mrpt::reactivenav::CReactiveInterfaceImplementation Class Reference

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Detailed Description

The pure virtual class that a user of CAbstractReactiveNavigationSystem-derived classes must implement in order to allow the navigator sense the world and send motion commands to the robot.

The user must define a new class derived from CReactiveInterfaceImplementation and reimplement all pure virtual and the desired virtual methods according to the documentation in this class.

See also:

CReactiveNavigationSystem, CAbstractReactiveNavigationSystem

Definition at line 44 of file CAbstractReactiveNavigationSystem.h.

#include <mrpt/reactivenav/CAbstractReactiveNavigationSystem.h>

List of all members.

Public Member Functions
virtual bool	getCurrentPoseAndSpeeds (mrpt::poses::CPose2D &curPose, float &curV, float &curW)=0
	Get the current pose and speeds of the robot.
virtual bool	changeSpeeds (float v, float w)=0
	Change the instantaneous speeds of robot.
virtual bool	stop ()
	Stop the robot right now.
virtual bool	startWatchdog (float T_ms)
	Start the watchdog timer of the robot platform, if any.
virtual bool	stopWatchdog ()
	Stop the watchdog timer.
virtual bool	senseObstacles (mrpt::slam::CSimplePointsMap &obstacles)=0
	Return the current set of obstacle points.
virtual void	sendNavigationStartEvent ()
virtual void	sendNavigationEndEvent ()
virtual void	sendNavigationEndDueToErrorEvent ()
virtual void	sendWaySeemsBlockedEvent ()
virtual void	notifyHeadingDirection (const double heading_dir_angle)

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Member Function Documentation

virtual bool mrpt::reactivenav::CReactiveInterfaceImplementation::changeSpeeds	(	float	v,
		float	w
	)		[pure virtual]

Change the instantaneous speeds of robot.

Parameters:

v	Linear speed, in meters per second.
w	Angular speed, in radians per second.

Returns:

false on any error.

virtual bool mrpt::reactivenav::CReactiveInterfaceImplementation::getCurrentPoseAndSpeeds	(	mrpt::poses::CPose2D &	curPose,
		float &	curV,
		float &	curW
	)		[pure virtual]

Get the current pose and speeds of the robot.

Parameters:

curPose	Current robot pose.
curV	Current linear speed, in meters per second.
curW	Current angular speed, in radians per second.

Returns:

false on any error.

virtual void mrpt::reactivenav::CReactiveInterfaceImplementation::notifyHeadingDirection

(

const double

heading_dir_angle )

[inline, virtual]

Definition at line 93 of file CAbstractReactiveNavigationSystem.h.

virtual void mrpt::reactivenav::CReactiveInterfaceImplementation::sendNavigationEndDueToErrorEvent

(

)

[inline, virtual]

Definition at line 89 of file CAbstractReactiveNavigationSystem.h.

virtual void mrpt::reactivenav::CReactiveInterfaceImplementation::sendNavigationEndEvent

(

)

[inline, virtual]

Definition at line 87 of file CAbstractReactiveNavigationSystem.h.

virtual void mrpt::reactivenav::CReactiveInterfaceImplementation::sendNavigationStartEvent

(

)

[inline, virtual]

Definition at line 85 of file CAbstractReactiveNavigationSystem.h.

virtual void mrpt::reactivenav::CReactiveInterfaceImplementation::sendWaySeemsBlockedEvent

(

)

[inline, virtual]

Definition at line 91 of file CAbstractReactiveNavigationSystem.h.

virtual bool mrpt::reactivenav::CReactiveInterfaceImplementation::senseObstacles

(

mrpt::slam::CSimplePointsMap &

obstacles )

[pure virtual]

Return the current set of obstacle points.

Returns:

false on any error.

virtual bool mrpt::reactivenav::CReactiveInterfaceImplementation::startWatchdog

(

float

T_ms )

[inline, virtual]

Start the watchdog timer of the robot platform, if any.

Parameters:

T_ms	Period, in ms.

Returns:

false on any error.

Definition at line 73 of file CAbstractReactiveNavigationSystem.h.

virtual bool mrpt::reactivenav::CReactiveInterfaceImplementation::stop

(

)

[inline, virtual]

Stop the robot right now.

Returns:

false on any error.

Definition at line 65 of file CAbstractReactiveNavigationSystem.h.

virtual bool mrpt::reactivenav::CReactiveInterfaceImplementation::stopWatchdog

(

)

[inline, virtual]

Stop the watchdog timer.

Returns:

false on any error.

Definition at line 78 of file CAbstractReactiveNavigationSystem.h.