Detailed Description

This is the base class for any reactive/planned navigation system.

See derived classes.

How to use:

A class derived from CRobot2NavInterface 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.

It implements the following state machine (see CAbstractNavigator::getCurrentState() ), taking into account the extensions described in CWaypointsNavigator

See also: CWaypointsNavigator, CReactiveNavigationSystem, CRobot2NavInterface, all children classes

Definition at line 58 of file CAbstractNavigator.h.

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

Inheritance diagram for mrpt::nav::CAbstractNavigator:

Classes
struct	TAbstractNavigatorParams

struct	TargetInfo
	Individual target info in CAbstractNavigator::TNavigationParamsBase and derived classes. More...

struct	TErrorReason

struct	TNavigationParams
	The struct for configuring navigation requests. More...

struct	TNavigationParamsBase
	Base for all high-level navigation commands. More...

struct	TRobotPoseVel

Public Member Functions
	CAbstractNavigator (CRobot2NavInterface &robot_interface_impl)
	ctor More...

	~CAbstractNavigator () override
	dtor More...

const mrpt::system::CTimeLogger &	getDelaysTimeLogger () const
	Gives access to a const-ref to the internal time logger used to estimate delays. More...

Static Public Member Functions
static std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > &	logging_levels_to_colors ()
	Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor. More...

static std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > &	logging_levels_to_names ()
	Map from VerbosityLevels to their corresponding names. More...

Public Attributes
TAbstractNavigatorParams	params_abstract_navigator

Protected Member Functions
void	dispatchPendingNavEvents ()

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

virtual void	onStartNewNavigation ()=0
	Called whenever a new navigation has been started. More...

virtual void	onNavigateCommandReceived ()
	Called after each call to CAbstractNavigator::navigate() More...

virtual void	updateCurrentPoseAndSpeeds ()
	Call to the robot getCurrentPoseAndSpeeds() and updates members m_curPoseVel accordingly. More...

virtual void	performNavigationStepNavigating (bool call_virtual_nav_method=true)
	Factorization of the part inside navigationStep(), for the case of state being NAVIGATING. More...

virtual void	processNavigateCommand (const TNavigationParams *params)
	Does the job of navigate(), except the call to onNavigateCommandReceived() More...

virtual void	doEmergencyStop (const std::string &msg)
	Stops the robot and set navigation state to error. More...

virtual bool	changeSpeeds (const mrpt::kinematics::CVehicleVelCmd &vel_cmd)
	Default: forward call to m_robot.changeSpeed(). More...

virtual bool	changeSpeedsNOP ()
	Default: forward call to m_robot.changeSpeedsNOP(). More...

virtual bool	stop (bool isEmergencyStop)
	Default: forward call to m_robot.stop(). More...

virtual bool	checkHasReachedTarget (const double targetDist) const
	Default implementation: check if target_dist is below the accepted distance. More...

virtual bool	checkCollisionWithLatestObstacles (const mrpt::math::TPose2D &relative_robot_pose) const
	Checks whether the robot shape, when placed at the given pose (relative to the current pose), is colliding with any of the latest known obstacles. More...

Protected Attributes
std::list< std::function< void(void)> >	m_pending_events
	Events generated during navigationStep(), enqueued to be called at the end of the method execution to avoid user code to change the navigator state. More...

TState	m_navigationState
	Current internal state of navigator: More...

std::unique_ptr< TNavigationParams >	m_navigationParams
	Current navigation parameters. More...

CRobot2NavInterface &	m_robot
	The navigator-robot interface. More...

std::weak_ptr< mrpt::poses::FrameTransformer< 2 > >	m_frame_tf
	Optional, user-provided frame transformer. More...

std::recursive_mutex	m_nav_cs
	mutex for all navigation methods More...

TRobotPoseVel	m_curPoseVel
	Current robot pose (updated in CAbstractNavigator::navigationStep() ) More...

double	m_last_curPoseVelUpdate_robot_time

std::string	m_last_curPoseVelUpdate_pose_frame_id

mrpt::poses::CPose2DInterpolator	m_latestPoses
	Latest robot poses (updated in CAbstractNavigator::navigationStep() ) More...

mrpt::poses::CPose2DInterpolator	m_latestOdomPoses

mrpt::system::CTimeLogger	m_timlog_delays
	Time logger to collect delay-related stats. More...

double	m_badNavAlarm_minDistTarget
	For sending an alarm (error event) when it seems that we are not approaching toward the target in a while... More...

mrpt::system::TTimeStamp	m_badNavAlarm_lastMinDistTime

VerbosityLevel	m_min_verbosity_level {LVL_INFO}
	Provided messages with VerbosityLevel smaller than this value shall be ignored. More...

Private Member Functions
void	internal_onStartNewNavigation ()
	Called before starting a new navigation. More...

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

TErrorReason	m_navErrorReason

bool	m_navigationEndEventSent
	Will be false until the navigation end is sent, and it is reset with each new command. More...

int	m_counter_check_target_is_blocked

bool	m_rethrow_exceptions {false}

Navigation control API
enum	TState { IDLE = 0, NAVIGATING, SUSPENDED, NAV_ERROR }
	The different states for the navigation system. More...

enum	TErrorCode { ERR_NONE = 0, ERR_EMERGENCY_STOP, ERR_CANNOT_REACH_TARGET, ERR_OTHER }
	Explains the reason for the navigation error. More...

virtual void	loadConfigFile (const mrpt::config::CConfigFileBase &c)
	Loads all params from a file. More...

virtual void	saveConfigFile (mrpt::config::CConfigFileBase &c) const
	Saves all current options to a config file. More...

virtual void	initialize ()=0
	Must be called before any other navigation command. More...

virtual void	navigationStep ()
	This method must be called periodically in order to effectively run the navigation. More...

virtual void	navigate (const TNavigationParams *params)
	Navigation request to a single target location. More...

virtual void	cancel ()
	Cancel current navegation. More...

virtual void	resume ()
	Continues with suspended navigation. More...

virtual void	suspend ()
	Suspend current navegation. More...

virtual void	resetNavError ()
	Resets a `NAV_ERROR` state back to `IDLE` More...

