mrpt::nav::CAbstractHolonomicReactiveMethod Class Reference

Detailed Description

A base class for holonomic reactive navigation methods.

See also

CHolonomicVFF,CHolonomicND, CReactiveNavigationSystem

Definition at line 36 of file CAbstractHolonomicReactiveMethod.h.

#include <mrpt/nav/holonomic/CAbstractHolonomicReactiveMethod.h>

Inheritance diagram for mrpt::nav::CAbstractHolonomicReactiveMethod:

Public Member Functions
virtual void	navigate (const mrpt::math::TPoint2D &target, const std::vector< float > &obstacles, double maxRobotSpeed, double &desiredDirection, double &desiredSpeed, CHolonomicLogFileRecordPtr &logRecord)=0
	This method performs the holonomic navigation itself. More...
virtual	~CAbstractHolonomicReactiveMethod ()
	Virtual destructor. More...
virtual void	initialize (const mrpt::utils::CConfigFileBase &INI_FILE)=0
	Initialize the parameters of the navigator. More...

Constructor & Destructor Documentation

~CAbstractHolonomicReactiveMethod()

virtual mrpt::nav::CAbstractHolonomicReactiveMethod::~CAbstractHolonomicReactiveMethod ( )

inlinevirtual

Virtual destructor.

Definition at line 59 of file CAbstractHolonomicReactiveMethod.h.

Member Function Documentation

initialize()

virtual void mrpt::nav::CAbstractHolonomicReactiveMethod::initialize ( const mrpt::utils::CConfigFileBase &  INI_FILE )

pure virtual

Initialize the parameters of the navigator.

Implemented in mrpt::nav::CHolonomicVFF, and mrpt::nav::CHolonomicND.

navigate()

virtual void mrpt::nav::CAbstractHolonomicReactiveMethod::navigate ( const mrpt::math::TPoint2D &  target, const std::vector< float > &  obstacles, double  maxRobotSpeed, double &  desiredDirection, double &  desiredSpeed, CHolonomicLogFileRecordPtr &  logRecord  )

pure 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, but normalized in the range [0,1]
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

Implemented in mrpt::nav::CHolonomicVFF, and mrpt::nav::CHolonomicND.