mrpt::nav::CAbstractReactiveNavigationSystem Class Reference

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
• 16/DEC/2013: Refactoring of code in 2D & 2.5D navigators.

How to use:

• A class with callbacks must be defined by the user and provided to the constructor.
• navigationStep() must be called periodically in order to effectively run the navigation. This method will internally call the callbacks to gather sensor data and robot positioning data.

See also

CReactiveNavigationSystem, CReactiveInterfaceImplementation

Definition at line 102 of file CAbstractReactiveNavigationSystem.h.

#include <mrpt/nav/reactive/CAbstractReactiveNavigationSystem.h>

Inheritance diagram for mrpt::nav::CAbstractReactiveNavigationSystem:

Classes
struct	TNavigationParams
	The struct for configuring navigation requests. 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. More...
virtual	~CAbstractReactiveNavigationSystem ()
	Destructor. More...
void	cancel ()
	Cancel current navegacion. More...
void	resume ()
	Continues with suspended navigation. More...
void	navigationStep ()
	This method must be called periodically in order to effectively run the navigation. More...
virtual void	navigate (const TNavigationParams *params)=0
	Navigation request. More...
virtual void	suspend ()
	Suspend current navegation. More...
TState	getCurrentState () const
	Returns the current navigator state. More...

Static Public Member Functions
static void	printf_debug (const char *frmt,...)
	Sends a formated text to "debugOut" if not NULL, or to cout otherwise. More...

Protected Member Functions
virtual void	performNavigationStep ()=0
	To be implemented in derived classes. More...

Protected Attributes
TState	m_navigationState
	Current internal state of navigator: More...
TNavigationParams *	m_navigationParams
	Current navigation parameters. More...
CReactiveInterfaceImplementation &	m_robot
	The navigator-robot interface. More...

Private Attributes
TState	m_lastNavigationState
	Last internal state of navigator: More...

Member Enumeration Documentation

TState

enum mrpt::nav::CAbstractReactiveNavigationSystem::TState

The different states for the navigation system.

Enumerator
IDLE
NAVIGATING
SUSPENDED
NAV_ERROR

Definition at line 145 of file CAbstractReactiveNavigationSystem.h.

Constructor & Destructor Documentation

CAbstractReactiveNavigationSystem()

mrpt::nav::CAbstractReactiveNavigationSystem::CAbstractReactiveNavigationSystem

(

CReactiveInterfaceImplementation &

react_iterf_impl

)

Constructor.

~CAbstractReactiveNavigationSystem()

virtual mrpt::nav::CAbstractReactiveNavigationSystem::~CAbstractReactiveNavigationSystem ( )

virtual

Destructor.

Member Function Documentation

cancel()

void mrpt::nav::CAbstractReactiveNavigationSystem::cancel

(

)

Cancel current navegacion.

getCurrentState()

TState mrpt::nav::CAbstractReactiveNavigationSystem::getCurrentState ( ) const

inline

Returns the current navigator state.

Definition at line 154 of file CAbstractReactiveNavigationSystem.h.

navigate()

virtual void mrpt::nav::CAbstractReactiveNavigationSystem::navigate ( const TNavigationParams *  params )

pure virtual

Navigation request.

It starts a new navigation.

Parameters

[in]

params

Pointer to structure with navigation info (its contents will be copied, so the original can be freely destroyed upon return.)

Implemented in mrpt::nav::CAbstractPTGBasedReactive.

navigationStep()

void mrpt::nav::CAbstractReactiveNavigationSystem::navigationStep

(

)

This method must be called periodically in order to effectively run the navigation.

performNavigationStep()

virtual void mrpt::nav::CAbstractReactiveNavigationSystem::performNavigationStep ( )

protectedpure virtual

To be implemented in derived classes.

Implemented in mrpt::nav::CAbstractPTGBasedReactive.

printf_debug()

static void mrpt::utils::CDebugOutputCapable::printf_debug ( const char *  frmt,   ...  )

staticinherited

Sends a formated text to "debugOut" if not NULL, or to cout otherwise.

Referenced by mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute().

resume()

void mrpt::nav::CAbstractReactiveNavigationSystem::resume

(

)

Continues with suspended navigation.

See also

suspend

suspend()

virtual void mrpt::nav::CAbstractReactiveNavigationSystem::suspend ( )

virtual

Suspend current navegation.

See also

resume

Member Data Documentation

m_lastNavigationState

TState mrpt::nav::CAbstractReactiveNavigationSystem::m_lastNavigationState

private

Last internal state of navigator:

Definition at line 157 of file CAbstractReactiveNavigationSystem.h.

m_navigationParams

TNavigationParams* mrpt::nav::CAbstractReactiveNavigationSystem::m_navigationParams

protected

Current navigation parameters.

Definition at line 164 of file CAbstractReactiveNavigationSystem.h.

m_navigationState

TState mrpt::nav::CAbstractReactiveNavigationSystem::m_navigationState

protected

Current internal state of navigator:

Definition at line 163 of file CAbstractReactiveNavigationSystem.h.

m_robot

CReactiveInterfaceImplementation& mrpt::nav::CAbstractReactiveNavigationSystem::m_robot

protected

The navigator-robot interface.

Definition at line 167 of file CAbstractReactiveNavigationSystem.h.