TState	getCurrentState () const
	Returns the current navigator state. More...

const TErrorReason &	getErrorReason () const
	In case of state=NAV_ERROR, this returns the reason for the error. More...

void	setFrameTF (const std::weak_ptr< mrpt::poses::FrameTransformer< 2 >> &frame_tf)
	Sets a user-provided frame transformer object; used only if providing targets in a frame ID different than the one in which robot odometry is given (both IDs default to `"map"`). More...

std::weak_ptr< mrpt::poses::FrameTransformer< 2 > >	getFrameTF () const
	Get the current frame tf object (defaults to nullptr) More...

void	enableRethrowNavExceptions (const bool enable)
	By default, error exceptions on navigationStep() will dump an error message to the output logger interface. More...

bool	isRethrowNavExceptionsEnabled () const

Logging methods
bool	logging_enable_console_output {true}
	[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically. More...

bool	logging_enable_keep_record {false}
	[Default=false] Enables storing all messages into an internal list. More...

void	logStr (const VerbosityLevel level, const std::string &msg_str) const
	Main method to add the specified message string to the logger. More...

void	logFmt (const VerbosityLevel level, const char *fmt,...) const MRPT_printf_format_check(3
	Alternative logging method, which mimics the printf behavior. More...

void void	logCond (const VerbosityLevel level, bool cond, const std::string &msg_str) const
	Log the given message only if the condition is satisfied. More...

void	setLoggerName (const std::string &name)
	Set the name of the COutputLogger instance. More...

std::string	getLoggerName () const
	Return the name of the COutputLogger instance. More...

void	setMinLoggingLevel (const VerbosityLevel level)
	Set the minimum logging level for which the incoming logs are going to be taken into account. More...

void	setVerbosityLevel (const VerbosityLevel level)
	alias of setMinLoggingLevel() More...

VerbosityLevel	getMinLoggingLevel () const

bool	isLoggingLevelVisible (VerbosityLevel level) const

void	getLogAsString (std::string &log_contents) const
	Fill the provided string with the contents of the logger's history in std::string representation. More...

std::string	getLogAsString () const
	Get the history of COutputLogger instance in a string representation. More...

void	writeLogToFile (const std::string *fname_in=nullptr) const
	Write the contents of the COutputLogger instance to an external file. More...

void	dumpLogToConsole () const
	Dump the current contents of the COutputLogger instance in the terminal window. More...

std::string	getLoggerLastMsg () const
	Return the last Tmsg instance registered in the logger history. More...

void	getLoggerLastMsg (std::string &msg_str) const
	Fill inputtted string with the contents of the last message in history. More...

void	loggerReset ()
	Reset the contents of the logger instance. More...

void	logRegisterCallback (output_logger_callback_t userFunc)

bool	logDeregisterCallback (output_logger_callback_t userFunc)

Member Enumeration Documentation

◆ TErrorCode

enum mrpt::nav::CAbstractNavigator::TErrorCode

Explains the reason for the navigation error.

Enumerator
ERR_NONE
ERR_EMERGENCY_STOP
ERR_CANNOT_REACH_TARGET
ERR_OTHER

Definition at line 184 of file CAbstractNavigator.h.

◆ TState

enum mrpt::nav::CAbstractNavigator::TState

The different states for the navigation system.

Enumerator
IDLE
NAVIGATING
SUSPENDED
NAV_ERROR

Definition at line 172 of file CAbstractNavigator.h.

Constructor & Destructor Documentation

◆ CAbstractNavigator()

CAbstractNavigator::CAbstractNavigator ( CRobot2NavInterface & robot_interface_impl )

ctor

Definition at line 88 of file CAbstractNavigator.cpp.

References mrpt::poses::imLinear2Neig, mrpt::system::LVL_DEBUG, m_latestOdomPoses, m_latestPoses, mrpt::poses::CPoseInterpolatorBase< DIM >::setInterpolationMethod(), and mrpt::system::COutputLogger::setVerbosityLevel().

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◆ ~CAbstractNavigator()

CAbstractNavigator::~CAbstractNavigator ( )

overridedefault

dtor

Member Function Documentation

◆ cancel()

void CAbstractNavigator::cancel ( )

virtual

Cancel current navegation.

Reimplemented in mrpt::nav::CWaypointsNavigator.

Definition at line 109 of file CAbstractNavigator.cpp.

References IDLE, m_nav_cs, m_navigationState, MRPT_LOG_DEBUG, and stop().

Referenced by mrpt::nav::CWaypointsNavigator::cancel().

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◆ changeSpeeds()

bool CAbstractNavigator::changeSpeeds ( const mrpt::kinematics::CVehicleVelCmd & vel_cmd )

protectedvirtual

Default: forward call to m_robot.changeSpeed().

Can be overriden.

Definition at line 424 of file CAbstractNavigator.cpp.

References mrpt::nav::CRobot2NavInterface::changeSpeeds(), and m_robot.

