mrpt::nav::CHolonomicFullEval Class Reference

Detailed Description

Full evaluation of all possible directions within the discrete set of input directions.

These are the optional parameters of the method which can be set by means of a configuration file passed to the constructor or to CHolonomicFullEval::initialize() or directly in CHolonomicFullEval::options

# Section name can be changed via setConfigFileSectionName()
[FULL_EVAL_CONFIG]
factorWeights        = 1.0 1.0 1.0 0.05 1.0
factorNormalizeOrNot =   0   0   0    0   1
// 0: Clearness in direction
// 1: Closest approach to target along straight line (Euclidean)
// 2: Distance of end collision-free point to target (Euclidean)
// 3: Hysteresis
// 4: Clearness to nearest obstacle along path
TARGET_SLOW_APPROACHING_DISTANCE = 0.20   // Start to reduce speed when
closer than this to target [m]
TOO_CLOSE_OBSTACLE               = 0.02   // Directions with collision-free
distances below this threshold are not elegible.
HYSTERESIS_SECTOR_COUNT          = 5      // Range of "sectors" (directions)
for hysteresis over successive timesteps
PHASE1_FACTORS   = 0 1 2                  // Indices of the factors above to
be considered in phase 1
PHASE2_FACTORS   = 3 4                    // Indices of the factors above to
be considered in phase 2
PHASE1_THRESHOLD = 0.75                   // Phase1 scores must be above this
relative range threshold [0,1] to be considered in phase 2 (Default:`0.75`)

See also

CAbstractHolonomicReactiveMethod,CReactiveNavigationSystem

Definition at line 55 of file CHolonomicFullEval.h.

#include <mrpt/nav/holonomic/CHolonomicFullEval.h>

Inheritance diagram for mrpt::nav::CHolonomicFullEval:

Classes
struct	EvalOutput
struct	TOptions
	Algorithm options. More...

Public Member Functions
	CHolonomicFullEval (const mrpt::config::CConfigFileBase *INI_FILE=nullptr)
	Initialize the parameters of the navigator, from some configuration file, or default values if set to nullptr. More...
void	navigate (const NavInput &ni, NavOutput &no) override
	Invokes the holonomic navigation algorithm itself. More...
void	initialize (const mrpt::config::CConfigFileBase &INI_FILE) override
	Initialize the parameters of the navigator, reading from the default section name (see derived classes) or the one set via setConfigFileSectionName() More...
void	saveConfigFile (mrpt::config::CConfigFileBase &c) const override
	saves all available parameters, in a forma loadable by initialize() More...
double	getTargetApproachSlowDownDistance () const override
	Returns the actual value of this parameter [m], as set via the children class options structure. More...
void	setTargetApproachSlowDownDistance (const double dist) override
	Sets the actual value of this parameter [m]. More...
void	setConfigFileSectionName (const std::string &sectName)
	Defines the name of the section used in initialize() More...
std::string	getConfigFileSectionName () const
	Gets the name of the section used in initialize() More...
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) More...
mrpt::nav::CParameterizedTrajectoryGenerator *	getAssociatedPTG () const
	Returns the pointer set by setAssociatedPTG() More...
void	enableApproachTargetSlowDown (bool enable)
virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More...
RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr	duplicateGetSmartPtr () const
	Makes a deep copy of the object and returns a smart pointer to it. More...

Static Public Member Functions
static CAbstractHolonomicReactiveMethod::Ptr	Factory (const std::string &className) noexcept
static CAbstractHolonomicReactiveMethod *	Create (const std::string &className) noexcept
	Class factory from class name, e.g. More...

Public Attributes
TOptions	options
	Parameters of the algorithm (can be set manually or loaded from CHolonomicFullEval::initialize or options.loadFromConfigFile(), etc.) More...

Protected Member Functions
CSerializable virtual methods
uint8_t	serializeGetVersion () const override
	Must return the current versioning number of the object. More...
void	serializeTo (mrpt::serialization::CArchive &out) const override
	Pure virtual method for writing (serializing) to an abstract archive. More...
void	serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
	Pure virtual method for reading (deserializing) from an abstract archive. More...
CSerializable virtual methods
virtual void	serializeTo (CSchemeArchiveBase &out) const
	Virtual method for writing (serializing) to an abstract schema based archive. More...
virtual void	serializeFrom (CSchemeArchiveBase &in)
	Virtual method for reading (deserializing) from an abstract schema based archive. More...

Protected Attributes
mrpt::nav::CParameterizedTrajectoryGenerator *	m_associatedPTG
	If applicable, this will contain the argument of the most recent call to setAssociatedPTG() More...
bool	m_enableApproachTargetSlowDown
	Whether to decrease speed when approaching target. More...

