mrpt::nav::ClearanceDiagram::getClearance(uint16_t, double, bool) const --> double
get_actual_num_paths(...)
get_actual_num_paths(self: mrpt.pymrpt.mrpt.nav.ClearanceDiagram) -> int
 
C++: mrpt::nav::ClearanceDiagram::get_actual_num_paths() const --> size_t
get_decimated_num_paths(...)
get_decimated_num_paths(self: mrpt.pymrpt.mrpt.nav.ClearanceDiagram) -> int
 
C++: mrpt::nav::ClearanceDiagram::get_decimated_num_paths() const --> size_t
get_path_clearance(...)
get_path_clearance(self: mrpt.pymrpt.mrpt.nav.ClearanceDiagram, actual_k: int) -> Dict[float, float]
 
C++: mrpt::nav::ClearanceDiagram::get_path_clearance(size_t) --> class std::map<double, double> &
get_path_clearance_decimated(...)
get_path_clearance_decimated(self: mrpt.pymrpt.mrpt.nav.ClearanceDiagram, decim_k: int) -> Dict[float, float]
 
C++: mrpt::nav::ClearanceDiagram::get_path_clearance_decimated(size_t) --> class std::map<double, double> &
readFromStream(...)
readFromStream(self: mrpt.pymrpt.mrpt.nav.ClearanceDiagram, in: mrpt.pymrpt.mrpt.serialization.CArchive) -> None
 
C++: mrpt::nav::ClearanceDiagram::readFromStream(class mrpt::serialization::CArchive &) --> void
real_k_to_decimated_k(...)
real_k_to_decimated_k(self: mrpt.pymrpt.mrpt.nav.ClearanceDiagram, k: int) -> int
 
C++: mrpt::nav::ClearanceDiagram::real_k_to_decimated_k(size_t) const --> size_t
renderAs3DObject(...)
renderAs3DObject(self: mrpt.pymrpt.mrpt.nav.ClearanceDiagram, mesh: mrpt::opengl::CMesh, min_x: float, max_x: float, min_y: float, max_y: float, cell_res: float, integrate_over_path: bool) -> None
 
C++: mrpt::nav::ClearanceDiagram::renderAs3DObject(class mrpt::opengl::CMesh &, double, double, double, double, double, bool) const --> void
resize(...)
resize(self: mrpt.pymrpt.mrpt.nav.ClearanceDiagram, actual_num_paths: int, decimated_num_paths: int) -> None
 
Initializes the container to allocate `decimated_num_paths` entries, as
 a decimated
 subset of a total of `actual_num_paths` paths 
 
C++: mrpt::nav::ClearanceDiagram::resize(size_t, size_t) --> void
writeToStream(...)
writeToStream(self: mrpt.pymrpt.mrpt.nav.ClearanceDiagram, out: mrpt.pymrpt.mrpt.serialization.CArchive) -> None
 
C++: mrpt::nav::ClearanceDiagram::writeToStream(class mrpt::serialization::CArchive &) const --> void

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class PTG_collision_behavior_t(pybind11_builtins.pybind11_object)
    
Method resolution order:
PTG_collision_behavior_t
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
__and__(...)
__and__(self: object, other: object) -> object
__eq__(...)
__eq__(self: object, other: object) -> bool
__ge__(...)
__ge__(self: object, other: object) -> bool
__getstate__(...)
__getstate__(self: object) -> int
__gt__(...)
__gt__(self: object, other: object) -> bool
__hash__(...)
__hash__(self: object) -> int
__index__(...)
__index__(self: mrpt.pymrpt.mrpt.nav.PTG_collision_behavior_t) -> int
__init__(...)
__init__(self: mrpt.pymrpt.mrpt.nav.PTG_collision_behavior_t, value: int) -> None
__int__(...)
__int__(self: mrpt.pymrpt.mrpt.nav.PTG_collision_behavior_t) -> int
__invert__(...)
__invert__(self: object) -> object
__le__(...)
__le__(self: object, other: object) -> bool
__lt__(...)
__lt__(self: object, other: object) -> bool
__ne__(...)
__ne__(self: object, other: object) -> bool
__or__(...)
__or__(self: object, other: object) -> object
__rand__(...)
__rand__(self: object, other: object) -> object
__repr__(...)
__repr__(self: object) -> str
__ror__(...)
__ror__(self: object, other: object) -> object
__rxor__(...)
__rxor__(self: object, other: object) -> object
__setstate__(...)
__setstate__(self: mrpt.pymrpt.mrpt.nav.PTG_collision_behavior_t, state: int) -> None
__str__ = name(...)
name(self: handle) -> str
__xor__(...)
__xor__(self: object, other: object) -> object

Readonly properties defined here:
__members__
name
name(self: handle) -> str
value

Data and other attributes defined here:
COLL_BEH_BACK_AWAY = <PTG_collision_behavior_t.COLL_BEH_BACK_AWAY: 0>
COLL_BEH_STOP = <PTG_collision_behavior_t.COLL_BEH_STOP: 1>

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class PlannerRRT_SE2_TPS(PlannerTPS_VirtualBase)
    TP Space-based RRT path planning for SE(2) (planar) robots.
 
 This planner algorithm is described in the paper:
  - M. Bellone, J.L. Blanco, A. Gimenez, "TP-Space RRT: Kinematic path
planning of non-holonomic any-shape vehicles", International Journal of
Advanced Robotic Systems, 2015.
 
 Typical usage:
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 - Changes history:
   - 06/MAR/2014: Creation (MB)
   - 06/JAN/2015: Refactoring (JLBC)
 
 
Factorize into more generic path planner classes!  //template <class
POSE, class MOTIONS>...
 
 
Method resolution order:
PlannerRRT_SE2_TPS
PlannerTPS_VirtualBase
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
__init__(...)
__init__(self: mrpt.pymrpt.mrpt.nav.PlannerRRT_SE2_TPS) -> None
initialize(...)
initialize(self: mrpt.pymrpt.mrpt.nav.PlannerRRT_SE2_TPS) -> None
 
Must be called after setting all params (see `loadConfig()`) and before
 calling `solve()` 
 
C++: mrpt::nav::PlannerRRT_SE2_TPS::initialize() --> void
loadConfig(...)
loadConfig(*args, **kwargs)
Overloaded function.
 