Referenced by mrpt::nav::CNavigatorManualSequence::navigationStep(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

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◆ changeSpeedsNOP()

bool CAbstractNavigator::changeSpeedsNOP ( )

protectedvirtual

Default: forward call to m_robot.changeSpeedsNOP().

Can be overriden.

Definition at line 430 of file CAbstractNavigator.cpp.

References mrpt::nav::CRobot2NavInterface::changeSpeedsNOP(), and m_robot.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep().

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◆ checkCollisionWithLatestObstacles()

bool CAbstractNavigator::checkCollisionWithLatestObstacles ( const mrpt::math::TPose2D & relative_robot_pose ) const

protectedvirtual

Checks whether the robot shape, when placed at the given pose (relative to the current pose), is colliding with any of the latest known obstacles.

Default implementation: always returns false.

Reimplemented in mrpt::nav::CReactiveNavigationSystem3D, and mrpt::nav::CReactiveNavigationSystem.

Definition at line 691 of file CAbstractNavigator.cpp.

Referenced by performNavigationStepNavigating().

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◆ checkHasReachedTarget()

bool CAbstractNavigator::checkHasReachedTarget ( const double targetDist ) const

protectedvirtual

Default implementation: check if target_dist is below the accepted distance.

If true is returned here, the end-of-navigation event will be sent out (only for non-intermediary targets).

Reimplemented in mrpt::nav::CWaypointsNavigator.

Definition at line 487 of file CAbstractNavigator.cpp.

Referenced by performNavigationStepNavigating().

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◆ dispatchPendingNavEvents()

void CAbstractNavigator::dispatchPendingNavEvents ( )

protected

Definition at line 249 of file CAbstractNavigator.cpp.

References m_pending_events.

Referenced by mrpt::nav::CWaypointsNavigator::navigationStep(), and navigationStep().

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◆ doEmergencyStop()

void CAbstractNavigator::doEmergencyStop ( const std::string & msg )

protectedvirtual

Stops the robot and set navigation state to error.

Definition at line 260 of file CAbstractNavigator.cpp.

References ERR_EMERGENCY_STOP, ERR_NONE, mrpt::nav::CAbstractNavigator::TErrorReason::error_code, mrpt::nav::CAbstractNavigator::TErrorReason::error_msg, m_navErrorReason, m_navigationState, MRPT_LOG_ERROR, NAV_ERROR, and stop().

Referenced by mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep().

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◆ dumpLogToConsole()

void COutputLogger::dumpLogToConsole ( ) const

inherited

Dump the current contents of the COutputLogger instance in the terminal window.

See also: writeToFile

Definition at line 190 of file COutputLogger.cpp.

◆ enableRethrowNavExceptions()

void mrpt::nav::CAbstractNavigator::enableRethrowNavExceptions ( const bool enable )

inline

By default, error exceptions on navigationStep() will dump an error message to the output logger interface.

If rethrow is enabled (default=false), the error message will be reported as well, but exceptions will be re-thrown.

Definition at line 228 of file CAbstractNavigator.h.

References m_rethrow_exceptions.

◆ getCurrentState()

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

inline

Returns the current navigator state.

Definition at line 181 of file CAbstractNavigator.h.

References m_navigationState.

◆ getDelaysTimeLogger()

const mrpt::system::CTimeLogger& mrpt::nav::CAbstractNavigator::getDelaysTimeLogger ( ) const

inline

Gives access to a const-ref to the internal time logger used to estimate delays.

See also: getTimeLogger() in derived classes

Definition at line 262 of file CAbstractNavigator.h.

References m_timlog_delays.

◆ getErrorReason()

const TErrorReason& mrpt::nav::CAbstractNavigator::getErrorReason ( ) const

inline

In case of state=NAV_ERROR, this returns the reason for the error.

Error state is reseted everytime a new navigation starts with a call to navigate(), or when resetNavError() is called.

Definition at line 204 of file CAbstractNavigator.h.

References m_navErrorReason.

◆ getFrameTF()

std::weak_ptr<mrpt::poses::FrameTransformer<2> > mrpt::nav::CAbstractNavigator::getFrameTF ( ) const

inline

Get the current frame tf object (defaults to nullptr)

See also: setFrameTF

Definition at line 218 of file CAbstractNavigator.h.

References m_frame_tf.

◆ getLogAsString() [1/2]

void COutputLogger::getLogAsString ( std::string & log_contents ) const

inherited

Fill the provided string with the contents of the logger's history in std::string representation.

Definition at line 154 of file COutputLogger.cpp.

◆ getLogAsString() [2/2]

std::string COutputLogger::getLogAsString ( ) const

inherited

Get the history of COutputLogger instance in a string representation.

Definition at line 159 of file COutputLogger.cpp.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::getDescriptiveReport().

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◆ getLoggerLastMsg() [1/2]

std::string COutputLogger::getLoggerLastMsg ( ) const

inherited

Return the last Tmsg instance registered in the logger history.

Definition at line 195 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::getAsString().

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◆ getLoggerLastMsg() [2/2]

void COutputLogger::getLoggerLastMsg ( std::string & msg_str ) const

inherited

Fill inputtted string with the contents of the last message in history.

Definition at line 201 of file COutputLogger.cpp.

◆ getLoggerName()

std::string COutputLogger::getLoggerName ( ) const

inherited

Return the name of the COutputLogger instance.

See also: setLoggerName

Definition at line 143 of file COutputLogger.cpp.

◆ getMinLoggingLevel()

VerbosityLevel mrpt::system::COutputLogger::getMinLoggingLevel ( ) const

inlineinherited

See also: setMinLoggingLevel

Definition at line 200 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::maps::CRandomFieldGridMap2D::isEnabledVerbose(), and mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().

