Namespaces
	models

Classes
class	Basis
	Fourier cosine basis. More...

class	Collision
	2D collision detection More...

struct	CollisionConfig
	Collision detection parameters. More...

class	DynamicWindow
	Dynamic window approach. More...

class	ErgodicControl
	Receding horizon ergodic trajectory optimization. More...

class	Exploration
	Exploration template. More...

struct	Gaussian
	2D gaussian More...

class	GridMap
	Constructs an 2D grid. More...

class	OccupancyMapper
	Occupancy grid mapping. More...

class	ReplayBuffer
	Store and smaple past states. More...

class	RungeKutta
	4th order Runge-Kutta integration More...

class	RungeKutta45

class	Target
	Target distribution. More...

Typedefs
typedef std::function< vec(const vec &, const vec &, const vec &, const mat &)>	CoStateFunc
	Function representing the time derivatve of the co-state variable. More...

typedef std::vector< Gaussian >	GaussianList

typedef std::vector< int8_t >	GridData
	Occupancy grid data. More...

Enumerations
enum	CollisionMsg { CollisionMsg::crash, CollisionMsg::obstacle, CollisionMsg::none }
	State of the collision detector. More...

Functions
bool	almost_equal (double d1, double d2, double epsilon=1.0e-12)
	approximately compare two floating-point numbers More...

unsigned int	axis_length (double lower, double upper, double resolution)
	Length of a grid axis. More...

double	axis_upper (double lower, double resolution, unsigned int size)
	Upper axis limit. More...

nav_msgs::Path	constTwistPath (const std::string &map_frame_id, const vec &x0, const vec &u, double dt, double horizon)
	Visualize path from following a constant twist. More...

double	distance (double x0, double y0, double x1, double y1)
	Euclidean distance between two points. More...

double	entropy (double p)
	Entropy of a single grid cell. More...

double	getYaw (double qx, double qy, double qz, double qw)
	Get yaw from quaternion. More...

vec	integrate_twist (const vec &x, const vec &u, double dt)
	Integrate a constant twist. More...

double	logOdds2Prob (double l)
	Convert log odds to a probability. More...

double	normalize_angle_2PI (double rad)
	Wraps angle between 0 and 2pi or 0 to -2pi. More...

double	normalize_angle_PI (double rad)
	Wraps angle between -pi and pi. More...

vec	polar2Cartesian (double angle, double range)
	Convert polar to cartesian coordinates. More...

vec	polar2CartesianHomo (double angle, double range)
	Convert polar to cartesian homogenous coordinates. More...

double	prob2LogOdds (double p)
	Convert probability to log odds. More...

vec	rhodot (const vec &rho, const vec &gdx, const vec &dbar, const mat &fdx)
	Time derivatve of the co-state variable. More...

mat	transform2d (double angle)
	Construct 2D transformation. More...

mat	transform2d (double x, double y)
	Construct 2D transformation matrix. More...

mat	transform2d (double x, double y, double angle)
	Construct 2D transformation matrix. More...

mat	transform2dInv (const mat &trans2d)
	Construct 2D transformation inverse. More...

bool	validate_control (const Collision &collision, const GridMap &grid, const vec &x0, const vec &u, double dt, double horizon)
	Determine if control will cause a collision. More...

Variables
constexpr char	LOGNAME [] = "ergodic exploration"

constexpr double	PI = 3.14159265358979323846

Typedef Documentation

◆ CoStateFunc

typedef std::function<vec(const vec&, const vec&, const vec&, const mat&)> ergodic_exploration::CoStateFunc

Function representing the time derivatve of the co-state variable.

inputs are co-state, ergodic measure derivatve, barrier derivatve, and the jacobian of the dynamics w.r.t state

Definition at line 60 of file integrator.hpp.

◆ GaussianList

typedef std::vector<Gaussian> ergodic_exploration::GaussianList

Definition at line 52 of file target.hpp.

◆ GridData

typedef std::vector<int8_t> ergodic_exploration::GridData

Occupancy grid data.