1. loadConfig(self: mrpt.pymrpt.mrpt.nav.PlannerRRT_SE2_TPS, cfgSource: mrpt.pymrpt.mrpt.config.CConfigFileBase) -> None
 
2. loadConfig(self: mrpt.pymrpt.mrpt.nav.PlannerRRT_SE2_TPS, cfgSource: mrpt.pymrpt.mrpt.config.CConfigFileBase, sSectionName: str) -> None
 
Load all params from a config file source 
 
C++: mrpt::nav::PlannerRRT_SE2_TPS::loadConfig(const class mrpt::config::CConfigFileBase &, const std::string &) --> void
solve(...)
solve(self: mrpt.pymrpt.mrpt.nav.PlannerRRT_SE2_TPS, pi: mrpt::nav::PlannerRRT_SE2_TPS::TPlannerInput, result: mrpt::nav::PlannerRRT_SE2_TPS::TPlannerResult) -> None
 
The main API entry point: tries to find a planned path from 'goal' to
 'target' 
 
C++: mrpt::nav::PlannerRRT_SE2_TPS::solve(const struct mrpt::nav::PlannerRRT_SE2_TPS::TPlannerInput &, struct mrpt::nav::PlannerRRT_SE2_TPS::TPlannerResult &) --> void

Data and other attributes defined here:
TPlannerInput = <class 'mrpt.pymrpt.mrpt.nav.PlannerRRT_SE2_TPS.TPlannerInput'>
TPlannerResult = <class 'mrpt.pymrpt.mrpt.nav.PlannerRRT_SE2_TPS.TPlannerResult'>

Methods inherited from PlannerTPS_VirtualBase:
assign(...)
assign(self: mrpt.pymrpt.mrpt.nav.PlannerTPS_VirtualBase, : mrpt.pymrpt.mrpt.nav.PlannerTPS_VirtualBase) -> mrpt.pymrpt.mrpt.nav.PlannerTPS_VirtualBase
 
C++: mrpt::nav::PlannerTPS_VirtualBase::operator=(const class mrpt::nav::PlannerTPS_VirtualBase &) --> class mrpt::nav::PlannerTPS_VirtualBase &
getProfiler(...)
getProfiler(self: mrpt.pymrpt.mrpt.nav.PlannerTPS_VirtualBase) -> mrpt.pymrpt.mrpt.system.CTimeLogger
 
C++: mrpt::nav::PlannerTPS_VirtualBase::getProfiler() --> class mrpt::system::CTimeLogger &

Data descriptors inherited from PlannerTPS_VirtualBase:
end_criteria
params

Data and other attributes inherited from PlannerTPS_VirtualBase:
TRenderPlannedPathOptions = <class 'mrpt.pymrpt.mrpt.nav.PlannerTPS_VirtualBase.TRenderPlannedPathOptions'>
Options for renderMoveTree()

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class PlannerSimple2D(pybind11_builtins.pybind11_object)
    Searches for collision-free path in 2D occupancy grids for holonomic
circular robots.
 The implementation first enlargest obstacles with robot radius, then applies
a
 wavefront algorithm to find the shortest free path between origin and target
2D points.
 
Notice that this simple planner does not take into account robot kinematic
constraints.
 
 
Method resolution order:
PlannerSimple2D
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
__init__(...)
__init__(self: mrpt.pymrpt.mrpt.nav.PlannerSimple2D) -> None
assign(...)
assign(self: mrpt.pymrpt.mrpt.nav.PlannerSimple2D, : mrpt.pymrpt.mrpt.nav.PlannerSimple2D) -> mrpt.pymrpt.mrpt.nav.PlannerSimple2D
 
C++: mrpt::nav::PlannerSimple2D::operator=(const class mrpt::nav::PlannerSimple2D &) --> class mrpt::nav::PlannerSimple2D &

Data descriptors defined here:
minStepInReturnedPath
occupancyThreshold
robotRadius

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class PlannerTPS_VirtualBase(pybind11_builtins.pybind11_object)
    Virtual base class for TP-Space-based path planners
 
 
Method resolution order:
PlannerTPS_VirtualBase
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
__init__(...)
__init__(*args, **kwargs)
Overloaded function.
 
1. __init__(self: mrpt.pymrpt.mrpt.nav.PlannerTPS_VirtualBase) -> None
 
2. __init__(self: mrpt.pymrpt.mrpt.nav.PlannerTPS_VirtualBase, arg0: mrpt.pymrpt.mrpt.nav.PlannerTPS_VirtualBase) -> None
assign(...)
assign(self: mrpt.pymrpt.mrpt.nav.PlannerTPS_VirtualBase, : mrpt.pymrpt.mrpt.nav.PlannerTPS_VirtualBase) -> mrpt.pymrpt.mrpt.nav.PlannerTPS_VirtualBase
 
C++: mrpt::nav::PlannerTPS_VirtualBase::operator=(const class mrpt::nav::PlannerTPS_VirtualBase &) --> class mrpt::nav::PlannerTPS_VirtualBase &
getProfiler(...)
getProfiler(self: mrpt.pymrpt.mrpt.nav.PlannerTPS_VirtualBase) -> mrpt.pymrpt.mrpt.system.CTimeLogger
 
C++: mrpt::nav::PlannerTPS_VirtualBase::getProfiler() --> class mrpt::system::CTimeLogger &

Data descriptors defined here:
end_criteria
params

Data and other attributes defined here:
TRenderPlannedPathOptions = <class 'mrpt.pymrpt.mrpt.nav.PlannerTPS_VirtualBase.TRenderPlannedPathOptions'>
Options for renderMoveTree()