Private Member Functions
unsigned int	direction2sector (const double a, const unsigned int N)
virtual void	postProcessDirectionEvaluations (std::vector< double > &dir_evals, const NavInput &ni, unsigned int trg_idx)
void	evalSingleTarget (unsigned int target_idx, const NavInput &ni, EvalOutput &eo)
	Evals one single target of the potentially many of them in NavInput. More...

Private Attributes
unsigned int	m_last_selected_sector
mrpt::math::CMatrixD	m_dirs_scores
	Individual scores for each direction: (i,j), i (row) are directions, j (cols) are scores. More...
mrpt::obs::CSinCosLookUpTableFor2DScans	m_sincos_lut

RTTI stuff
using	Ptr = std::shared_ptr< CHolonomicFullEval >
using	ConstPtr = std::shared_ptr< const CHolonomicFullEval >
using	UniquePtr = std::unique_ptr< CHolonomicFullEval >
using	ConstUniquePtr = std::unique_ptr< const CHolonomicFullEval >
static mrpt::rtti::CLASSINIT	_init_CHolonomicFullEval
static const mrpt::rtti::TRuntimeClassId	runtimeClassId
static constexpr const char *	className = "CHolonomicFullEval"
static const mrpt::rtti::TRuntimeClassId *	_GetBaseClass ()
static constexpr auto	getClassName ()
static const mrpt::rtti::TRuntimeClassId &	GetRuntimeClassIdStatic ()
static std::shared_ptr< CObject >	CreateObject ()
template<typename... Args>
static Ptr	Create (Args &&... args)
template<typename Alloc , typename... Args>
static Ptr	CreateAlloc (const Alloc &alloc, Args &&... args)
template<typename... Args>
static UniquePtr	CreateUnique (Args &&... args)
virtual const mrpt::rtti::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...
virtual mrpt::rtti::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Member Typedef Documentation

ConstPtr

using mrpt::nav::CHolonomicFullEval::ConstPtr = std::shared_ptr<const CHolonomicFullEval >

Definition at line 57 of file CHolonomicFullEval.h.

ConstUniquePtr

using mrpt::nav::CHolonomicFullEval::ConstUniquePtr = std::unique_ptr<const CHolonomicFullEval >

Definition at line 57 of file CHolonomicFullEval.h.

Ptr

using mrpt::nav::CHolonomicFullEval::Ptr = std::shared_ptr< CHolonomicFullEval >

A type for the associated smart pointer

Definition at line 57 of file CHolonomicFullEval.h.

UniquePtr

using mrpt::nav::CHolonomicFullEval::UniquePtr = std::unique_ptr< CHolonomicFullEval >

Definition at line 57 of file CHolonomicFullEval.h.

Constructor & Destructor Documentation

CHolonomicFullEval()

CHolonomicFullEval::CHolonomicFullEval

(

const mrpt::config::CConfigFileBase *

INI_FILE = nullptr

)

Initialize the parameters of the navigator, from some configuration file, or default values if set to nullptr.

Definition at line 33 of file CHolonomicFullEval.cpp.

Member Function Documentation

_GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::nav::CHolonomicFullEval::_GetBaseClass ( )

staticprotected

clone()

virtual mrpt::rtti::CObject* mrpt::nav::CHolonomicFullEval::clone ( ) const

overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

Create() [1/2]

template<typename... Args>

static Ptr mrpt::nav::CHolonomicFullEval::Create ( Args &&...  args )

inlinestatic

Definition at line 57 of file CHolonomicFullEval.h.

Create() [2/2]

static CAbstractHolonomicReactiveMethod* mrpt::nav::CAbstractHolonomicReactiveMethod::Create ( const std::string &  className )

staticnoexceptinherited

Class factory from class name, e.g.

"CHolonomicVFF", etc.

Exceptions

std::logic_error

On invalid or missing parameters.

CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::nav::CHolonomicFullEval::CreateAlloc ( const Alloc &  alloc, Args &&...  args  )

inlinestatic

Definition at line 57 of file CHolonomicFullEval.h.

CreateObject()

static std::shared_ptr<CObject> mrpt::nav::CHolonomicFullEval::CreateObject ( )

static

CreateUnique()

template<typename... Args>

static UniquePtr mrpt::nav::CHolonomicFullEval::CreateUnique ( Args &&...  args )

inlinestatic

Definition at line 57 of file CHolonomicFullEval.h.

direction2sector()

unsigned int CHolonomicFullEval::direction2sector ( const double  a, const unsigned int  N  )

private

Definition at line 575 of file CHolonomicFullEval.cpp.

References M_PI, mrpt::round(), and mrpt::math::wrapToPi().

Here is the call graph for this function:

duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 200 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::addActions(), and mrpt::obs::CRawlog::addObservations().

