123 lines
17 KiB
HTML
123 lines
17 KiB
HTML
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
|
|
<html xmlns="http://www.w3.org/1999/xhtml">
|
|
<head>
|
|
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
|
|
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
|
|
<meta name="generator" content="Doxygen 1.8.11"/>
|
|
<title>OMPL Plannification: /home/blue/GitLab Repo/OMPL_Planning/Source Files/mapping_planning_tutorial/control_turtlebot/src/OMPL_Planning/HelloWorld/Hello_World.cpp Source File</title>
|
|
<link href="tabs.css" rel="stylesheet" type="text/css"/>
|
|
<script type="text/javascript" src="jquery.js"></script>
|
|
<script type="text/javascript" src="dynsections.js"></script>
|
|
<link href="navtree.css" rel="stylesheet" type="text/css"/>
|
|
<script type="text/javascript" src="resize.js"></script>
|
|
<script type="text/javascript" src="navtreedata.js"></script>
|
|
<script type="text/javascript" src="navtree.js"></script>
|
|
<script type="text/javascript">
|
|
$(document).ready(initResizable);
|
|
$(window).load(resizeHeight);
|
|
</script>
|
|
<link href="search/search.css" rel="stylesheet" type="text/css"/>
|
|
<script type="text/javascript" src="search/searchdata.js"></script>
|
|
<script type="text/javascript" src="search/search.js"></script>
|
|
<script type="text/javascript">
|
|
$(document).ready(function() { init_search(); });
|
|
</script>
|
|
<link href="doxygen.css" rel="stylesheet" type="text/css" />
|
|
</head>
|
|
<body>
|
|
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
|
|
<div id="titlearea">
|
|
<table cellspacing="0" cellpadding="0">
|
|
<tbody>
|
|
<tr style="height: 56px;">
|
|
<td id="projectlogo"><img alt="Logo" src="flylab.png"/></td>
|
|
<td id="projectalign" style="padding-left: 0.5em;">
|
|
<div id="projectname">OMPL Plannification
|
|
</div>
|
|
<div id="projectbrief">Path planning with OMPL</div>
|
|
</td>
|
|
</tr>
|
|
</tbody>
|
|
</table>
|
|
</div>
|
|
<!-- end header part -->
|
|
<!-- Generated by Doxygen 1.8.11 -->
|
|
<script type="text/javascript">
|
|
var searchBox = new SearchBox("searchBox", "search",false,'Search');
|
|
</script>
|
|
<div id="navrow1" class="tabs">
|
|
<ul class="tablist">
|
|
<li><a href="index.html"><span>Main Page</span></a></li>
|
|
<li><a href="annotated.html"><span>Classes</span></a></li>
|
|
<li class="current"><a href="files.html"><span>Files</span></a></li>
|
|
<li>
|
|
<div id="MSearchBox" class="MSearchBoxInactive">
|
|
<span class="left">
|
|
<img id="MSearchSelect" src="search/mag_sel.png"
|
|
onmouseover="return searchBox.OnSearchSelectShow()"
|
|
onmouseout="return searchBox.OnSearchSelectHide()"
|
|
alt=""/>
|
|
<input type="text" id="MSearchField" value="Search" accesskey="S"
|
|
onfocus="searchBox.OnSearchFieldFocus(true)"
|
|
onblur="searchBox.OnSearchFieldFocus(false)"
|
|
onkeyup="searchBox.OnSearchFieldChange(event)"/>
|
|
</span><span class="right">
|
|
<a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.png" alt=""/></a>
|
|
</span>
|
|
</div>
|
|
</li>
|
|
</ul>
|
|
</div>
|
|
<div id="navrow2" class="tabs2">
|
|
<ul class="tablist">
|
|
<li><a href="files.html"><span>File List</span></a></li>
|
|
</ul>
|
|
</div>
|
|
</div><!-- top -->
|
|
<div id="side-nav" class="ui-resizable side-nav-resizable">
|
|
<div id="nav-tree">
|
|
<div id="nav-tree-contents">
|
|
<div id="nav-sync" class="sync"></div>
|
|
</div>
|
|
</div>
|
|
<div id="splitbar" style="-moz-user-select:none;"
|
|
class="ui-resizable-handle">
|
|
</div>
|
|
</div>
|
|
<script type="text/javascript">
|
|
$(document).ready(function(){initNavTree('_hello___world_8cpp_source.html','');});
|
|
</script>
|
|
<div id="doc-content">
|
|
<!-- window showing the filter options -->
|
|
<div id="MSearchSelectWindow"
|
|
onmouseover="return searchBox.OnSearchSelectShow()"
|
|
onmouseout="return searchBox.OnSearchSelectHide()"
|
|
onkeydown="return searchBox.OnSearchSelectKey(event)">
|
|
</div>
|
|
|
|
<!-- iframe showing the search results (closed by default) -->
|
|
<div id="MSearchResultsWindow">
|
|
<iframe src="javascript:void(0)" frameborder="0"
|
|
name="MSearchResults" id="MSearchResults">
|
|
</iframe>
|
|
</div>
|
|
|
|
<div class="header">
|
|
<div class="headertitle">
|
|
<div class="title">Hello_World.cpp</div> </div>
|
|
</div><!--header-->
|
|
<div class="contents">
|
|
