hololib::ObstacleManager Class Reference

Manages a collection of obstacles and provides avoidance computations. More...

#include <obstacle_manager.hpp>

Public Types
enum class	AvoidanceMode { On , Off }

Public Member Functions
	ObstacleManager ()=default
	Default constructor for ObstacleManager.
void	setRobotDimensions (float width, float length)
	Set the dimensions of the robot to define its bounding box for collisions.
void	addObstacle (float x, float y, float radius)
	Add a circular obstacle to the field representation.
void	removeObstacle (size_t index)
	Remove an obstacle by its index.
void	clearObstacles ()
	Clear all tracked obstacles.
const std::vector< Obstacle > &	getObstacles () const
	Get the list of currently tracked obstacles.
bool	checkIntersection (const Eigen::Vector2f &start, const Eigen::Vector2f &end, float safety_margin, Obstacle &out_obstacle, Eigen::Vector2f &out_closest) const
	Check if a path segment intersects with any obstacle.
Eigen::Vector2f	getAvoidanceTarget (const Eigen::Vector2f &robot_pos, const Eigen::Vector2f &target_pos, float safety_margin, float clearance, float robot_heading_rad, int recursion_depth=0) const
	Calculate a target vector that avoids collisions while navigating towards a goal.
Eigen::Vector2f	getPotentialFieldTarget (const Eigen::Vector2f &robot_pos, const Eigen::Vector2f &target_pos, float robot_heading_rad) const
	Get an artificial potential field target vector using the manager's configured parameters (pf_ka, pf_kr, pf_influence_radius).
void	setAvoidanceMode (AvoidanceMode mode)
	Set the avoidance mode.
AvoidanceMode	getAvoidanceMode ()
void	setAvoidanceParams (float safetyMargin, float clearance)
	Set safety margin and clearance used by avoidance routines.
void	setPotentialFieldParams (float ka, float kr, float influenceRadius)
	Set potential field parameters.

Detailed Description

Manages a collection of obstacles and provides avoidance computations.

Provides methods for checking path intersections and generating vectors to steer away from potential collisions.

Definition at line 23 of file obstacle_manager.hpp.

Member Enumeration Documentation

AvoidanceMode

enum class hololib::ObstacleManager::AvoidanceMode

strong

Enumerator
On
Off

Definition at line 30 of file obstacle_manager.hpp.

Constructor & Destructor Documentation

ObstacleManager()

hololib::ObstacleManager::ObstacleManager ( )

default

Default constructor for ObstacleManager.

Member Function Documentation

setRobotDimensions()

void hololib::ObstacleManager::setRobotDimensions	(	float	width,
		float	length
	)

Set the dimensions of the robot to define its bounding box for collisions.

Parameters

width	Width of the robot.
length	Length of the robot.

addObstacle()

void hololib::ObstacleManager::addObstacle	(	float	x,
		float	y,
		float	radius
	)

Add a circular obstacle to the field representation.

Parameters

x	X coordinate of the obstacle.
y	Y coordinate of the obstacle.
radius	Radius of the obstacle.

removeObstacle()

void hololib::ObstacleManager::removeObstacle

(

size_t

index

)

Remove an obstacle by its index.

Parameters

index

The index of the obstacle in the internal vector.

clearObstacles()

void hololib::ObstacleManager::clearObstacles

(

)

Clear all tracked obstacles.

getObstacles()

const std::vector< Obstacle > & hololib::ObstacleManager::getObstacles

(

)

const

Get the list of currently tracked obstacles.

Returns

const std::vector<Obstacle>& Reference to the obstacle vector.

checkIntersection()

bool hololib::ObstacleManager::checkIntersection	(	const Eigen::Vector2f &	start,
		const Eigen::Vector2f &	end,
		float	safety_margin,
		Obstacle &	out_obstacle,
		Eigen::Vector2f &	out_closest
	)		const

Check if a path segment intersects with any obstacle.

Parameters

start	Start point of the segment.
end	End point of the segment.
safety_margin	Extra margin to add to the robot/obstacle bounds.
out_obstacle	Output parameter for the intersected obstacle.
out_closest	Output parameter for the closest point of intersection.

Returns

true if an intersection occurs, false otherwise.

getAvoidanceTarget()

Eigen::Vector2f hololib::ObstacleManager::getAvoidanceTarget	(	const Eigen::Vector2f &	robot_pos,
		const Eigen::Vector2f &	target_pos,
		float	safety_margin,
		float	clearance,
		float	robot_heading_rad,
		int	recursion_depth = 0
	)		const

Calculate a target vector that avoids collisions while navigating towards a goal.

Parameters

robot_pos	Current robot position.
target_pos	Desired goal position.
safety_margin	Extra margin around obstacles.
clearance	Desired clearance distance from obstacles.
robot_heading_rad	Current robot heading in radians.
recursion_depth	Internal use for recursive path-finding limitations.

Returns

Eigen::Vector2f The corrected target point to aim for.

getPotentialFieldTarget()

Eigen::Vector2f hololib::ObstacleManager::getPotentialFieldTarget	(	const Eigen::Vector2f &	robot_pos,
		const Eigen::Vector2f &	target_pos,
		float	robot_heading_rad
	)		const

Get an artificial potential field target vector using the manager's configured parameters (pf_ka, pf_kr, pf_influence_radius).

Parameters

robot_pos	Current robot position.
target_pos	Desired goal position.
robot_heading_rad	Current robot heading in radians.

Returns

Eigen::Vector2f The resultant vector from potential fields.

setAvoidanceMode()

void hololib::ObstacleManager::setAvoidanceMode

(

AvoidanceMode

mode

)

Set the avoidance mode.

getAvoidanceMode()

AvoidanceMode hololib::ObstacleManager::getAvoidanceMode

(

)

setAvoidanceParams()

void hololib::ObstacleManager::setAvoidanceParams	(	float	safetyMargin,
		float	clearance
	)

Set safety margin and clearance used by avoidance routines.

setPotentialFieldParams()

void hololib::ObstacleManager::setPotentialFieldParams	(	float	ka,
		float	kr,
		float	influenceRadius
	)

Set potential field parameters.