M-File Help: Navigation View code for Navigation

Navigation

Navigation superclass

An abstract superclass for implementing navigation classes. nav = Navigation object.

Methods

visualize display the occupancy grid
plan plan a path to goal
path return/animate a path from start to goal
display print the parameters in human readable form
char convert the parameters to a human readable string

Properties (read only)

occgrid occupancy grid representing the navigation environment
goal goal coordinate

Methods to be provided in subclass

goal_set set the goal
world_set set the occupancy grid
navigate_init
plan generate a plan for motion to goal
next returns coordinate of next point on path

Notes

See also

Dstar, dxform, PRM, RRT


Navigation.Navigation

Create a Navigation object

n = Navigation object that holds an occupancy grid occgrid. A number of options can be be passed.

Options

'navhook', F Specify a function to be called at every step of path
'seed', s Specify an initial random number seed
'goal', g Specify the goal point
'verbose' Display debugging information

Navigation.char

Convert navigation object to string

N.

Navigation.display

Display status of navigation object

N.display the state of the navigation object in human-readable form.

Notes

See also

Navigation.char


Navigation.path

Follow path from start to goal

N.path() display the occupancy grid, prompt the user to click a start location, then compute a path(start) returns the Navigation.visualize, Navigation.goal


Navigation.verbosity

Set verbosity

N.verbosity to v, where 0 is silent and greater values display more information.

Navigation.visualize

Visualize navigation environment

N.visualize(p) displays the occupancy grid in a new figure, and shows the path points p which is an Nx2 matrix.

Options

'goal' Superimpose the goal position if set
'distance', D Display a distance field D behind the obstacle map. D is a matrix of the same size as the occupancy grid.

 

© 1990-2011 Peter Corke.