<a href="_hello___world_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> </div><div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include <iostream></span></div><div class="line"><a name="l00009"></a><span class="lineno"> 9</span> </div><div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include "../OMPL_Planner/OMPL_Planner.hpp"</span></div><div class="line"><a name="l00011"></a><span class="lineno"> 11</span> </div><div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span> **argv)</div><div class="line"><a name="l00013"></a><span class="lineno"> 13</span> {</div><div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  <span class="keywordtype">int</span> planningDimension = 2, solvingTime = 5;</div><div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  std::string plannerName, mapFile;</div><div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  std::vector<double> start, goal, planning_bounds_x_, planning_bounds_y_, planning_bounds_z_;</div><div class="line"><a name="l00017"></a><span class="lineno"> 17</span> </div><div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  planning_bounds_x_.resize(2);</div><div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  planning_bounds_y_.resize(2);</div><div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  planning_bounds_z_.resize(2);</div><div class="line"><a name="l00021"></a><span class="lineno"> 21</span> </div><div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  cout<<<span class="stringliteral">"Path planning with OMPL version "</span><<OMPL_VERSION<<<span class="stringliteral">"\n"</span>;</div><div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  cout<<<span class="stringliteral">"Choose a dimension for planning 2D or 3D (default :"</span><<planningDimension<<<span class="stringliteral">") : "</span>;</div><div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  cin >> planningDimension;</div><div class="line"><a name="l00025"></a><span class="lineno"> 25</span> </div><div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  start.resize(planningDimension);</div><div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  goal.resize(planningDimension);</div><div class="line"><a name="l00028"></a><span class="lineno"> 28</span> </div><div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  cout<<<span class="stringliteral">"Choose a planner (available planner : CForest, RRTstar) : "</span>;</div><div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  cin >> plannerName;</div><div class="line"><a name="l00031"></a><span class="lineno"> 31</span> </div><div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  <a class="code" href="class_o_m_p_l___planner.html">OMPL_Planner</a> planner(planningDimension);</div><div class="line"><a name="l00033"></a><span class="lineno"> 33</span> </div><div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  planning_bounds_x_[0]=-15;</div><div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  planning_bounds_x_[1]=15;</div><div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  planning_bounds_y_[0]=-15;</div><div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  planning_bounds_y_[1]=15;</div><div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  planning_bounds_z_[0]=-15;</div><div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  planning_bounds_z_[1]=15;</div><div class="line"><a name="l00040"></a><span class="lineno"> 40</span> </div><div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <span class="keywordflow">if</span> (planningDimension == 3)</div><div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  planner.setPlanningBounds(planning_bounds_x_, planning_bounds_y_, planning_bounds_z_);</div><div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  <span class="keywordflow">else</span> </div><div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  planner.setPlanningBounds(planning_bounds_x_, planning_bounds_y_);</div><div class="line"><a name="l00045"></a><span class="lineno"> 45</span> </div><div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  planner.setPlanningDepth();</div><div class="line"><a name="l00047"></a><span class="lineno"> 47</span> </div><div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  planner.setPlanner(plannerName);</div><div class="line"><a name="l00049"></a><span class="lineno"> 49</span> </div><div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  cout<<<span class="stringliteral">"Enter direction to the Octomap file (.bt file usually) : "</span>;</div><div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  cin>> mapFile;</div><div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  planner.setStateChecker(mapFile,0.5,0.5,0.5);</div><div class="line"><a name="l00053"></a><span class="lineno"> 53</span> </div><div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  cout<<<span class="stringliteral">"\n Planner initialization done !