Definition at line 52 of file grid.hpp.

Enumeration Type Documentation

◆ CollisionMsg

enum ergodic_exploration::CollisionMsg

strong

State of the collision detector.

Enumerator
crash
obstacle
none

Definition at line 55 of file collision.hpp.

Function Documentation

◆ almost_equal()

bool ergodic_exploration::almost_equal	(	double	d1,
		double	d2,
		double	epsilon = `1.0e-12`
	)

inline

approximately compare two floating-point numbers

Parameters

d1	- a number to compare
d2	- a second number to compare
epsilon	- absolute threshold required for equality

Returns: true if abs(d1 - d2) < epsilon

Definition at line 67 of file numerics.hpp.

◆ axis_length()

unsigned int ergodic_exploration::axis_length	(	double	lower,
		double	upper,
		double	resolution
	)

inline

Length of a grid axis.

Parameters

lower	- lower limit
upper	- upper limit
resolution	- resolution of grid

Returns: length

Definition at line 61 of file grid.hpp.

◆ axis_upper()

double ergodic_exploration::axis_upper	(	double	lower,
		double	resolution,
		unsigned int	size
	)

inline

Upper axis limit.

Parameters

lower	- position of lower axis limit
resolution	- grid resolution
size	- length of axis

Returns: axis upper limit

Definition at line 73 of file grid.hpp.

◆ constTwistPath()

nav_msgs::Path ergodic_exploration::constTwistPath	(	const std::string &	map_frame_id,
		const vec &	x0,
		const vec &	u,
		double	dt,
		double	horizon
	)

inline

Visualize path from following a constant twist.

Parameters

x0	- current state
u	- twist [vx, vy, w]
dt	- time step
horizon	- control horizon

Returns: trajectory

Definition at line 340 of file numerics.hpp.

◆ distance()

double ergodic_exploration::distance	(	double	x0,
		double	y0,
		double	x1,
		double	y1
	)

inline

Euclidean distance between two points.

Parameters

x0	- x-position point 0
y0	- y-position point 0
x1	- x-position point 1
y1	- y-position point 1

Returns: euclidean distance

Definition at line 152 of file numerics.hpp.

◆ entropy()

double ergodic_exploration::entropy ( double p )

inline

Entropy of a single grid cell.

Parameters

p	- probability grid cell is occupied represented as a decimal

Returns: entropy

Definition at line 164 of file numerics.hpp.

◆ getYaw()

double ergodic_exploration::getYaw	(	double	qx,
		double	qy,
		double	qz,
		double	qw
	)

inline

Get yaw from quaternion.

Parameters

qx	- x-axis rotation component
qy	- y-axis rotation component
qz	- z-axis rotation component
qw	- rotation magnitude

Returns: yaw (rad)

Definition at line 118 of file numerics.hpp.

◆ integrate_twist()

vec ergodic_exploration::integrate_twist	(	const vec &	x,
		const vec &	u,
		double	dt
	)

inline

Integrate a constant twist.

Parameters

x	- current state [x, y, theta]
vb	- current twist [vx, vy, w]
dt	- time step

Returns: new pose

Definition at line 273 of file numerics.hpp.

◆ logOdds2Prob()

double ergodic_exploration::logOdds2Prob ( double l )

Convert log odds to a probability.

Parameters

l	- log odds

Returns: probability

Definition at line 51 of file mapping.cpp.

◆ normalize_angle_2PI()

double ergodic_exploration::normalize_angle_2PI ( double rad )

inline

Wraps angle between 0 and 2pi or 0 to -2pi.

Parameters

rad	- angle in radians

Returns: wrapped angle in radians

Definition at line 96 of file numerics.hpp.

◆ normalize_angle_PI()

double ergodic_exploration::normalize_angle_PI ( double rad )

inline

Wraps angle between -pi and pi.

Parameters

rad	- angle in radians

Returns: wrapped angle in radians

Definition at line 77 of file numerics.hpp.

