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Navigation superclass
An abstract superclass for implementing navigation classes. nav = Navigation object.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 |
occgrid | occupancy grid representing the navigation environment |
goal | goal coordinate |
goal_set | set the goal |
world_set | set the occupancy grid |
plan | generate a plan for motion to goal |
next | returns coordinate of next point on path |
Create a Navigation object
n = Navigation object that holds an occupancy grid occgrid. A number of options can be be passed.'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 |
Convert navigation object to string
N.Display status of navigation object
N.display the state of the navigation object in human-readable form.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.goalSet verbosity
N.verbosity to v, where 0 is silent and greater values display more information.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.'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.