\n"</span>;</div><div class="line"><a name="l00055"></a><span class="lineno"> 55</span> </div><div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  start[2]=0;</div><div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  goal[2]=0;</div><div class="line"><a name="l00058"></a><span class="lineno"> 58</span> </div><div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  cout<<<span class="stringliteral">"Choose a start position (expecting "</span><< planningDimension <<<span class="stringliteral">" values) : "</span>;</div><div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <span class="keywordflow">if</span>(planningDimension==2)</div><div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  cin>> start[0] >> start[1];</div><div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="keywordflow">else</span></div><div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  cin>> start[0] >> start[1] >> start[2];</div><div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  </div><div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  cout<<<span class="stringliteral">"Choose a goal position (expecting "</span><< planningDimension <<<span class="stringliteral">" values) : "</span>;</div><div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <span class="keywordflow">if</span>(planningDimension==2)</div><div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  cin>> goal[0] >> goal[1];</div><div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <span class="keywordflow">else</span></div><div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  cin>> goal[0] >> goal[1] >> goal[2];</div><div class="line"><a name="l00070"></a><span class="lineno"> 70</span> </div><div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  planner.setStartGoal(start,goal);</div><div class="line"><a name="l00072"></a><span class="lineno"> 72</span> </div><div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  cout<<<span class="stringliteral">"Choose solving time (default :"</span><<solvingTime<<<span class="stringliteral">") : "</span>;</div><div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  cin>> solvingTime;</div><div class="line"><a name="l00075"></a><span class="lineno"> 75</span> </div><div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <span class="comment">//cout<<"Searching path from "<<start[0]<<" / "<<start[1]<<" / "<<start[2]<<" to "<<goal[0]<<" / "<<goal[1]<<" / "<<goal[2]<<"\n";</span></div><div class="line"><a name="l00077"></a><span class="lineno"> 77</span> </div><div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <span class="keywordflow">if</span>(planner.findPath(solvingTime))</div><div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  {</div><div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  og::PathGeometric path = planner.getPath();</div><div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  path.print(cout);</div><div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  }</div><div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <span class="keywordflow">else</span></div><div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  cout<<<span class="stringliteral">"\n No path found\n"</span>;</div><div class="line"><a name="l00085"></a><span class="lineno"> 85</span> </div><div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  cout<<<span class="stringliteral">"Thanks for using this awsome Hello World !\n"</span>;</div><div class="line"><a name="l00087"></a><span class="lineno"> 87</span> </div><div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00089"></a><span class="lineno"> 89</span> }</div><div class="line"><a name="l00090"></a><span class="lineno"> 90</span> </div><div class="line"><a name="l00091"></a><span class="lineno"> 91</span> </div><div class="line"><a name="l00093"></a><span class="lineno"> 93</span> </div><div class="ttc" id="class_o_m_p_l___planner_html"><div class="ttname"><a href="class_o_m_p_l___planner.html">OMPL_Planner</a></div><div class="ttdoc">Class for planner for 2D and 3D planning. </div><div class="ttdef"><b>Definition:</b> <a href="_o_m_p_l___planner_8hpp_source.html#l00035">OMPL_Planner.hpp:35</a></div></div>
|
|
</div><!-- fragment --></div><!-- contents -->
|
|
</div><!-- doc-content -->
|
|
<!-- start footer part -->
|
|
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
|
|
<ul>
|
|
<li class="navelem"><a class="el" href="dir_a2ed51f7c7095589dc0c78a28547d1d4.html">Source Files</a></li><li class="navelem"><a class="el" href="dir_50758af9fa44b143c39a433e879132a5.html">mapping_planning_tutorial</a></li><li class="navelem"><a class="el" href="dir_2b04689da8f92abcb133442f492c8f6b.html">control_turtlebot</a></li><li class="navelem"><a class="el" href="dir_5fee08efe95e6d722a092087df25e95a.html">src</a></li><li class="navelem"><a class="el" href="dir_0789743f3a1bac7b4929be0fd81c897b.html">OMPL_Planning</a></li><li class="navelem"><a class="el" href="dir_a0313cf226ed46513aeaf03655bca9f8.html">HelloWorld</a></li><li class="navelem"><a class="el" href="_hello___world_8cpp.html">Hello_World.cpp</a></li>
|
|
<li class="footer">Generated by
|
|
<a href="http://www.doxygen.org/index.html">
|
|
<img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.11 </li>
|
|
</ul>
|
|
</div>
|
|
</body>
|
|
</html>
|