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◆ initialize()

virtual void mrpt::nav::CAbstractNavigator::initialize ( )

pure virtual

Must be called before any other navigation command.

Implemented in mrpt::nav::CAbstractPTGBasedReactive, and mrpt::nav::CNavigatorManualSequence.

◆ internal_onStartNewNavigation()

void CAbstractNavigator::internal_onStartNewNavigation ( )

private

Called before starting a new navigation.

Internally, it calls to child-implemented onStartNewNavigation()

Definition at line 493 of file CAbstractNavigator.cpp.

References mrpt::poses::CPoseInterpolatorBase< DIM >::clear(), m_latestOdomPoses, m_latestPoses, m_robot, onStartNewNavigation(), and mrpt::nav::CRobot2NavInterface::startWatchdog().

Referenced by performNavigationStepNavigating().

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◆ isLoggingLevelVisible()

bool mrpt::system::COutputLogger::isLoggingLevelVisible ( VerbosityLevel level ) const

inlineinherited

Definition at line 201 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper().

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◆ isRethrowNavExceptionsEnabled()

bool mrpt::nav::CAbstractNavigator::isRethrowNavExceptionsEnabled ( ) const

inline

Definition at line 232 of file CAbstractNavigator.h.

References m_rethrow_exceptions.

◆ loadConfigFile()

void CAbstractNavigator::loadConfigFile ( const mrpt::config::CConfigFileBase & c )

virtual

Loads all params from a file.

To be called before initialize(). Each derived class MUST load its own parameters, and then call ITS PARENT'S overriden method to ensure all params are loaded.

Reimplemented in mrpt::nav::CAbstractPTGBasedReactive, mrpt::nav::CWaypointsNavigator, mrpt::nav::CReactiveNavigationSystem3D, mrpt::nav::CReactiveNavigationSystem, and mrpt::nav::CNavigatorManualSequence.

Definition at line 159 of file CAbstractNavigator.cpp.

References mrpt::config::CConfigFileMemory::getContent(), mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams::loadFromConfigFile(), MRPT_END, MRPT_LOG_INFO, MRPT_START, params_abstract_navigator, and saveConfigFile().

Referenced by mrpt::nav::CWaypointsNavigator::loadConfigFile().

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◆ logCond()

void COutputLogger::logCond	(	const VerbosityLevel	level,
		bool	cond,
		const std::string &	msg_str
	)		const

inherited

Log the given message only if the condition is satisfied.

See also: log, logFmt

Definition at line 131 of file COutputLogger.cpp.

◆ logDeregisterCallback()

bool COutputLogger::logDeregisterCallback ( output_logger_callback_t userFunc )

inherited

Returns: true if an entry was found and deleted.

Definition at line 291 of file COutputLogger.cpp.

References getAddress(), and mrpt::system::COutputLogger::m_listCallbacks.

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◆ logFmt()

void COutputLogger::logFmt	(	const VerbosityLevel	level,
		const char *	fmt,
			...
	)		const

inherited

Alternative logging method, which mimics the printf behavior.

Handy for not having to first use mrpt::format to pass a std::string message to logStr

// instead of:
logStr(mrpt::format("Today is the %d of %s, %d", 15, "July", 2016));
// one can use:
logFmt("Today is the %d of %s, %d", 15, "July", 2016);

See also: logStr, logCond

Definition at line 91 of file COutputLogger.cpp.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::CICPCriteriaNRD(), mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), CGraphSlamHandler< GRAPH_T >::execute(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), CGraphSlamHandler< GRAPH_T >::initOutputDir(), CGraphSlamHandler< GRAPH_T >::initVisualization(), mrpt::nav::CNavigatorManualSequence::navigationStep(), performNavigationStepNavigating(), CGraphSlamHandler< GRAPH_T >::readConfigFname(), CGraphSlamHandler< GRAPH_T >::saveResults(), CGraphSlamHandler< GRAPH_T >::setResultsDirName(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), and CGraphSlamHandler< GRAPH_T >::~CGraphSlamHandler().

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◆ loggerReset()

void COutputLogger::loggerReset ( )

inherited

Reset the contents of the logger instance.

Called upon construction.

Definition at line 206 of file COutputLogger.cpp.

References mrpt::system::LVL_INFO.

◆ logging_levels_to_colors()

std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_colors ( )

staticinherited

Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor.

Handy for coloring the input based on the verbosity of the message

Definition at line 47 of file COutputLogger.cpp.

References logging_levels_to_colors.

Referenced by mrpt::system::COutputLogger::TMsg::dumpToConsole().

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◆ logging_levels_to_names()

std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_names ( )

staticinherited

Map from VerbosityLevels to their corresponding names.

Handy for printing the current message VerbosityLevel along with the actual content

Definition at line 60 of file COutputLogger.cpp.

References logging_levels_to_names.

Referenced by mrpt::system::COutputLogger::TMsg::getAsString().

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◆ logRegisterCallback()

void COutputLogger::logRegisterCallback ( output_logger_callback_t userFunc )

inherited

Definition at line 278 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::m_listCallbacks.

◆ logStr()

void COutputLogger::logStr	(	const VerbosityLevel	level,
		const std::string &	msg_str
	)		const

inherited

Main method to add the specified message string to the logger.

See also: logCond, logFmt

Definition at line 72 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::body, mrpt::system::COutputLogger::TMsg::dumpToConsole(), mrpt::system::COutputLogger::TMsg::level, mrpt::system::COutputLogger::TMsg::name, and mrpt::system::COutputLogger::TMsg::timestamp.