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class PoseDistanceMetric_mrpt_nav_TNodeSE2_TP_t(pybind11_builtins.pybind11_object)
    Pose metric for SE(2) limited to a given PTG manifold. NOTE: This 'metric'
is NOT symmetric for all PTGs: d(a,b)!=d(b,a)
 
 
Method resolution order:
PoseDistanceMetric_mrpt_nav_TNodeSE2_TP_t
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
__init__(...)
__init__(self: mrpt.pymrpt.mrpt.nav.PoseDistanceMetric_mrpt_nav_TNodeSE2_TP_t, ptg: mrpt.pymrpt.mrpt.nav.CParameterizedTrajectoryGenerator) -> None
cannotBeNearerThan(...)
cannotBeNearerThan(self: mrpt.pymrpt.mrpt.nav.PoseDistanceMetric_mrpt_nav_TNodeSE2_TP_t, a: mrpt.pymrpt.mrpt.nav.TNodeSE2_TP, b: mrpt.pymrpt.mrpt.nav.TNodeSE2_TP, d: float) -> bool
 
C++: mrpt::nav::PoseDistanceMetric<mrpt::nav::TNodeSE2_TP>::cannotBeNearerThan(const struct mrpt::nav::TNodeSE2_TP &, const struct mrpt::nav::TNodeSE2_TP &, const double) const --> bool
distance(...)
distance(self: mrpt.pymrpt.mrpt.nav.PoseDistanceMetric_mrpt_nav_TNodeSE2_TP_t, src: mrpt.pymrpt.mrpt.nav.TNodeSE2_TP, dst: mrpt.pymrpt.mrpt.nav.TNodeSE2_TP) -> float
 
C++: mrpt::nav::PoseDistanceMetric<mrpt::nav::TNodeSE2_TP>::distance(const struct mrpt::nav::TNodeSE2_TP &, const struct mrpt::nav::TNodeSE2_TP &) const --> double

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class PoseDistanceMetric_mrpt_nav_TNodeSE2_t(pybind11_builtins.pybind11_object)
    Pose metric for SE(2)
 
 
Method resolution order:
PoseDistanceMetric_mrpt_nav_TNodeSE2_t
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
__init__(...)
__init__(self: mrpt.pymrpt.mrpt.nav.PoseDistanceMetric_mrpt_nav_TNodeSE2_t) -> None
cannotBeNearerThan(...)
cannotBeNearerThan(self: mrpt.pymrpt.mrpt.nav.PoseDistanceMetric_mrpt_nav_TNodeSE2_t, a: mrpt.pymrpt.mrpt.nav.TNodeSE2, b: mrpt.pymrpt.mrpt.nav.TNodeSE2, d: float) -> bool
 
C++: mrpt::nav::PoseDistanceMetric<mrpt::nav::TNodeSE2>::cannotBeNearerThan(const struct mrpt::nav::TNodeSE2 &, const struct mrpt::nav::TNodeSE2 &, const double) const --> bool
distance(...)
distance(self: mrpt.pymrpt.mrpt.nav.PoseDistanceMetric_mrpt_nav_TNodeSE2_t, a: mrpt.pymrpt.mrpt.nav.TNodeSE2, b: mrpt.pymrpt.mrpt.nav.TNodeSE2) -> float
 
C++: mrpt::nav::PoseDistanceMetric<mrpt::nav::TNodeSE2>::distance(const struct mrpt::nav::TNodeSE2 &, const struct mrpt::nav::TNodeSE2 &) const --> double

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class RRTAlgorithmParams(pybind11_builtins.pybind11_object)
    
Method resolution order:
RRTAlgorithmParams
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
__init__(...)
__init__(*args, **kwargs)
Overloaded function.
 
1. __init__(self: mrpt.pymrpt.mrpt.nav.RRTAlgorithmParams) -> None
 
2. __init__(self: mrpt.pymrpt.mrpt.nav.RRTAlgorithmParams, arg0: mrpt.pymrpt.mrpt.nav.RRTAlgorithmParams) -> None
assign(...)
assign(self: mrpt.pymrpt.mrpt.nav.RRTAlgorithmParams, : mrpt.pymrpt.mrpt.nav.RRTAlgorithmParams) -> mrpt.pymrpt.mrpt.nav.RRTAlgorithmParams
 
C++: mrpt::nav::RRTAlgorithmParams::operator=(const struct mrpt::nav::RRTAlgorithmParams &) --> struct mrpt::nav::RRTAlgorithmParams &

Data descriptors defined here:
goalBias
maxLength
minAngBetweenNewNodes
minDistanceBetweenNewNodes
ptg_cache_files_directory
ptg_verbose
robot_shape
robot_shape_circular_radius
save_3d_log_freq

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class RRTEndCriteria(pybind11_builtins.pybind11_object)
    
Method resolution order:
RRTEndCriteria
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
__init__(...)
__init__(*args, **kwargs)
Overloaded function.
 
1. __init__(self: mrpt.pymrpt.mrpt.nav.RRTEndCriteria) -> None
 
2. __init__(self: mrpt.pymrpt.mrpt.nav.RRTEndCriteria, arg0: mrpt.pymrpt.mrpt.nav.RRTEndCriteria) -> None
assign(...)
assign(self: mrpt.pymrpt.mrpt.nav.RRTEndCriteria, : mrpt.pymrpt.mrpt.nav.RRTEndCriteria) -> mrpt.pymrpt.mrpt.nav.RRTEndCriteria
 
C++: mrpt::nav::RRTEndCriteria::operator=(const struct mrpt::nav::RRTEndCriteria &) --> struct mrpt::nav::RRTEndCriteria &

Data descriptors defined here:
acceptedAngToTarget
acceptedDistToTarget
maxComputationTime
minComputationTime

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class TCPoint(pybind11_builtins.pybind11_object)
    Trajectory points in C-Space for non-holonomic robots 
 
CPTG_DiffDrive_CollisionGridBased
 
 
Method resolution order:
TCPoint
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
__init__(...)
__init__(*args, **kwargs)
Overloaded function.
 
