mrpt::reactivenav::CHolonomicND Class Reference

An implementation of the holonomic reactive navigation method "Nearness-Diagram". More...

#include <mrpt/reactivenav/CHolonomicND.h>

Inheritance diagram for mrpt::reactivenav::CHolonomicND:

List of all members.

Classes
struct	TGap
	The structure used to store a detected gap in obstacles. More...
Public Types
enum	TSituations { SITUATION_TARGET_DIRECTLY = 1, SITUATION_SMALL_GAP, SITUATION_WIDE_GAP, SITUATION_NO_WAY_FOUND }
	The set of posible situations for each trajectory. More...
typedef std::vector< TGap >	TGapArray
Public Member Functions
	CHolonomicND (const mrpt::utils::CConfigFileBase *INI_FILE=NULL)
	Initialize the parameters of the navigator, from some configuration file, or default values if set to NULL.
void	navigate (poses::CPoint2D &target, vector_float &obstacles, float maxRobotSpeed, float &desiredDirection, float &desiredSpeed, CHolonomicLogFileRecordPtr &logRecord)
	This method performs the holonomic navigation itself.
void	initialize (const mrpt::utils::CConfigFileBase &INI_FILE)
	Initialize the parameters of the navigator.
Private Member Functions
int	direction2sector (float a, int N)
void	gapsEstimator (vector_float &obstacles, poses::CPoint2D &in_target, TGapArray &gaps)
	Find gaps in the obtacles.
void	searchBestGap (vector_float &in_obstacles, float in_maxObsRange, TGapArray &in_gaps, poses::CPoint2D &in_target, int &out_selDirection, float &out_selEvaluation, TSituations &out_situation, float &out_riskEvaluation, CLogFileRecord_NDPtr log)
	Search the best gap.
void	calcRepresentativeSectorForGap (TGap *gap, poses::CPoint2D &target, vector_float &obstacles)
	Fills in the representative sector field in the gap structure:.
void	evaluateGaps (vector_float &in_obstacles, float in_maxObsRange, TGapArray &in_gaps, int TargetSector, float TargetDist, vector_float &out_gaps_evaluation)
	Evaluate each gap:.
Private Attributes
int	last_selected_sector
float	TOO_CLOSE_OBSTACLE
	Configuration:.
float	WIDE_GAP_SIZE_PERCENT
float	RISK_EVALUATION_SECTORS_PERCENT
float	RISK_EVALUATION_DISTANCE
float	MAX_SECTOR_DIST_FOR_D2_PERCENT
float	TARGET_SLOW_APPROACHING_DISTANCE
vector_float	factorWeights

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Detailed Description

An implementation of the holonomic reactive navigation method "Nearness-Diagram".

The algorithm "Nearness-Diagram" was proposed in:

Nearness diagram (ND) navigation: collision avoidance in troublesome scenarios, IEEE Transactions on Robotics and Automation, Minguez, J. and Montano, L., vol. 20, no. 1, pp. 45-59, 2004.

See also:

CAbstractHolonomicReactiveMethod,CReactiveNavigationSystem

Definition at line 47 of file CHolonomicND.h.

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Member Typedef Documentation

typedef std::vector<TGap> mrpt::reactivenav::CHolonomicND::TGapArray

Definition at line 83 of file CHolonomicND.h.

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Member Enumeration Documentation

enum mrpt::reactivenav::CHolonomicND::TSituations

The set of posible situations for each trajectory.

Enumerator:

SITUATION_TARGET_DIRECTLY
SITUATION_SMALL_GAP
SITUATION_WIDE_GAP
SITUATION_NO_WAY_FOUND

Definition at line 87 of file CHolonomicND.h.

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Constructor & Destructor Documentation

mrpt::reactivenav::CHolonomicND::CHolonomicND

(

const mrpt::utils::CConfigFileBase *

INI_FILE = NULL

)

Initialize the parameters of the navigator, from some configuration file, or default values if set to NULL.