◆ polar2Cartesian()

vec ergodic_exploration::polar2Cartesian	(	double	angle,
		double	range
	)

inline

Convert polar to cartesian coordinates.

Parameters

angle	- angle in radians
range	- range measurement

Definition at line 186 of file numerics.hpp.

◆ polar2CartesianHomo()

vec ergodic_exploration::polar2CartesianHomo	(	double	angle,
		double	range
	)

inline

Convert polar to cartesian homogenous coordinates.

Parameters

angle	- angle in radians
range	- range measurement

Definition at line 198 of file numerics.hpp.

◆ prob2LogOdds()

double ergodic_exploration::prob2LogOdds ( double p )

Convert probability to log odds.

Parameters

p	- probability

Returns: log odds

Definition at line 61 of file mapping.cpp.

◆ rhodot()

vec ergodic_exploration::rhodot	(	const vec &	rho,
		const vec &	gdx,
		const vec &	dbar,
		const mat &	fdx
	)

inline

Time derivatve of the co-state variable.

Parameters

rho	- co-state variable
gdx	- gradient of the ergodic metric
dbar	- derivatve of barrier function
fdx	- jacobian of the dynamics w.r.t state A = D1(f(x,u))

Returns: d/dt[rho]

Definition at line 65 of file ergodic_control.hpp.

◆ transform2d() [1/3]

mat ergodic_exploration::transform2d ( double angle )

inline

Construct 2D transformation.

Parameters

angle - yaw in radians

2D transformation

Definition at line 239 of file numerics.hpp.

◆ transform2d() [2/3]

mat ergodic_exploration::transform2d	(	double	x,
		double	y
	)

inline

Construct 2D transformation matrix.

Parameters

x	- x position
y	- y position

2D transformation

Definition at line 227 of file numerics.hpp.

◆ transform2d() [3/3]

mat ergodic_exploration::transform2d	(	double	x,
		double	y,
		double	angle
	)

inline

Construct 2D transformation matrix.

Parameters

x	- x position
y	- y position
angle	- yaw in radians

2D transformation

Definition at line 212 of file numerics.hpp.

◆ transform2dInv()

mat ergodic_exploration::transform2dInv ( const mat & trans2d )

inline

Construct 2D transformation inverse.

Parameters

trans2d - 2D transformation

2D transformation inverse

Definition at line 252 of file numerics.hpp.

◆ validate_control()

bool ergodic_exploration::validate_control	(	const Collision &	collision,
		const GridMap &	grid,
		const vec &	x0,
		const vec &	u,
		double	dt,
		double	horizon
	)

inline

Determine if control will cause a collision.

Parameters

collision	- collision detector
grid	- grid map
x0	- initial state
u	- twist [vx, vy, w]
dt	- time step in integration
horizon	- length of integration

Returns: true if the control is collision free

The control is assumed to be constant and a twist is integrated for a fixed amout of time

Definition at line 312 of file numerics.hpp.

Variable Documentation

◆ LOGNAME

constexpr char ergodic_exploration::LOGNAME[] = "ergodic exploration"

constexpr

Definition at line 57 of file exploration.hpp.

◆ PI

constexpr double ergodic_exploration::PI = 3.14159265358979323846

constexpr

Definition at line 58 of file numerics.hpp.

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

◆ CoStateFunc

◆ GaussianList

◆ GridData

Enumeration Type Documentation

◆ CollisionMsg

Function Documentation

◆ almost_equal()

◆ axis_length()

◆ axis_upper()

◆ constTwistPath()

◆ distance()

◆ entropy()

◆ getYaw()

◆ integrate_twist()

◆ logOdds2Prob()

◆ normalize_angle_2PI()

◆ normalize_angle_PI()

◆ polar2Cartesian()

◆ polar2CartesianHomo()

◆ prob2LogOdds()

◆ rhodot()

◆ transform2d() [1/3]

◆ transform2d() [2/3]

◆ transform2d() [3/3]

◆ transform2dInv()

◆ validate_control()

Variable Documentation

◆ LOGNAME

◆ PI