1. __init__(self: mrpt.pymrpt.mrpt.nav.TCPoint) -> None
 
2. __init__(self: mrpt.pymrpt.mrpt.nav.TCPoint, x_: float, y_: float, phi_: float, t_: float, dist_: float, v_: float, w_: float) -> None

Data descriptors defined here:
dist
phi
t
v
w
x
y

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class TCandidateMovementPTG(pybind11_builtins.pybind11_object)
    Stores a candidate movement in TP-Space-based navigation.
 
CReactiveNavigationSystemCReactiveNavigationSystem3D
 
 
Method resolution order:
TCandidateMovementPTG
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
__init__(...)
__init__(*args, **kwargs)
Overloaded function.
 
1. __init__(self: mrpt.pymrpt.mrpt.nav.TCandidateMovementPTG) -> None
 
2. __init__(self: mrpt.pymrpt.mrpt.nav.TCandidateMovementPTG, arg0: mrpt.pymrpt.mrpt.nav.TCandidateMovementPTG) -> None
assign(...)
assign(self: mrpt.pymrpt.mrpt.nav.TCandidateMovementPTG, : mrpt.pymrpt.mrpt.nav.TCandidateMovementPTG) -> mrpt.pymrpt.mrpt.nav.TCandidateMovementPTG
 
C++: mrpt::nav::TCandidateMovementPTG::operator=(const struct mrpt::nav::TCandidateMovementPTG &) --> struct mrpt::nav::TCandidateMovementPTG &

Data descriptors defined here:
direction
props
speed
starting_robot_dir
starting_robot_dist

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class TMoveEdgeSE2_TP(pybind11_builtins.pybind11_object)
    An edge for the move tree used for planning in SE2 and TP-space
 
 
Method resolution order:
TMoveEdgeSE2_TP
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
__init__(...)
__init__(*args, **kwargs)
Overloaded function.
 
1. __init__(self: mrpt.pymrpt.mrpt.nav.TMoveEdgeSE2_TP) -> None
 
2. __init__(self: mrpt.pymrpt.mrpt.nav.TMoveEdgeSE2_TP, parent_id_: int, end_pose_: mrpt.pymrpt.mrpt.math.TPose2D) -> None

Data descriptors defined here:
cost
end_state
parent_id
ptg_K
ptg_dist
ptg_index

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class TMoveTree_mrpt_nav_TNodeSE2_TP_mrpt_nav_TMoveEdgeSE2_TP_mrpt_containers_map_traits_map_as_vector_t(mrpt.pymrpt.mrpt.graphs.CDirectedTree_mrpt_nav_TMoveEdgeSE2_TP_t)
    
Method resolution order:
TMoveTree_mrpt_nav_TNodeSE2_TP_mrpt_nav_TMoveEdgeSE2_TP_mrpt_containers_map_traits_map_as_vector_t
mrpt.pymrpt.mrpt.graphs.CDirectedTree_mrpt_nav_TMoveEdgeSE2_TP_t
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
__init__(...)
__init__(*args, **kwargs)
Overloaded function.
 
1. __init__(self: mrpt.pymrpt.mrpt.nav.TMoveTree_mrpt_nav_TNodeSE2_TP_mrpt_nav_TMoveEdgeSE2_TP_mrpt_containers_map_traits_map_as_vector_t) -> None
 
2. __init__(self: mrpt.pymrpt.mrpt.nav.TMoveTree_mrpt_nav_TNodeSE2_TP_mrpt_nav_TMoveEdgeSE2_TP_mrpt_containers_map_traits_map_as_vector_t, arg0: mrpt.pymrpt.mrpt.nav.TMoveTree_mrpt_nav_TNodeSE2_TP_mrpt_nav_TMoveEdgeSE2_TP_mrpt_containers_map_traits_map_as_vector_t) -> None
assign(...)
assign(*args, **kwargs)
Overloaded function.
 
1. assign(self: mrpt.pymrpt.mrpt.nav.TMoveTree_mrpt_nav_TNodeSE2_TP_mrpt_nav_TMoveEdgeSE2_TP_mrpt_containers_map_traits_map_as_vector_t, : mrpt.pymrpt.mrpt.nav.TMoveTree_mrpt_nav_TNodeSE2_TP_mrpt_nav_TMoveEdgeSE2_TP_mrpt_containers_map_traits_map_as_vector_t) -> mrpt.pymrpt.mrpt.nav.TMoveTree_mrpt_nav_TNodeSE2_TP_mrpt_nav_TMoveEdgeSE2_TP_mrpt_containers_map_traits_map_as_vector_t
 
C++: mrpt::nav::TMoveTree<mrpt::nav::TNodeSE2_TP, mrpt::nav::TMoveEdgeSE2_TP>::operator=(const class mrpt::nav::TMoveTree<struct mrpt::nav::TNodeSE2_TP, struct mrpt::nav::TMoveEdgeSE2_TP> &) --> class mrpt::nav::TMoveTree<struct mrpt::nav::TNodeSE2_TP, struct mrpt::nav::TMoveEdgeSE2_TP> &
 
2. assign(self: mrpt.pymrpt.mrpt.nav.TMoveTree_mrpt_nav_TNodeSE2_TP_mrpt_nav_TMoveEdgeSE2_TP_mrpt_containers_map_traits_map_as_vector_t, : mrpt.pymrpt.mrpt.graphs.CDirectedTree_mrpt_nav_TMoveEdgeSE2_TP_t) -> mrpt.pymrpt.mrpt.graphs.CDirectedTree_mrpt_nav_TMoveEdgeSE2_TP_t
 
C++: mrpt::graphs::CDirectedTree<mrpt::nav::TMoveEdgeSE2_TP>::operator=(const class mrpt::graphs::CDirectedTree<struct mrpt::nav::TMoveEdgeSE2_TP> &) --> class mrpt::graphs::CDirectedTree<struct mrpt::nav::TMoveEdgeSE2_TP> &
clear(...)
clear(self: mrpt.pymrpt.mrpt.nav.TMoveTree_mrpt_nav_TNodeSE2_TP_mrpt_nav_TMoveEdgeSE2_TP_mrpt_containers_map_traits_map_as_vector_t) -> None
 
