mrpt::reactivenav::CAbstractReactiveNavigationSystem Class Reference

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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.
• 3/NOV/2009: All functors are finally replaced by the new virtual class CReactiveInterfaceImplementation

See also:

CReactiveNavigationSystem, CReactiveInterfaceImplementation

Definition at line 110 of file CAbstractReactiveNavigationSystem.h.

#include <mrpt/reactivenav/CAbstractReactiveNavigationSystem.h>

Inheritance diagram for mrpt::reactivenav::CAbstractReactiveNavigationSystem:

List of all members.

Classes
struct	TNavigationParams
	The struct for configuring the navigation request. More...
Public Types
enum	TState { IDLE = 0, NAVIGATING, SUSPENDED, NAV_ERROR }
	The different states for the navigation system. More...
Public Member Functions
	CAbstractReactiveNavigationSystem (CReactiveInterfaceImplementation &react_iterf_impl)
	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 () const
	Returns the current navigator state.
Protected Member Functions
virtual void	performNavigationStep ()=0
	To be implemented in derived classes.
Protected Attributes
TState	m_navigationState
	Current internal state of navigator:
TNavigationParams	m_navigationParams
	Current navigation parameters:
CReactiveInterfaceImplementation &	m_robot
	The navigator-robot interface.
Private Attributes
TState	m_lastNavigationState
	Last internal state of navigator:

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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 175 of file CAbstractReactiveNavigationSystem.h.

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Constructor & Destructor Documentation

mrpt::reactivenav::CAbstractReactiveNavigationSystem::CAbstractReactiveNavigationSystem

(

CReactiveInterfaceImplementation &

react_iterf_impl )

Constructor.

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

(

)

[inline, virtual]

Destructor.

Definition at line 121 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

(

)

const [inline]

Returns the current navigator state.

Definition at line 185 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

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Member Data Documentation

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

Last internal state of navigator:

Definition at line 190 of file CAbstractReactiveNavigationSystem.h.

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

Current navigation parameters:

Definition at line 203 of file CAbstractReactiveNavigationSystem.h.

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

Current internal state of navigator:

Definition at line 199 of file CAbstractReactiveNavigationSystem.h.

CReactiveInterfaceImplementation& mrpt::reactivenav::CAbstractReactiveNavigationSystem::m_robot [protected]

The navigator-robot interface.

Definition at line 206 of file CAbstractReactiveNavigationSystem.h.