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Member Function Documentation

void mrpt::reactivenav::CHolonomicND::calcRepresentativeSectorForGap	(	TGap *	gap,
		poses::CPoint2D &	target,
		vector_float &	obstacles
	)			[private]

Fills in the representative sector field in the gap structure:.

int mrpt::reactivenav::CHolonomicND::direction2sector	(	float	a,
		int	N
	)			[private]

void mrpt::reactivenav::CHolonomicND::evaluateGaps	(	vector_float &	in_obstacles,
		float	in_maxObsRange,
		TGapArray &	in_gaps,
		int	TargetSector,
		float	TargetDist,
		vector_float &	out_gaps_evaluation
	)			[private]

Evaluate each gap:.

void mrpt::reactivenav::CHolonomicND::gapsEstimator	(	vector_float &	obstacles,
		poses::CPoint2D &	in_target,
		TGapArray &	gaps
	)			[private]

Find gaps in the obtacles.

void mrpt::reactivenav::CHolonomicND::initialize

(

const mrpt::utils::CConfigFileBase &

INI_FILE

)

[virtual]

Initialize the parameters of the navigator.

Implements mrpt::reactivenav::CAbstractHolonomicReactiveMethod.

void mrpt::reactivenav::CHolonomicND::navigate	(	poses::CPoint2D &	target,
		vector_float &	obstacles,
		float	maxRobotSpeed,
		float &	desiredDirection,
		float &	desiredSpeed,
		CHolonomicLogFileRecordPtr &	logRecord
	)			[virtual]

This method performs the holonomic navigation itself.

Parameters:

	target	[IN] The relative location (x,y) of target point.
	obstacles	[IN] Distance to obstacles from robot location (0,0). First index refers to -PI direction, and last one to +PI direction. Distances can be dealed as "meters", although they are "pseudometers", see note below.
	maxRobotSpeed	[IN] Maximum robot speed, in "pseudometers/sec". See note below.
	desiredDirection	[OUT] The desired motion direction, in the range [-PI,PI]
	desiredSpeed	[OUT] The desired motion speed in that direction, in "pseudometers"/sec. (See note below)
	logRecord	[IN/OUT] A placeholder for a pointer to a log record with extra info about the execution. Set to NULL if not required. User must free memory using "delete logRecord" after using it.

NOTE: With "pseudometers" we refer to the distance unit in TP-Space, thus:
pseudometer2= meter2 + (rad · r)2

Implements mrpt::reactivenav::CAbstractHolonomicReactiveMethod.

void mrpt::reactivenav::CHolonomicND::searchBestGap	(	vector_float &	in_obstacles,
		float	in_maxObsRange,
		TGapArray &	in_gaps,
		poses::CPoint2D &	in_target,
		int &	out_selDirection,
		float &	out_selEvaluation,
		TSituations &	out_situation,
		float &	out_riskEvaluation,
		CLogFileRecord_NDPtr	log
	)			[private]

Search the best gap.

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Member Data Documentation

vector_float mrpt::reactivenav::CHolonomicND::factorWeights [private]

Definition at line 112 of file CHolonomicND.h.

int mrpt::reactivenav::CHolonomicND::last_selected_sector [private]

Definition at line 102 of file CHolonomicND.h.

float mrpt::reactivenav::CHolonomicND::MAX_SECTOR_DIST_FOR_D2_PERCENT [private]

Definition at line 109 of file CHolonomicND.h.

float mrpt::reactivenav::CHolonomicND::RISK_EVALUATION_DISTANCE [private]

Definition at line 109 of file CHolonomicND.h.

float mrpt::reactivenav::CHolonomicND::RISK_EVALUATION_SECTORS_PERCENT [private]

Definition at line 108 of file CHolonomicND.h.

float mrpt::reactivenav::CHolonomicND::TARGET_SLOW_APPROACHING_DISTANCE [private]

Definition at line 110 of file CHolonomicND.h.

float mrpt::reactivenav::CHolonomicND::TOO_CLOSE_OBSTACLE [private]

Configuration:.

Definition at line 108 of file CHolonomicND.h.

float mrpt::reactivenav::CHolonomicND::WIDE_GAP_SIZE_PERCENT [private]

Definition at line 108 of file CHolonomicND.h.