C++: mrpt::graphs::CDirectedTree<mrpt::nav::TMoveEdgeSE2_TP>::clear() --> void
getAsTextDescription(...)
getAsTextDescription(self: mrpt.pymrpt.mrpt.nav.TMoveTree_mrpt_nav_TNodeSE2_TP_mrpt_nav_TMoveEdgeSE2_TP_mrpt_containers_map_traits_map_as_vector_t) -> str
 
C++: mrpt::graphs::CDirectedTree<mrpt::nav::TMoveEdgeSE2_TP>::getAsTextDescription() const --> std::string
getNextFreeNodeID(...)
getNextFreeNodeID(self: mrpt.pymrpt.mrpt.nav.TMoveTree_mrpt_nav_TNodeSE2_TP_mrpt_nav_TMoveEdgeSE2_TP_mrpt_containers_map_traits_map_as_vector_t) -> int
 
C++: mrpt::nav::TMoveTree<mrpt::nav::TNodeSE2_TP, mrpt::nav::TMoveEdgeSE2_TP>::getNextFreeNodeID() const --> mrpt::graphs::TNodeID
insertNode(...)
insertNode(self: mrpt.pymrpt.mrpt.nav.TMoveTree_mrpt_nav_TNodeSE2_TP_mrpt_nav_TMoveEdgeSE2_TP_mrpt_containers_map_traits_map_as_vector_t, node_id: int, node_data: mrpt::nav::TNodeSE2_TP) -> None
 
C++: mrpt::nav::TMoveTree<mrpt::nav::TNodeSE2_TP, mrpt::nav::TMoveEdgeSE2_TP>::insertNode(const unsigned long, const struct mrpt::nav::TNodeSE2_TP &) --> void
insertNodeAndEdge(...)
insertNodeAndEdge(self: mrpt.pymrpt.mrpt.nav.TMoveTree_mrpt_nav_TNodeSE2_TP_mrpt_nav_TMoveEdgeSE2_TP_mrpt_containers_map_traits_map_as_vector_t, parent_id: int, new_child_id: int, new_child_node_data: mrpt::nav::TNodeSE2_TP, new_edge_data: mrpt::nav::TMoveEdgeSE2_TP) -> None
 
C++: mrpt::nav::TMoveTree<mrpt::nav::TNodeSE2_TP, mrpt::nav::TMoveEdgeSE2_TP>::insertNodeAndEdge(const unsigned long, const unsigned long, const struct mrpt::nav::TNodeSE2_TP &, const struct mrpt::nav::TMoveEdgeSE2_TP &) --> void

Data descriptors defined here:
edges_to_children
root

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class TNodeSE2(pybind11_builtins.pybind11_object)
    
Method resolution order:
TNodeSE2
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
__init__(...)
__init__(*args, **kwargs)
Overloaded function.
 
1. __init__(self: mrpt.pymrpt.mrpt.nav.TNodeSE2, state_: mrpt.pymrpt.mrpt.math.TPose2D) -> None
 
2. __init__(self: mrpt.pymrpt.mrpt.nav.TNodeSE2) -> None

Data descriptors defined here:
state

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class TNodeSE2_TP(pybind11_builtins.pybind11_object)
    
Method resolution order:
TNodeSE2_TP
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
__init__(...)
__init__(*args, **kwargs)
Overloaded function.
 
1. __init__(self: mrpt.pymrpt.mrpt.nav.TNodeSE2_TP, state_: mrpt.pymrpt.mrpt.math.TPose2D) -> None
 
2. __init__(self: mrpt.pymrpt.mrpt.nav.TNodeSE2_TP) -> None

Data descriptors defined here:
state

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class TPlannerInputTempl_mrpt_math_TPose2D_mrpt_math_TPose2D_t(pybind11_builtins.pybind11_object)
    
Method resolution order:
TPlannerInputTempl_mrpt_math_TPose2D_mrpt_math_TPose2D_t
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
__init__(...)
__init__(*args, **kwargs)
Overloaded function.
 
1. __init__(self: mrpt.pymrpt.mrpt.nav.TPlannerInputTempl_mrpt_math_TPose2D_mrpt_math_TPose2D_t, arg0: mrpt.pymrpt.mrpt.nav.TPlannerInputTempl_mrpt_math_TPose2D_mrpt_math_TPose2D_t) -> None
 
2. __init__(self: mrpt.pymrpt.mrpt.nav.TPlannerInputTempl_mrpt_math_TPose2D_mrpt_math_TPose2D_t) -> None
assign(...)
assign(self: mrpt.pymrpt.mrpt.nav.TPlannerInputTempl_mrpt_math_TPose2D_mrpt_math_TPose2D_t, : mrpt.pymrpt.mrpt.nav.TPlannerInputTempl_mrpt_math_TPose2D_mrpt_math_TPose2D_t) -> mrpt.pymrpt.mrpt.nav.TPlannerInputTempl_mrpt_math_TPose2D_mrpt_math_TPose2D_t
 
C++: mrpt::nav::TPlannerInputTempl<mrpt::math::TPose2D, mrpt::math::TPose2D>::operator=(const struct mrpt::nav::TPlannerInputTempl<struct mrpt::math::TPose2D, struct mrpt::math::TPose2D> &) --> struct mrpt::nav::TPlannerInputTempl<struct mrpt::math::TPose2D, struct mrpt::math::TPose2D> &

Data descriptors defined here:
goal_pose
obstacles_points
start_pose
world_bbox_max
world_bbox_min

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class TPlannerResultTempl_mrpt_nav_TMoveTree_mrpt_nav_TNodeSE2_TP_mrpt_nav_TMoveEdgeSE2_TP_t(pybind11_builtins.pybind11_object)
    
Method resolution order:
TPlannerResultTempl_mrpt_nav_TMoveTree_mrpt_nav_TNodeSE2_TP_mrpt_nav_TMoveEdgeSE2_TP_t
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
__init__(...)
__init__(*args, **kwargs)
Overloaded function.
 
