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 43 of file CHolonomicND.h.

#include <mrpt/reactivenav/CHolonomicND.h>

Inheritance diagram for mrpt::reactivenav::CHolonomicND:

[legend]

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_double &obstacles, double maxRobotSpeed, double &desiredDirection, double &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 (double a, int N)
void	gapsEstimator (vector_double &obstacles, poses::CPoint2D &in_target, TGapArray &gaps)
	Find gaps in the obtacles.
void	searchBestGap (vector_double &in_obstacles, double in_maxObsRange, TGapArray &in_gaps, poses::CPoint2D &in_target, int &out_selDirection, double &out_selEvaluation, TSituations &out_situation, double &out_riskEvaluation, CLogFileRecord_NDPtr log)
	Search the best gap.
void	calcRepresentativeSectorForGap (TGap &gap, const poses::CPoint2D &target, const vector_double &obstacles)
	Fills in the representative sector field in the gap structure:
void	evaluateGaps (const vector_double &in_obstacles, const double in_maxObsRange, const TGapArray &in_gaps, const int TargetSector, const double TargetDist, vector_double &out_gaps_evaluation)
	Evaluate each gap:
Private Attributes
int	last_selected_sector
double	TOO_CLOSE_OBSTACLE
	Configuration:
double	WIDE_GAP_SIZE_PERCENT
double	RISK_EVALUATION_SECTORS_PERCENT
double	RISK_EVALUATION_DISTANCE
double	MAX_SECTOR_DIST_FOR_D2_PERCENT
double	TARGET_SLOW_APPROACHING_DISTANCE
vector_double	factorWeights

Member Typedef Documentation

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

Definition at line 79 of file CHolonomicND.h.

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 83 of file CHolonomicND.h.

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.

Member Function Documentation

void mrpt::reactivenav::CHolonomicND::calcRepresentativeSectorForGap	(	TGap &	gap,
		const poses::CPoint2D &	target,
		const vector_double &	obstacles
	)		`[private]`

Fills in the representative sector field in the gap structure:

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

void mrpt::reactivenav::CHolonomicND::evaluateGaps	(	const vector_double &	in_obstacles,
		const double	in_maxObsRange,
		const TGapArray &	in_gaps,
		const int	TargetSector,
		const double	TargetDist,
		vector_double &	out_gaps_evaluation
	)		`[private]`

Evaluate each gap:

void mrpt::reactivenav::CHolonomicND::gapsEstimator	(	vector_double &	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_double &	obstacles,
		double	maxRobotSpeed,
		double &	desiredDirection,
		double &	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_double &	in_obstacles,
		double	in_maxObsRange,
		TGapArray &	in_gaps,
		poses::CPoint2D &	in_target,
		int &	out_selDirection,
		double &	out_selEvaluation,
		TSituations &	out_situation,
		double &	out_riskEvaluation,
		CLogFileRecord_NDPtr	log
	)		`[private]`