CNavigatorManualSequence.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/nav/reactive/CAbstractNavigator.h>
#include <mrpt/system/CTicTac.h>
#include <map>

namespace mrpt::nav
{
/** "Fake navigator" for tests: it just sends out a pre-programmed sequence of
 * commands to the robot.
 * For a short discussion of the API, see CNavigatorVirtualBase
 */
class CNavigatorManualSequence : public mrpt::nav::CAbstractNavigator
{
   public:
    CNavigatorManualSequence(CRobot2NavInterface& react_iterf_impl);
    ~CNavigatorManualSequence() override;

    /** @name Initialization API
     * @{ */
    void loadConfigFile(const mrpt::config::CConfigFileBase& c)
        override;  // See base class docs!
    void saveConfigFile(mrpt::config::CConfigFileBase& c)
        const override;  // See base class docs!
    /** Must be called for loading collision grids, etc. before invoking any
     * navigation command */
    void initialize() override;
    /** @} */

    /** Overriden in this class to ignore the cancel/pause/... commands */
    void navigationStep() override;

    struct TVelCmd
    {
        /** all with the same meaning than in
         * CRobot2NavInterface::changeSpeeds() */
        mrpt::kinematics::CVehicleVelCmd::Ptr cmd_vel;
    };

    /** map [time_in_secs_since_beginning] -> orders. */
    std::map<double, TVelCmd> programmed_orders;

   protected:
    void onStartNewNavigation() override {}

   private:
    // Not used in this class:
    void navigate(const TNavigationParams* params) override {}
    void performNavigationStep() override {}
};
}  // namespace mrpt::nav