Referenced by mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper(), and mrpt::system::CTimeLoggerSaveAtDtor::~CTimeLoggerSaveAtDtor().

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◆ navigate()

void CAbstractNavigator::navigate ( const TNavigationParams * params )

virtual

Navigation request to a single target location.

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 if it was dynamically allocated.)

Note: A pointer is used so the passed object can be polymorphic with derived types.

Reimplemented in mrpt::nav::CNavigatorManualSequence.

Definition at line 322 of file CAbstractNavigator.cpp.

References MRPT_END, MRPT_START, onNavigateCommandReceived(), and processNavigateCommand().

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◆ navigationStep()

void CAbstractNavigator::navigationStep ( )

virtual

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

Reimplemented in mrpt::nav::CWaypointsNavigator, and mrpt::nav::CNavigatorManualSequence.

Definition at line 182 of file CAbstractNavigator.cpp.

References dispatchPendingNavEvents(), IDLE, m_lastNavigationState, m_nav_cs, m_navigationState, m_pending_events, m_robot, m_timlog_delays, MRPT_LOG_ERROR, MRPT_LOG_INFO, NAV_ERROR, NAVIGATING, performNavigationStepNavigating(), mrpt::nav::CRobot2NavInterface::sendNavigationEndDueToErrorEvent(), stop(), mrpt::nav::CRobot2NavInterface::stopWatchdog(), and SUSPENDED.

Referenced by mrpt::nav::CWaypointsNavigator::navigationStep().

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◆ onNavigateCommandReceived()

void CAbstractNavigator::onNavigateCommandReceived ( )

protectedvirtual

Called after each call to CAbstractNavigator::navigate()

Reimplemented in mrpt::nav::CWaypointsNavigator.

Definition at line 280 of file CAbstractNavigator.cpp.

References m_nav_cs, m_navigationEndEventSent, and m_navigationParams.

Referenced by navigate(), and mrpt::nav::CWaypointsNavigator::onNavigateCommandReceived().

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◆ onStartNewNavigation()

virtual void mrpt::nav::CAbstractNavigator::onStartNewNavigation ( )

protectedpure virtual

Called whenever a new navigation has been started.

Can be used to reset state variables, etc.

Implemented in mrpt::nav::CAbstractPTGBasedReactive, mrpt::nav::CWaypointsNavigator, and mrpt::nav::CNavigatorManualSequence.

Referenced by internal_onStartNewNavigation().

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◆ performNavigationStep()

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

protectedpure virtual

To be implemented in derived classes.

Implemented in mrpt::nav::CAbstractPTGBasedReactive, and mrpt::nav::CNavigatorManualSequence.

Referenced by performNavigationStepNavigating().

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◆ performNavigationStepNavigating()

void CAbstractNavigator::performNavigationStepNavigating ( bool call_virtual_nav_method = true )

protectedvirtual

Factorization of the part inside navigationStep(), for the case of state being NAVIGATING.

Performs house-hold tasks like raising events in case of starting/ending navigation, timeout reaching destination, etc. call_virtual_nav_method can be set to false to avoid calling the virtual method performNavigationStep()

Definition at line 502 of file CAbstractNavigator.cpp.

References ASSERT_, checkCollisionWithLatestObstacles(), checkHasReachedTarget(), mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams::dist_check_target_is_blocked, mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams::dist_to_target_for_sending_event, mrpt::math::TSegment2D::distance(), mrpt::poses::CPoseInterpolatorBase< DIM >::empty(), ERR_CANNOT_REACH_TARGET, ERR_NONE, ERR_OTHER, mrpt::nav::CAbstractNavigator::TErrorReason::error_code, mrpt::nav::CAbstractNavigator::TErrorReason::error_msg, mrpt::format(), mrpt::system::getCurrentTime(), mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams::hysteresis_check_target_is_blocked, IDLE, internal_onStartNewNavigation(), mrpt::system::COutputLogger::logFmt(), mrpt::system::LVL_WARN, m_badNavAlarm_lastMinDistTime, m_badNavAlarm_minDistTarget, m_counter_check_target_is_blocked, m_curPoseVel, m_lastNavigationState, m_latestPoses, m_navErrorReason, m_navigationEndEventSent, m_navigationParams, m_navigationState, m_pending_events, m_rethrow_exceptions, m_robot, MRPT_LOG_DEBUG, MRPT_LOG_ERROR, MRPT_LOG_ERROR_FMT, MRPT_LOG_INFO, MRPT_LOG_THROTTLE_WARN, MRPT_LOG_WARN, NAV_ERROR, NAVIGATING, params_abstract_navigator, performNavigationStep(), mrpt::nav::CAbstractNavigator::TRobotPoseVel::pose, mrpt::poses::CPoseInterpolatorBase< DIM >::rbegin(), mrpt::nav::CRobot2NavInterface::sendNavigationEndEvent(), mrpt::nav::CRobot2NavInterface::sendNavigationStartEvent(), mrpt::nav::CRobot2NavInterface::sendWaySeemsBlockedEvent(), mrpt::poses::CPoseInterpolatorBase< DIM >::size(), stop(), mrpt::system::timeDifference(), and updateCurrentPoseAndSpeeds().

Referenced by navigationStep(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

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◆ processNavigateCommand()

void CAbstractNavigator::processNavigateCommand ( const TNavigationParams * params )

protectedvirtual

Does the job of navigate(), except the call to onNavigateCommandReceived()

Definition at line 288 of file CAbstractNavigator.cpp.

