mrpt::reactivenav::CHolonomicVFF Class Reference

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Detailed Description

A holonomic reactive navigation method, based on Virtual Force Fields (VFF).

See also:

CAbstractHolonomicReactiveMethod,CReactiveNavigationSystem

Definition at line 59 of file CHolonomicVFF.h.

#include <mrpt/reactivenav/CHolonomicVFF.h>

Inheritance diagram for mrpt::reactivenav::CHolonomicVFF:

List of all members.

Public Member Functions
	CHolonomicVFF (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.

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Constructor & Destructor Documentation

mrpt::reactivenav::CHolonomicVFF::CHolonomicVFF

(

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::CHolonomicVFF::initialize

(

const mrpt::utils::CConfigFileBase &

INI_FILE )

[virtual]

Initialize the parameters of the navigator.

Implements mrpt::reactivenav::CAbstractHolonomicReactiveMethod.

void mrpt::reactivenav::CHolonomicVFF::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.