1. __init__(self: mrpt.pymrpt.mrpt.nav.TPlannerResultTempl_mrpt_nav_TMoveTree_mrpt_nav_TNodeSE2_TP_mrpt_nav_TMoveEdgeSE2_TP_t) -> None
 
2. __init__(self: mrpt.pymrpt.mrpt.nav.TPlannerResultTempl_mrpt_nav_TMoveTree_mrpt_nav_TNodeSE2_TP_mrpt_nav_TMoveEdgeSE2_TP_t, arg0: mrpt.pymrpt.mrpt.nav.TPlannerResultTempl_mrpt_nav_TMoveTree_mrpt_nav_TNodeSE2_TP_mrpt_nav_TMoveEdgeSE2_TP_t) -> None
assign(...)
assign(self: mrpt.pymrpt.mrpt.nav.TPlannerResultTempl_mrpt_nav_TMoveTree_mrpt_nav_TNodeSE2_TP_mrpt_nav_TMoveEdgeSE2_TP_t, : mrpt.pymrpt.mrpt.nav.TPlannerResultTempl_mrpt_nav_TMoveTree_mrpt_nav_TNodeSE2_TP_mrpt_nav_TMoveEdgeSE2_TP_t) -> mrpt.pymrpt.mrpt.nav.TPlannerResultTempl_mrpt_nav_TMoveTree_mrpt_nav_TNodeSE2_TP_mrpt_nav_TMoveEdgeSE2_TP_t
 
C++: mrpt::nav::TPlannerResultTempl<mrpt::nav::TMoveTree<mrpt::nav::TNodeSE2_TP, mrpt::nav::TMoveEdgeSE2_TP>>::operator=(const struct mrpt::nav::TPlannerResultTempl<class mrpt::nav::TMoveTree<struct mrpt::nav::TNodeSE2_TP, struct mrpt::nav::TMoveEdgeSE2_TP> > &) --> struct mrpt::nav::TPlannerResultTempl<class mrpt::nav::TMoveTree<struct mrpt::nav::TNodeSE2_TP, struct mrpt::nav::TMoveEdgeSE2_TP> > &

Data descriptors defined here:
acceptable_goal_node_ids
best_goal_node_id
computation_time
goal_distance
move_tree
path_cost
success

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class TRobotShape(pybind11_builtins.pybind11_object)
    A 3D robot shape stored as a "sliced" stack of 2D polygons, used for
CReactiveNavigationSystem3D
Depending on each PTG, only the 2D polygon or the circular radius will be
taken into account
 
 
Method resolution order:
TRobotShape
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
__init__(...)
__init__(*args, **kwargs)
Overloaded function.
 
1. __init__(self: mrpt.pymrpt.mrpt.nav.TRobotShape) -> None
 
2. __init__(self: mrpt.pymrpt.mrpt.nav.TRobotShape, arg0: mrpt.pymrpt.mrpt.nav.TRobotShape) -> None
assign(...)
assign(self: mrpt.pymrpt.mrpt.nav.TRobotShape, : mrpt.pymrpt.mrpt.nav.TRobotShape) -> mrpt.pymrpt.mrpt.nav.TRobotShape
 
C++: mrpt::nav::TRobotShape::operator=(const struct mrpt::nav::TRobotShape &) --> struct mrpt::nav::TRobotShape &
getHeight(...)
getHeight(self: mrpt.pymrpt.mrpt.nav.TRobotShape, level: int) -> float
 
C++: mrpt::nav::TRobotShape::getHeight(size_t) const --> double
getRadius(...)
getRadius(self: mrpt.pymrpt.mrpt.nav.TRobotShape, level: int) -> float
 
C++: mrpt::nav::TRobotShape::getRadius(size_t) const --> double
polygon(...)
polygon(self: mrpt.pymrpt.mrpt.nav.TRobotShape, level: int) -> mrpt.pymrpt.mrpt.math.CPolygon
 
C++: mrpt::nav::TRobotShape::polygon(size_t) --> class mrpt::math::CPolygon &
resize(...)
resize(self: mrpt.pymrpt.mrpt.nav.TRobotShape, num_levels: int) -> None
 
C++: mrpt::nav::TRobotShape::resize(size_t) --> void
setHeight(...)
setHeight(self: mrpt.pymrpt.mrpt.nav.TRobotShape, level: int, h: float) -> None
 
C++: mrpt::nav::TRobotShape::setHeight(size_t, double) --> void
setRadius(...)
setRadius(self: mrpt.pymrpt.mrpt.nav.TRobotShape, level: int, r: float) -> None
 
C++: mrpt::nav::TRobotShape::setRadius(size_t, double) --> void
size(...)
size(self: mrpt.pymrpt.mrpt.nav.TRobotShape) -> int
 
C++: mrpt::nav::TRobotShape::size() const --> size_t

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class TWaypoint(pybind11_builtins.pybind11_object)
    A single waypoint within TWaypointSequence.
 
 
Method resolution order:
TWaypoint
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
__init__(...)
__init__(*args, **kwargs)
Overloaded function.
 
1. __init__(self: mrpt.pymrpt.mrpt.nav.TWaypoint) -> None
 
2. __init__(self: mrpt.pymrpt.mrpt.nav.TWaypoint, arg0: mrpt.pymrpt.mrpt.nav.TWaypoint) -> None
assign(...)
assign(self: mrpt.pymrpt.mrpt.nav.TWaypoint, : mrpt.pymrpt.mrpt.nav.TWaypoint) -> mrpt.pymrpt.mrpt.nav.TWaypoint
 
C++: mrpt::nav::TWaypoint::operator=(const struct mrpt::nav::TWaypoint &) --> struct mrpt::nav::TWaypoint &
getAsText(...)
getAsText(self: mrpt.pymrpt.mrpt.nav.TWaypoint) -> str
 
get in human-readable format 
 
C++: mrpt::nav::TWaypoint::getAsText() const --> std::string
isValid(...)
isValid(self: mrpt.pymrpt.mrpt.nav.TWaypoint) -> bool
 
Check whether all the minimum mandatory fields have been filled by the
 user. 
 