References ASSERT_, mrpt::system::getCurrentTime(), m_badNavAlarm_lastMinDistTime, m_badNavAlarm_minDistTarget, m_curPoseVel, m_nav_cs, m_navErrorReason, m_navigationParams, m_navigationState, MRPT_END, MRPT_START, NAVIGATING, mrpt::nav::CAbstractNavigator::TRobotPoseVel::pose, and updateCurrentPoseAndSpeeds().

Referenced by navigate(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

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◆ resetNavError()

void CAbstractNavigator::resetNavError ( )

virtual

Resets a NAV_ERROR state back to IDLE

Definition at line 141 of file CAbstractNavigator.cpp.

References IDLE, m_nav_cs, m_navErrorReason, m_navigationState, MRPT_LOG_DEBUG, and NAV_ERROR.

◆ resume()

void CAbstractNavigator::resume ( )

virtual

Continues with suspended navigation.

See also: suspend

Definition at line 118 of file CAbstractNavigator.cpp.

References m_nav_cs, m_navigationState, MRPT_LOG_DEBUG, NAVIGATING, and SUSPENDED.

◆ saveConfigFile()

void CAbstractNavigator::saveConfigFile ( mrpt::config::CConfigFileBase & c ) const

virtual

Saves all current options to a config file.

Each derived class MUST save its own parameters, and then call ITS PARENT'S overriden method to ensure all params are saved.

Reimplemented in mrpt::nav::CAbstractPTGBasedReactive, mrpt::nav::CWaypointsNavigator, mrpt::nav::CReactiveNavigationSystem3D, mrpt::nav::CReactiveNavigationSystem, and mrpt::nav::CNavigatorManualSequence.

Definition at line 176 of file CAbstractNavigator.cpp.

References params_abstract_navigator, and mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams::saveToConfigFile().

Referenced by loadConfigFile(), and mrpt::nav::CWaypointsNavigator::saveConfigFile().

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◆ setFrameTF()

void CAbstractNavigator::setFrameTF ( const std::weak_ptr< mrpt::poses::FrameTransformer< 2 >> & frame_tf )

Sets a user-provided frame transformer object; used only if providing targets in a frame ID different than the one in which robot odometry is given (both IDs default to "map").

Definition at line 153 of file CAbstractNavigator.cpp.

References m_frame_tf.

◆ setLoggerName()

void COutputLogger::setLoggerName ( const std::string & name )

inherited

Set the name of the COutputLogger instance.

See also: getLoggerName

Definition at line 138 of file COutputLogger.cpp.

Referenced by mrpt::slam::CMetricMapBuilderICP::CMetricMapBuilderICP(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::slam::CMonteCarloLocalization2D::CMonteCarloLocalization2D(), mrpt::slam::CMonteCarloLocalization3D::CMonteCarloLocalization3D(), and mrpt::graphslam::CWindowManager::initCWindowManager().

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◆ setMinLoggingLevel()

void COutputLogger::setMinLoggingLevel ( const VerbosityLevel level )

inherited

Set the minimum logging level for which the incoming logs are going to be taken into account.

String messages with specified VerbosityLevel smaller than the min, will not be outputted to the screen and neither will a record of them be stored in by the COutputLogger instance

Definition at line 144 of file COutputLogger.cpp.

Referenced by mrpt::maps::CRandomFieldGridMap2D::enableVerbose(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), mrpt::hwdrivers::CHokuyoURG::initialize(), and mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams().

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◆ setVerbosityLevel()

void COutputLogger::setVerbosityLevel ( const VerbosityLevel level )

inherited

alias of setMinLoggingLevel()

Definition at line 149 of file COutputLogger.cpp.

Referenced by CAbstractNavigator(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::comms::CServerTCPSocket::CServerTCPSocket(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::math::ransac_detect_2D_lines().

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◆ stop()

bool CAbstractNavigator::stop ( bool isEmergencyStop )

protectedvirtual

Default: forward call to m_robot.stop().

Can be overriden.

Definition at line 432 of file CAbstractNavigator.cpp.

References m_robot, and mrpt::nav::CRobot2NavInterface::stop().

Referenced by cancel(), doEmergencyStop(), mrpt::nav::CNavigatorManualSequence::navigationStep(), navigationStep(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), performNavigationStepNavigating(), mrpt::nav::CAbstractPTGBasedReactive::preDestructor(), suspend(), updateCurrentPoseAndSpeeds(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

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◆ suspend()

void CAbstractNavigator::suspend ( )

virtual

Suspend current navegation.

See also: resume

Definition at line 127 of file CAbstractNavigator.cpp.

References m_nav_cs, m_navigationState, MRPT_LOG_DEBUG, NAVIGATING, stop(), and SUSPENDED.

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◆ updateCurrentPoseAndSpeeds()

void CAbstractNavigator::updateCurrentPoseAndSpeeds ( )

protectedvirtual

Call to the robot getCurrentPoseAndSpeeds() and updates members m_curPoseVel accordingly.

If an error is returned by the user callback, first, it calls robot.stop() ,then throws an std::runtime_error exception.

Definition at line 331 of file CAbstractNavigator.cpp.

Referenced by performNavigationStepNavigating(), processNavigateCommand(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

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◆ writeLogToFile()

void COutputLogger::writeLogToFile ( const std::string * fname_in = nullptr ) const

inherited

Write the contents of the COutputLogger instance to an external file.

Upon call to this method, COutputLogger dumps the contents of all the logged commands so far to the specified external file. By default the filename is set to ${LOGGERNAME}.log except if the fname parameter is provided

See also: dumpToConsole, getAsString

Definition at line 165 of file COutputLogger.cpp.

References ASSERTMSG_, and mrpt::format().

