mrpt::reactivenav::CAbstractReactiveNavigationSystem Class Reference

This is the base class for any reactive navigation system. More...

#include <mrpt/reactivenav/CAbstractReactiveNavigationSystem.h>

Inheritance diagram for mrpt::reactivenav::CAbstractReactiveNavigationSystem:

List of all members.

Classes
struct	TDebug
	This struct is used as a placeholder for functors related to robot movement. More...
struct	TEventsLaunching
	This struct is used as a placeholder for fuctors related to launching events. More...
struct	TNavigationParams
	The struct for configuring the navigation request. More...
struct	TRobotMotionControl
	This struct is used as a placeholder for fuctors related to robot movement. More...
struct	TSensors
	This struct is used as a placeholder for fuctors related to sensing. More...
Public Types
enum	TState { IDLE = 0, NAVIGATING, SUSPENDED, NAV_ERROR }
	The different states for the navigation system. More...
Public Member Functions
	CAbstractReactiveNavigationSystem (TRobotMotionControl &rmc, TSensors &sensors, void(*emul_printf)(const char *s), TEventsLaunching &evnts)
	Constructor.
virtual	~CAbstractReactiveNavigationSystem ()
	Destructor.
void	cancel ()
	Cancel current navegacion.
void	resume ()
	Continues with suspended navigation.
virtual float	evaluate (TNavigationParams *params)=0
	Evaluates the practicability of a navigation for given parameters:.
void	navigationStep ()
	This method must be called periodically in order to effectively run the navigation.
virtual void	navigate (TNavigationParams *params)=0
	Navigation request.
virtual void	setParams (TNavigationParams *params)=0
	Changes the parameters for current navigation.
virtual void	suspend ()
	Suspend current navegation.
TState	getCurrentState ()
	Returns the current navigator state.
Protected Member Functions
virtual void	performNavigationStep ()=0
	To be implemented in derived classes.
void	TextoDebug (const char *formatStr,...)
Protected Attributes
TState	navigationState
	Current internal state of navigator:.
TNavigationParams	navigationParams
	Current navigation parameters:.
TRobotMotionControl	RobotMotionControl
	Wrappers.
TSensors	Sensors
TDebug	Debug
TEventsLaunching	EventsLaunching
Private Attributes
TState	lastNavigationState
	Last internal state of navigator:.

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Detailed Description

This is the base class for any reactive navigation system.

Here is defined the interface that users will use with derived classes where algorithms are really implemented.

Changes history:

• 30/JUN/2004: Creation (JLBC)
• 16/SEP/2004: Totally redesigned.
• 15/SEP/2005: Totally rewritten again, for integration into MRPT Applications Repository.

Definition at line 55 of file CAbstractReactiveNavigationSystem.h.

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Member Enumeration Documentation

enum mrpt::reactivenav::CAbstractReactiveNavigationSystem::TState

The different states for the navigation system.

Enumerator:

IDLE
NAVIGATING
SUSPENDED
NAV_ERROR

Definition at line 236 of file CAbstractReactiveNavigationSystem.h.

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Constructor & Destructor Documentation

mrpt::reactivenav::CAbstractReactiveNavigationSystem::CAbstractReactiveNavigationSystem	(	TRobotMotionControl &	rmc,
		TSensors &	sensors,
		void(*)(const char *s)	emul_printf,
		TEventsLaunching &	evnts
	)

Constructor.

virtual mrpt::reactivenav::CAbstractReactiveNavigationSystem::~CAbstractReactiveNavigationSystem

(

)

[inline, virtual]

Destructor.

Definition at line 74 of file CAbstractReactiveNavigationSystem.h.

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Member Function Documentation

void mrpt::reactivenav::CAbstractReactiveNavigationSystem::cancel

(

)

Cancel current navegacion.

virtual float mrpt::reactivenav::CAbstractReactiveNavigationSystem::evaluate

(

TNavigationParams *

params

)

[pure virtual]

Evaluates the practicability of a navigation for given parameters:.

Returns:

An estimation in the range [0,1], for 0 being imposible and 1 being easy.

Implemented in mrpt::reactivenav::CReactiveNavigationSystem.

TState mrpt::reactivenav::CAbstractReactiveNavigationSystem::getCurrentState

(

)

[inline]

Returns the current navigator state.

Definition at line 246 of file CAbstractReactiveNavigationSystem.h.

virtual void mrpt::reactivenav::CAbstractReactiveNavigationSystem::navigate

(

TNavigationParams *

params

)

[pure virtual]

Navigation request.

It starts a new navigation.

Implemented in mrpt::reactivenav::CReactiveNavigationSystem.

void mrpt::reactivenav::CAbstractReactiveNavigationSystem::navigationStep

(

)

This method must be called periodically in order to effectively run the navigation.

virtual void mrpt::reactivenav::CAbstractReactiveNavigationSystem::performNavigationStep

(

)

[protected, pure virtual]

To be implemented in derived classes.

Implemented in mrpt::reactivenav::CReactiveNavigationSystem.

void mrpt::reactivenav::CAbstractReactiveNavigationSystem::resume

(

)

Continues with suspended navigation.

See also:

suspend

virtual void mrpt::reactivenav::CAbstractReactiveNavigationSystem::setParams

(

TNavigationParams *

params

)

[pure virtual]

Changes the parameters for current navigation.

Implemented in mrpt::reactivenav::CReactiveNavigationSystem.

virtual void mrpt::reactivenav::CAbstractReactiveNavigationSystem::suspend

(

)

[virtual]

Suspend current navegation.

See also:

resume

void mrpt::reactivenav::CAbstractReactiveNavigationSystem::TextoDebug	(	const char *	formatStr,
			...
	)			[inline, protected]

Definition at line 273 of file CAbstractReactiveNavigationSystem.h.

References mrpt::system::os::vsprintf().

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Member Data Documentation

TDebug mrpt::reactivenav::CAbstractReactiveNavigationSystem::Debug [protected]

Definition at line 270 of file CAbstractReactiveNavigationSystem.h.

TEventsLaunching mrpt::reactivenav::CAbstractReactiveNavigationSystem::EventsLaunching [protected]

Definition at line 271 of file CAbstractReactiveNavigationSystem.h.

TState mrpt::reactivenav::CAbstractReactiveNavigationSystem::lastNavigationState [private]

Last internal state of navigator:.

Definition at line 251 of file CAbstractReactiveNavigationSystem.h.

TNavigationParams mrpt::reactivenav::CAbstractReactiveNavigationSystem::navigationParams [protected]

Current navigation parameters:.

Definition at line 264 of file CAbstractReactiveNavigationSystem.h.

TState mrpt::reactivenav::CAbstractReactiveNavigationSystem::navigationState [protected]

Current internal state of navigator:.

Definition at line 260 of file CAbstractReactiveNavigationSystem.h.

TRobotMotionControl mrpt::reactivenav::CAbstractReactiveNavigationSystem::RobotMotionControl [protected]

Wrappers.

Definition at line 268 of file CAbstractReactiveNavigationSystem.h.

TSensors mrpt::reactivenav::CAbstractReactiveNavigationSystem::Sensors [protected]

Definition at line 269 of file CAbstractReactiveNavigationSystem.h.