C++: mrpt::nav::TWaypoint::isValid() const --> bool

Data descriptors defined here:
allow_skip
allowed_distance
speed_ratio
target
target_frame_id
target_heading
user_data

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class TWaypointSequence(pybind11_builtins.pybind11_object)
    The struct for requesting navigation requests for a sequence of waypoints.
Used in CWaypointsNavigator::navigateWaypoints().
Users can directly fill in the list of waypoints manipulating the public
field `waypoints`.
 
 
Method resolution order:
TWaypointSequence
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
__init__(...)
__init__(*args, **kwargs)
Overloaded function.
 
1. __init__(self: mrpt.pymrpt.mrpt.nav.TWaypointSequence) -> None
 
2. __init__(self: mrpt.pymrpt.mrpt.nav.TWaypointSequence, arg0: mrpt.pymrpt.mrpt.nav.TWaypointSequence) -> None
assign(...)
assign(self: mrpt.pymrpt.mrpt.nav.TWaypointSequence, : mrpt.pymrpt.mrpt.nav.TWaypointSequence) -> mrpt.pymrpt.mrpt.nav.TWaypointSequence
 
C++: mrpt::nav::TWaypointSequence::operator=(const struct mrpt::nav::TWaypointSequence &) --> struct mrpt::nav::TWaypointSequence &
clear(...)
clear(self: mrpt.pymrpt.mrpt.nav.TWaypointSequence) -> None
 
C++: mrpt::nav::TWaypointSequence::clear() --> void
getAsOpenglVisualization(...)
getAsOpenglVisualization(*args, **kwargs)
Overloaded function.
 
1. getAsOpenglVisualization(self: mrpt.pymrpt.mrpt.nav.TWaypointSequence, obj: mrpt.pymrpt.mrpt.opengl.CSetOfObjects) -> None
 
2. getAsOpenglVisualization(self: mrpt.pymrpt.mrpt.nav.TWaypointSequence, obj: mrpt.pymrpt.mrpt.opengl.CSetOfObjects, params: mrpt.pymrpt.mrpt.nav.TWaypointsRenderingParams) -> None
 
Renders the sequence of waypoints (previous contents of `obj` are
 cleared) 
 
C++: mrpt::nav::TWaypointSequence::getAsOpenglVisualization(class mrpt::opengl::CSetOfObjects &, const struct mrpt::nav::TWaypointsRenderingParams &) const --> void
getAsText(...)
getAsText(self: mrpt.pymrpt.mrpt.nav.TWaypointSequence) -> str
 
Gets navigation params as a human-readable format 
 
C++: mrpt::nav::TWaypointSequence::getAsText() const --> std::string
load(...)
load(self: mrpt.pymrpt.mrpt.nav.TWaypointSequence, c: mrpt.pymrpt.mrpt.config.CConfigFileBase, s: str) -> None
 
Loads waypoints to a config file section 
 
C++: mrpt::nav::TWaypointSequence::load(const class mrpt::config::CConfigFileBase &, const std::string &) --> void
save(...)
save(self: mrpt.pymrpt.mrpt.nav.TWaypointSequence, c: mrpt.pymrpt.mrpt.config.CConfigFileBase, s: str) -> None
 
Saves waypoints to a config file section 
 
C++: mrpt::nav::TWaypointSequence::save(class mrpt::config::CConfigFileBase &, const std::string &) const --> void

Data descriptors defined here:
waypoints

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class TWaypointStatus(TWaypoint)
    A waypoint with an execution status.
 
 
Method resolution order:
TWaypointStatus
TWaypoint
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
__init__(...)
__init__(*args, **kwargs)
Overloaded function.
 
1. __init__(self: mrpt.pymrpt.mrpt.nav.TWaypointStatus) -> None
 
2. __init__(self: mrpt.pymrpt.mrpt.nav.TWaypointStatus, arg0: mrpt.pymrpt.mrpt.nav.TWaypointStatus) -> None
assign(...)
assign(*args, **kwargs)
Overloaded function.
 
1. assign(self: mrpt.pymrpt.mrpt.nav.TWaypointStatus, wp: mrpt.pymrpt.mrpt.nav.TWaypoint) -> mrpt.pymrpt.mrpt.nav.TWaypointStatus
 
Only copies the base class TWaypoint data fields 
 
C++: mrpt::nav::TWaypointStatus::operator=(const struct mrpt::nav::TWaypoint &) --> struct mrpt::nav::TWaypointStatus &
 
2. assign(self: mrpt.pymrpt.mrpt.nav.TWaypointStatus, : mrpt.pymrpt.mrpt.nav.TWaypointStatus) -> mrpt.pymrpt.mrpt.nav.TWaypointStatus
 
C++: mrpt::nav::TWaypointStatus::operator=(const struct mrpt::nav::TWaypointStatus &) --> struct mrpt::nav::TWaypointStatus &
getAsText(...)
getAsText(self: mrpt.pymrpt.mrpt.nav.TWaypointStatus) -> str
 
Gets navigation params as a human-readable format 
 
C++: mrpt::nav::TWaypointStatus::getAsText() const --> std::string

Data descriptors defined here:
counter_seen_reachable
reached
skipped
timestamp_reach
user_status_data

Methods inherited from TWaypoint:
isValid(...)
isValid(self: mrpt.pymrpt.mrpt.nav.TWaypoint) -> bool
 
Check whether all the minimum mandatory fields have been filled by the
 user. 
 
