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CAbstractHolonomicReactiveMethod.h
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 #ifndef CAbstractHolonomicReactiveMethod_H
10 #define CAbstractHolonomicReactiveMethod_H
11 
13 #include <mrpt/utils/TEnumType.h>
18 
20 
21 namespace mrpt
22 {
23  namespace nav
24  {
25  /** \addtogroup nav_holo Holonomic navigation methods
26  * \ingroup mrpt_nav_grp
27  * @{ */
28 
29  /** The implemented reactive navigation methods. This enum works with mrpt::utils::TEnumType.
30  * Since MRPT 1.5.0 the preferred way to select a holonomic method is, instead of this enum,
31  * via the class factory method CAbstractHolonomicReactiveMethod::Create() via the class name. */
33  {
34  hmVIRTUAL_FORCE_FIELDS = 0, //!< CHolonomicVFF
35  hmSEARCH_FOR_BEST_GAP = 1, //!< CHolonomicND
36  hmFULL_EVAL = 2 //!< CHolonomicFullEval
37  };
38 
40 
41  /** A base class for holonomic reactive navigation methods.
42  * \sa CHolonomicVFF,CHolonomicND,CHolonomicFullEval, CReactiveNavigationSystem
43  */
45  public mrpt::utils::CSerializable
46  {
48  public:
49  /** Input parameters for CAbstractHolonomicReactiveMethod::navigate() */
51  {
52  /** Distance to obstacles in polar coordinates, relative to the robot.
53  * First index refers to -PI direction, and last one to +PI direction.
54  * Distances can be dealed as "meters", although when used inside the PTG-based navigation system, they are "pseudometers", normalized to the range [0,1].
55  */
56  std::vector<double> obstacles;
57  std::vector<mrpt::math::TPoint2D> targets; //!< Relative location (x,y) of target point(s). In the same units than `obstacles`. If many, last targets have higher priority.
58  double maxRobotSpeed; //!< Maximum robot speed, in the same units than `obstacles`, per second.
59  double maxObstacleDist; //!< Maximum expected value to be found in `obstacles`. Typically, values in `obstacles` larger or equal to this value mean there is no visible obstacle in that direction.
60  const mrpt::nav::ClearanceDiagram *clearance; //!< The computed clearance for each direction (optional in some implementations). Leave to default (NULL) if not needed.
61 
62  NavInput();
63  };
64 
65  /** Output for CAbstractHolonomicReactiveMethod::navigate() */
67  {
68  double desiredDirection; //!< The desired motion direction, in the range [-PI, PI]
69  double desiredSpeed; //!< The desired motion speed in that direction, from 0 up to NavInput::maxRobotSpeed
70 
71  /** The navigation method will create a log record and store it here via a smart pointer. Input value is ignored. */
72  CHolonomicLogFileRecordPtr logRecord;
73 
74  NavOutput();
75  };
76 
77 
78  /** Invokes the holonomic navigation algorithm itself. See the description of the input/output structures for details on each parameter. */
79  virtual void navigate(const NavInput & ni, NavOutput &no) = 0;
80 
81  CAbstractHolonomicReactiveMethod(const std::string &defaultCfgSectionName); //!< ctor
82  virtual ~CAbstractHolonomicReactiveMethod(); //!< virtual dtor
83 
84  /** Initialize the parameters of the navigator, reading from the default section name (see derived classes) or the one set via setConfigFileSectionName() */
85  virtual void initialize( const mrpt::utils::CConfigFileBase &c ) = 0;
86  virtual void saveConfigFile(mrpt::utils::CConfigFileBase &c) const = 0; //!< saves all available parameters, in a forma loadable by `initialize()`
87  void setConfigFileSectionName(const std::string &sectName); //!< Defines the name of the section used in initialize()
88  std::string getConfigFileSectionName() const; //!< Gets the name of the section used in initialize()
89 
90  virtual double getTargetApproachSlowDownDistance() const = 0; //!< Returns the actual value of this parameter [m], as set via the children class options structure. \sa setTargetApproachSlowDownDistance()
91  virtual void setTargetApproachSlowDownDistance(const double dist) = 0; //!< Sets the actual value of this parameter [m]. \sa getTargetApproachSlowDownDistance()
92 
93  /** Class factory from class name, e.g. `"CHolonomicVFF"`, etc.