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Member Data Documentation

◆ logging_enable_console_output

bool mrpt::system::COutputLogger::logging_enable_console_output {true}

inherited

[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically.

Definition at line 239 of file system/COutputLogger.h.

◆ logging_enable_keep_record

bool mrpt::system::COutputLogger::logging_enable_keep_record {false}

inherited

[Default=false] Enables storing all messages into an internal list.

See also: writeLogToFile, getLogAsString

Definition at line 242 of file system/COutputLogger.h.

◆ m_badNavAlarm_lastMinDistTime

mrpt::system::TTimeStamp mrpt::nav::CAbstractNavigator::m_badNavAlarm_lastMinDistTime

protected

Definition at line 383 of file CAbstractNavigator.h.

Referenced by performNavigationStepNavigating(), and processNavigateCommand().

◆ m_badNavAlarm_minDistTarget

double mrpt::nav::CAbstractNavigator::m_badNavAlarm_minDistTarget

protected

For sending an alarm (error event) when it seems that we are not approaching toward the target in a while...

Definition at line 382 of file CAbstractNavigator.h.

Referenced by performNavigationStepNavigating(), and processNavigateCommand().

◆ m_counter_check_target_is_blocked

int mrpt::nav::CAbstractNavigator::m_counter_check_target_is_blocked

private

Definition at line 274 of file CAbstractNavigator.h.

Referenced by performNavigationStepNavigating().

◆ m_curPoseVel

TRobotPoseVel mrpt::nav::CAbstractNavigator::m_curPoseVel

protected

Current robot pose (updated in CAbstractNavigator::navigationStep() )

Definition at line 371 of file CAbstractNavigator.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), mrpt::nav::CReactiveNavigationSystem::implementSenseObstacles(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), performNavigationStepNavigating(), processNavigateCommand(), mrpt::nav::CAbstractPTGBasedReactive::STEP8_GenerateLogRecord(), updateCurrentPoseAndSpeeds(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

◆ m_frame_tf

std::weak_ptr<mrpt::poses::FrameTransformer<2> > mrpt::nav::CAbstractNavigator::m_frame_tf

protected

Optional, user-provided frame transformer.

Definition at line 352 of file CAbstractNavigator.h.

Referenced by getFrameTF(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), and setFrameTF().

◆ m_last_curPoseVelUpdate_pose_frame_id

std::string mrpt::nav::CAbstractNavigator::m_last_curPoseVelUpdate_pose_frame_id

protected

Definition at line 373 of file CAbstractNavigator.h.

Referenced by updateCurrentPoseAndSpeeds().

◆ m_last_curPoseVelUpdate_robot_time

double mrpt::nav::CAbstractNavigator::m_last_curPoseVelUpdate_robot_time

protected

Definition at line 372 of file CAbstractNavigator.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::onStartNewNavigation(), and updateCurrentPoseAndSpeeds().

◆ m_lastNavigationState

TState mrpt::nav::CAbstractNavigator::m_lastNavigationState

private

Last internal state of navigator:

Definition at line 269 of file CAbstractNavigator.h.

Referenced by navigationStep(), and performNavigationStepNavigating().

◆ m_latestOdomPoses

mrpt::poses::CPose2DInterpolator mrpt::nav::CAbstractNavigator::m_latestOdomPoses

protected

Definition at line 375 of file CAbstractNavigator.h.

Referenced by CAbstractNavigator(), internal_onStartNewNavigation(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), and updateCurrentPoseAndSpeeds().

◆ m_latestPoses

mrpt::poses::CPose2DInterpolator mrpt::nav::CAbstractNavigator::m_latestPoses

protected

Latest robot poses (updated in CAbstractNavigator::navigationStep() )

Definition at line 375 of file CAbstractNavigator.h.

Referenced by CAbstractNavigator(), internal_onStartNewNavigation(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), performNavigationStepNavigating(), and updateCurrentPoseAndSpeeds().

◆ m_min_verbosity_level

VerbosityLevel mrpt::system::COutputLogger::m_min_verbosity_level {LVL_INFO}

protectedinherited

Provided messages with VerbosityLevel smaller than this value shall be ignored.

Definition at line 252 of file system/COutputLogger.h.

Referenced by mrpt::system::COutputLogger::getMinLoggingLevel(), and mrpt::system::COutputLogger::isLoggingLevelVisible().

◆ m_nav_cs

std::recursive_mutex mrpt::nav::CAbstractNavigator::m_nav_cs

protected

mutex for all navigation methods

Definition at line 355 of file CAbstractNavigator.h.

Referenced by cancel(), mrpt::nav::CAbstractPTGBasedReactive::enableLogFile(), mrpt::nav::CAbstractPTGBasedReactive::initialize(), navigationStep(), onNavigateCommandReceived(), mrpt::nav::CAbstractPTGBasedReactive::preDestructor(), processNavigateCommand(), resetNavError(), resume(), mrpt::nav::CAbstractPTGBasedReactive::setHolonomicMethod(), and suspend().

◆ m_navErrorReason

TErrorReason mrpt::nav::CAbstractNavigator::m_navErrorReason

private

Definition at line 270 of file CAbstractNavigator.h.

Referenced by doEmergencyStop(), getErrorReason(), performNavigationStepNavigating(), processNavigateCommand(), resetNavError(), and updateCurrentPoseAndSpeeds().

◆ m_navigationEndEventSent

bool mrpt::nav::CAbstractNavigator::m_navigationEndEventSent

private

Will be false until the navigation end is sent, and it is reset with each new command.

Definition at line 273 of file CAbstractNavigator.h.

Referenced by onNavigateCommandReceived(), and performNavigationStepNavigating().