C++: mrpt::nav::TWaypoint::isValid() const --> bool

Data descriptors inherited from TWaypoint:
allow_skip
allowed_distance
speed_ratio
target
target_frame_id
target_heading
user_data

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class TWaypointStatusSequence(pybind11_builtins.pybind11_object)
    The struct for querying the status of waypoints navigation. Used in
CWaypointsNavigator::getWaypointNavStatus().
 
 
Method resolution order:
TWaypointStatusSequence
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
__init__(...)
__init__(*args, **kwargs)
Overloaded function.
 
1. __init__(self: mrpt.pymrpt.mrpt.nav.TWaypointStatusSequence) -> None
 
2. __init__(self: mrpt.pymrpt.mrpt.nav.TWaypointStatusSequence, arg0: mrpt.pymrpt.mrpt.nav.TWaypointStatusSequence) -> None
assign(...)
assign(self: mrpt.pymrpt.mrpt.nav.TWaypointStatusSequence, : mrpt.pymrpt.mrpt.nav.TWaypointStatusSequence) -> mrpt.pymrpt.mrpt.nav.TWaypointStatusSequence
 
C++: mrpt::nav::TWaypointStatusSequence::operator=(const struct mrpt::nav::TWaypointStatusSequence &) --> struct mrpt::nav::TWaypointStatusSequence &
getAsOpenglVisualization(...)
getAsOpenglVisualization(*args, **kwargs)
Overloaded function.
 
1. getAsOpenglVisualization(self: mrpt.pymrpt.mrpt.nav.TWaypointStatusSequence, obj: mrpt.pymrpt.mrpt.opengl.CSetOfObjects) -> None
 
2. getAsOpenglVisualization(self: mrpt.pymrpt.mrpt.nav.TWaypointStatusSequence, obj: mrpt.pymrpt.mrpt.opengl.CSetOfObjects, params: mrpt.pymrpt.mrpt.nav.TWaypointsRenderingParams) -> None
 
Renders the sequence of waypoints (previous contents of `obj` are
 cleared) 
 
C++: mrpt::nav::TWaypointStatusSequence::getAsOpenglVisualization(class mrpt::opengl::CSetOfObjects &, const struct mrpt::nav::TWaypointsRenderingParams &) const --> void
getAsText(...)
getAsText(self: mrpt.pymrpt.mrpt.nav.TWaypointStatusSequence) -> str
 
Ctor with default values 
 
 Gets navigation params as a human-readable format 
 
C++: mrpt::nav::TWaypointStatusSequence::getAsText() const --> std::string

Data descriptors defined here:
final_goal_reached
last_robot_pose
timestamp_nav_started
waypoint_index_current_goal
waypoints

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
class TWaypointsRenderingParams(pybind11_builtins.pybind11_object)
    used in getAsOpenglVisualization()
 
 
Method resolution order:
TWaypointsRenderingParams
pybind11_builtins.pybind11_object
builtins.object

Methods defined here:
__init__(...)
__init__(*args, **kwargs)
Overloaded function.
 
1. __init__(self: mrpt.pymrpt.mrpt.nav.TWaypointsRenderingParams) -> None
 
2. __init__(self: mrpt.pymrpt.mrpt.nav.TWaypointsRenderingParams, arg0: mrpt.pymrpt.mrpt.nav.TWaypointsRenderingParams) -> None
assign(...)
assign(self: mrpt.pymrpt.mrpt.nav.TWaypointsRenderingParams, : mrpt.pymrpt.mrpt.nav.TWaypointsRenderingParams) -> mrpt.pymrpt.mrpt.nav.TWaypointsRenderingParams
 
C++: mrpt::nav::TWaypointsRenderingParams::operator=(const struct mrpt::nav::TWaypointsRenderingParams &) --> struct mrpt::nav::TWaypointsRenderingParams &

Data descriptors defined here:
color_current_goal
color_reached
color_regular
heading_arrow_len
inner_radius
inner_radius_non_skippable
inner_radius_reached
outter_radius
outter_radius_non_skippable
outter_radius_reached
show_labels

Static methods inherited from pybind11_builtins.pybind11_object:
__new__(*args, **kwargs) from pybind11_builtins.pybind11_type
Create and return a new object.  See help(type) for accurate signature.

 
Functions
       
collision_free_dist_arc_circ_robot(...) method of builtins.PyCapsule instance
collision_free_dist_arc_circ_robot(arc_radius: float, robot_radius: float, obstacle: mrpt::math::TPoint2D_<double>, out_col_dist: float) -> bool
 
Computes the collision-free distance for a forward path (+X) circular arc
 path segment from pose (0,0,0) and radius of curvature R (>0 -> +Y, <0 ->
 -Y), a circular robot and a point obstacle (ox,oy). 
 
 true if a
 collision exists, and the distance along the path will be in out_col_dist;
 false otherwise.
 
C++: mrpt::nav::collision_free_dist_arc_circ_robot(const double, const double, const struct mrpt::math::TPoint2D_<double> &, double &) --> bool
collision_free_dist_segment_circ_robot(...) method of builtins.PyCapsule instance
collision_free_dist_segment_circ_robot(p_start: mrpt::math::TPoint2D_<double>, p_end: mrpt::math::TPoint2D_<double>, robot_radius: float, obstacle: mrpt::math::TPoint2D_<double>, out_col_dist: float) -> bool
 
Computes the collision-free distance for a linear segment path between two
 points, for a circular robot, and a point obstacle (ox,oy).
 
 
 true if a collision exists, and the distance along the segment will
 be in out_col_dist; false otherwise.
 
 
 std::runtime_error If the two points are closer than an epsilon
 (1e-10)
 
C++: mrpt::nav::collision_free_dist_segment_circ_robot(const struct mrpt::math::TPoint2D_<double> &, const struct mrpt::math::TPoint2D_<double> &, const double, const struct mrpt::math::TPoint2D_<double> &, double &) --> bool

 
Data
        COLL_BEH_BACK_AWAY = <PTG_collision_behavior_t.COLL_BEH_BACK_AWAY: 0>
COLL_BEH_STOP = <PTG_collision_behavior_t.COLL_BEH_STOP: 1>