94  * \exception std::logic_error On invalid or missing parameters. */
95  static CAbstractHolonomicReactiveMethod * Create(const std::string &className) MRPT_NO_THROWS;
96 
97  void setAssociatedPTG(mrpt::nav::CParameterizedTrajectoryGenerator *ptg); //!< Optionally, sets the associated PTG, just in case a derived class requires this info (not required for methods where the robot kinematics are totally abstracted)
98  mrpt::nav::CParameterizedTrajectoryGenerator * getAssociatedPTG() const; //!< Returns the pointer set by setAssociatedPTG()
99 
100  void enableApproachTargetSlowDown(bool enable) { m_enableApproachTargetSlowDown = enable; }
101  protected:
102  mrpt::nav::CParameterizedTrajectoryGenerator *m_associatedPTG; //!< If applicable, this will contain the argument of the most recent call to setAssociatedPTG()
103  bool m_enableApproachTargetSlowDown; //!< Whether to decrease speed when approaching target
104 
105  private:
106  std::string m_cfgSectionName; //!< used in setConfigFileSectionName(), initialize()
107  };
109  /** @} */
110 
111  }
112  // Specializations MUST occur at the same namespace:
113  namespace utils
114  {
115  template <>
117  {
119  static void fill(bimap<enum_t,std::string> &m_map)
120  {
121  m_map.insert(nav::hmVIRTUAL_FORCE_FIELDS, "hmVIRTUAL_FORCE_FIELDS");
122  m_map.insert(nav::hmSEARCH_FOR_BEST_GAP, "hmSEARCH_FOR_BEST_GAP");
123  m_map.insert(nav::hmFULL_EVAL, "hmFULL_EVAL");
124  }
125  };
126  } // End of namespace
127 }
128 
129 
130 #endif
131 
The virtual base class which provides a unified interface for all persistent objects in MRPT...
Definition: CSerializable.h:39
std::vector< double > obstacles
Distance to obstacles in polar coordinates, relative to the robot.
const GLfloat * c
Definition: glew.h:10088
A base class for holonomic reactive navigation methods.
#define MRPT_NO_THROWS
C++11 noexcept: Used after member declarations.
Clearance information for one particular PTG and one set of obstacles.
Only specializations of this class are defined for each enum type of interest.
Definition: TEnumType.h:23
bool m_enableApproachTargetSlowDown
Whether to decrease speed when approaching target.
std::vector< mrpt::math::TPoint2D > targets
Relative location (x,y) of target point(s). In the same units than obstacles. If many, last targets have higher priority.
This class allows loading and storing values and vectors of different types from a configuration text...
#define DEFINE_VIRTUAL_SERIALIZABLE(class_name)
This declaration must be inserted in virtual CSerializable classes definition:
double maxRobotSpeed
Maximum robot speed, in the same units than obstacles, per second.
This is the base class for any user-defined PTG.
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
double desiredDirection
The desired motion direction, in the range [-PI, PI].
A bidirectional version of std::map, declared as bimap<KEY,VALUE> and which actually contains two std...
Definition: bimap.h:28
double maxObstacleDist
Maximum expected value to be found in obstacles. Typically, values in obstacles larger or equal to th...
static void fill(bimap< enum_t, std::string > &m_map)
THolonomicMethod
The implemented reactive navigation methods.
double desiredSpeed
The desired motion speed in that direction, from 0 up to NavInput::maxRobotSpeed. ...
const mrpt::nav::ClearanceDiagram * clearance
The computed clearance for each direction (optional in some implementations). Leave to default (NULL)...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
mrpt::nav::CParameterizedTrajectoryGenerator * m_associatedPTG
If applicable, this will contain the argument of the most recent call to setAssociatedPTG() ...
GLsizei const GLcharARB ** string
Definition: glew.h:3293
std::string m_cfgSectionName
used in setConfigFileSectionName(), initialize()
Input parameters for CAbstractHolonomicReactiveMethod::navigate()
void insert(const KEY &k, const VALUE &v)
Insert a new pair KEY<->VALUE in the bi-map.
Definition: bimap.h:69
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
Output for CAbstractHolonomicReactiveMethod::navigate()
CHolonomicLogFileRecordPtr logRecord
The navigation method will create a log record and store it here via a smart pointer.



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