◆ m_navigationParams

std::unique_ptr<TNavigationParams> mrpt::nav::CAbstractNavigator::m_navigationParams

protected

Current navigation parameters.

Definition at line 346 of file CAbstractNavigator.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), mrpt::nav::CWaypointsNavigator::checkHasReachedTarget(), onNavigateCommandReceived(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), performNavigationStepNavigating(), and processNavigateCommand().

◆ m_navigationState

TState mrpt::nav::CAbstractNavigator::m_navigationState

protected

Current internal state of navigator:

Definition at line 344 of file CAbstractNavigator.h.

Referenced by cancel(), doEmergencyStop(), getCurrentState(), mrpt::nav::CWaypointsNavigator::navigationStep(), navigationStep(), performNavigationStepNavigating(), processNavigateCommand(), resetNavError(), resume(), suspend(), and updateCurrentPoseAndSpeeds().

◆ m_pending_events

std::list<std::function<void(void)> > mrpt::nav::CAbstractNavigator::m_pending_events

protected

Events generated during navigationStep(), enqueued to be called at the end of the method execution to avoid user code to change the navigator state.

Definition at line 285 of file CAbstractNavigator.h.

Referenced by dispatchPendingNavEvents(), navigationStep(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), performNavigationStepNavigating(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

◆ m_rethrow_exceptions

bool mrpt::nav::CAbstractNavigator::m_rethrow_exceptions {false}

private

Definition at line 275 of file CAbstractNavigator.h.

Referenced by enableRethrowNavExceptions(), isRethrowNavExceptionsEnabled(), and performNavigationStepNavigating().

◆ m_robot

CRobot2NavInterface& mrpt::nav::CAbstractNavigator::m_robot

protected

The navigator-robot interface.

Definition at line 349 of file CAbstractNavigator.h.

Referenced by changeSpeeds(), changeSpeedsNOP(), mrpt::nav::CReactiveNavigationSystem::implementSenseObstacles(), mrpt::nav::CReactiveNavigationSystem3D::implementSenseObstacles(), mrpt::nav::CNavigatorManualSequence::initialize(), internal_onStartNewNavigation(), mrpt::nav::CNavigatorManualSequence::navigationStep(), navigationStep(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), performNavigationStepNavigating(), stop(), updateCurrentPoseAndSpeeds(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

◆ m_timlog_delays

mrpt::system::CTimeLogger mrpt::nav::CAbstractNavigator::m_timlog_delays

protected

Time logger to collect delay-related stats.

Definition at line 378 of file CAbstractNavigator.h.

Referenced by getDelaysTimeLogger(), mrpt::nav::CReactiveNavigationSystem::implementSenseObstacles(), mrpt::nav::CReactiveNavigationSystem3D::implementSenseObstacles(), navigationStep(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::nav::CAbstractPTGBasedReactive::STEP8_GenerateLogRecord(), updateCurrentPoseAndSpeeds(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

◆ params_abstract_navigator

TAbstractNavigatorParams mrpt::nav::CAbstractNavigator::params_abstract_navigator

Definition at line 258 of file CAbstractNavigator.h.

Referenced by loadConfigFile(), performNavigationStepNavigating(), and saveConfigFile().

Detailed Description

Classes

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Navigation control API

Logging methods

Member Enumeration Documentation

◆ TErrorCode

◆ TState

Constructor & Destructor Documentation

◆ CAbstractNavigator()

◆ ~CAbstractNavigator()

Member Function Documentation

◆ cancel()

◆ changeSpeeds()

◆ changeSpeedsNOP()

◆ checkCollisionWithLatestObstacles()

◆ checkHasReachedTarget()

◆ dispatchPendingNavEvents()

◆ doEmergencyStop()

◆ dumpLogToConsole()

◆ enableRethrowNavExceptions()

◆ getCurrentState()

◆ getDelaysTimeLogger()

◆ getErrorReason()

◆ getFrameTF()

◆ getLogAsString() [1/2]

◆ getLogAsString() [2/2]

◆ getLoggerLastMsg() [1/2]

◆ getLoggerLastMsg() [2/2]

◆ getLoggerName()

◆ getMinLoggingLevel()

◆ initialize()

◆ internal_onStartNewNavigation()

◆ isLoggingLevelVisible()

◆ isRethrowNavExceptionsEnabled()

◆ loadConfigFile()

◆ logCond()

◆ logDeregisterCallback()

◆ logFmt()

◆ loggerReset()

◆ logging_levels_to_colors()

◆ logging_levels_to_names()

◆ logRegisterCallback()

◆ logStr()

◆ navigate()

◆ navigationStep()

◆ onNavigateCommandReceived()

◆ onStartNewNavigation()

◆ performNavigationStep()

◆ performNavigationStepNavigating()

◆ processNavigateCommand()

◆ resetNavError()

◆ resume()

◆ saveConfigFile()

◆ setFrameTF()

◆ setLoggerName()

◆ setMinLoggingLevel()

◆ setVerbosityLevel()

◆ stop()

◆ suspend()

◆ updateCurrentPoseAndSpeeds()

◆ writeLogToFile()

Member Data Documentation

◆ logging_enable_console_output

◆ logging_enable_keep_record

◆ m_badNavAlarm_lastMinDistTime

◆ m_badNavAlarm_minDistTarget

◆ m_counter_check_target_is_blocked

◆ m_curPoseVel

◆ m_frame_tf

◆ m_last_curPoseVelUpdate_pose_frame_id

◆ m_last_curPoseVelUpdate_robot_time

◆ m_lastNavigationState

◆ m_latestOdomPoses