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mrpt::nav::CAbstractHolonomicReactiveMethod Class Referenceabstract

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:
Inheritance graph

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

◆ 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::CHolonomicND, and mrpt::nav::CHolonomicVFF.




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