Here is the call graph for this function:

Here is the caller graph for this function:

enableApproachTargetSlowDown()

void mrpt::nav::CAbstractHolonomicReactiveMethod::enableApproachTargetSlowDown ( bool  enable )

inlineinherited

Definition at line 119 of file CAbstractHolonomicReactiveMethod.h.

References mrpt::nav::CAbstractHolonomicReactiveMethod::m_enableApproachTargetSlowDown.

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

Here is the caller graph for this function:

evalSingleTarget()

void CHolonomicFullEval::evalSingleTarget ( unsigned int  target_idx, const NavInput &  ni, EvalOutput &  eo  )

private

Evals one single target of the potentially many of them in NavInput.

Definition at line 68 of file CHolonomicFullEval.cpp.

References mrpt::abs_diff(), mrpt::nav::CParameterizedTrajectoryGenerator::alpha2index(), mrpt::obs::T2DScanProperties::aperture, ASSERT_, mrpt::nav::CHolonomicFullEval::EvalOutput::best_eval, mrpt::nav::CHolonomicFullEval::EvalOutput::best_k, mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::clearance, mrpt::nav::CHolonomicFullEval::TOptions::clearance_threshold_ratio, mrpt::math::MatrixBase< Scalar, Derived >::col(), mrpt::math::TSegment2D::distance(), mrpt::nav::CHolonomicFullEval::TOptions::factorNormalizeOrNot, mrpt::nav::CHolonomicFullEval::TOptions::factorWeights, mrpt::nav::CHolonomicFullEval::TOptions::gap_width_ratio_threshold, mrpt::nav::CAbstractHolonomicReactiveMethod::getAssociatedPTG(), mrpt::nav::ClearanceDiagram::getClearance(), mrpt::obs::CSinCosLookUpTableFor2DScans::getSinCosForScan(), mrpt::nav::CHolonomicFullEval::TOptions::HYSTERESIS_SECTOR_COUNT, INVALID_K, TGap::k_from, TGap::k_to, mrpt::keep_max(), mrpt::keep_min(), m_dirs_scores, m_last_selected_sector, M_PI, m_sincos_lut, TGap::max_eval, min, mmin(), mrpt::math::norm(), mrpt::obs::T2DScanProperties::nRays, mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::obstacles, options, mrpt::nav::CHolonomicFullEval::TOptions::PHASE_FACTORS, mrpt::nav::CHolonomicFullEval::EvalOutput::phase_scores, mrpt::nav::CHolonomicFullEval::TOptions::PHASE_THRESHOLDS, mrpt::math::TSegment2D::point1, mrpt::math::TSegment2D::point2, postProcessDirectionEvaluations(), mrpt::math::CMatrixDynamic< T >::resize(), mrpt::obs::T2DScanProperties::rightToLeft, mrpt::round(), mrpt::square(), mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::targets, mrpt::nav::CHolonomicFullEval::TOptions::TOO_CLOSE_OBSTACLE, val, mrpt::math::TPoint2D_data::x, and mrpt::math::TPoint2D_data::y.

Referenced by navigate().

Here is the call graph for this function:

Here is the caller graph for this function:

Factory()

CAbstractHolonomicReactiveMethod::Ptr CAbstractHolonomicReactiveMethod::Factory ( const std::string &  className )

staticnoexceptinherited

Definition at line 51 of file CAbstractHolonomicReactiveMethod.cpp.

References mrpt::rtti::TRuntimeClassId::createObject(), mrpt::rtti::findRegisteredClass(), mrpt::ptr_cast< CAST_TO >::from(), and mrpt::rtti::registerAllPendingClasses().

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

Here is the call graph for this function:

Here is the caller graph for this function:

getAssociatedPTG()

mrpt::nav::CParameterizedTrajectoryGenerator * CAbstractHolonomicReactiveMethod::getAssociatedPTG ( ) const

inherited

Returns the pointer set by setAssociatedPTG()

Definition at line 46 of file CAbstractHolonomicReactiveMethod.cpp.

References mrpt::nav::CAbstractHolonomicReactiveMethod::m_associatedPTG.

Referenced by evalSingleTarget(), and navigate().

Here is the caller graph for this function:

getClassName()

static constexpr auto mrpt::nav::CHolonomicFullEval::getClassName ( )

inlinestatic

Definition at line 57 of file CHolonomicFullEval.h.

getConfigFileSectionName()

std::string CAbstractHolonomicReactiveMethod::getConfigFileSectionName ( ) const

inherited

Gets the name of the section used in initialize()

Definition at line 35 of file CAbstractHolonomicReactiveMethod.cpp.

References mrpt::nav::CAbstractHolonomicReactiveMethod::m_cfgSectionName.

GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::nav::CHolonomicFullEval::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::nav::CAbstractHolonomicReactiveMethod.

GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::nav::CHolonomicFullEval::GetRuntimeClassIdStatic ( )

static

getTargetApproachSlowDownDistance()

double mrpt::nav::CHolonomicFullEval::getTargetApproachSlowDownDistance ( ) const

inlineoverridevirtual

Returns the actual value of this parameter [m], as set via the children class options structure.

See also

setTargetApproachSlowDownDistance()

Implements mrpt::nav::CAbstractHolonomicReactiveMethod.

Definition at line 121 of file CHolonomicFullEval.h.

References options, and mrpt::nav::CHolonomicFullEval::TOptions::TARGET_SLOW_APPROACHING_DISTANCE.

initialize()

void CHolonomicFullEval::initialize ( const mrpt::config::CConfigFileBase &  c )

overridevirtual

Initialize the parameters of the navigator, reading from the default section name (see derived classes) or the one set via setConfigFileSectionName()

Implements mrpt::nav::CAbstractHolonomicReactiveMethod.

Definition at line 46 of file CHolonomicFullEval.cpp.

navigate()

void CHolonomicFullEval::navigate ( const NavInput &  ni, NavOutput &  no  )

overridevirtual

Invokes the holonomic navigation algorithm itself.

See the description of the input/output structures for details on each parameter.

Implements mrpt::nav::CAbstractHolonomicReactiveMethod.

Definition at line 479 of file CHolonomicFullEval.cpp.

References ASSERT_, mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::clearance, mrpt::nav::CAbstractHolonomicReactiveMethod::NavOutput::desiredDirection, mrpt::nav::CAbstractHolonomicReactiveMethod::NavOutput::desiredSpeed, evalSingleTarget(), mrpt::nav::CAbstractHolonomicReactiveMethod::getAssociatedPTG(), mrpt::nav::CParameterizedTrajectoryGenerator::index2alpha(), mrpt::nav::CHolonomicFullEval::TOptions::LOG_SCORE_MATRIX, mrpt::nav::CAbstractHolonomicReactiveMethod::NavOutput::logRecord, m_dirs_scores, mrpt::nav::CAbstractHolonomicReactiveMethod::m_enableApproachTargetSlowDown, m_last_selected_sector, mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::maxObstacleDist, mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::maxRobotSpeed, min, mrpt::nav::CHolonomicFullEval::TOptions::OBSTACLE_SLOW_DOWN_DISTANCE, mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::obstacles, options, mrpt::square(), mrpt::nav::CHolonomicFullEval::TOptions::TARGET_SLOW_APPROACHING_DISTANCE, mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::targets, and mrpt::nav::CHolonomicFullEval::TOptions::TOO_CLOSE_OBSTACLE.

Here is the call graph for this function:

postProcessDirectionEvaluations()

void CHolonomicFullEval::postProcessDirectionEvaluations ( std::vector< double > &  dir_evals, const NavInput &  ni, unsigned int  trg_idx  )

privatevirtual

Definition at line 826 of file CHolonomicFullEval.cpp.

Referenced by evalSingleTarget().

Here is the caller graph for this function:

saveConfigFile()

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

overridevirtual

saves all available parameters, in a forma loadable by initialize()

Implements mrpt::nav::CAbstractHolonomicReactiveMethod.

Definition at line 41 of file CHolonomicFullEval.cpp.

serializeFrom() [1/2]

void CHolonomicFullEval::serializeFrom ( mrpt::serialization::CArchive &  in, uint8_t  serial_version  )

overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

Parameters

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions

std::exception

On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 772 of file CHolonomicFullEval.cpp.

References mrpt::nav::CHolonomicFullEval::TOptions::clearance_threshold_ratio, mrpt::nav::CHolonomicFullEval::TOptions::factorNormalizeOrNot, mrpt::nav::CHolonomicFullEval::TOptions::factorWeights, mrpt::nav::CHolonomicFullEval::TOptions::gap_width_ratio_threshold, mrpt::nav::CHolonomicFullEval::TOptions::HYSTERESIS_SECTOR_COUNT, m_last_selected_sector, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, mrpt::nav::CHolonomicFullEval::TOptions::OBSTACLE_SLOW_DOWN_DISTANCE, options, mrpt::nav::CHolonomicFullEval::TOptions::PHASE_FACTORS, mrpt::nav::CHolonomicFullEval::TOptions::PHASE_THRESHOLDS, mrpt::nav::CHolonomicFullEval::TOptions::TARGET_SLOW_APPROACHING_DISTANCE, and mrpt::nav::CHolonomicFullEval::TOptions::TOO_CLOSE_OBSTACLE.

serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase &  in )

inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

Here is the call graph for this function:

serializeGetVersion()

uint8_t CHolonomicFullEval::serializeGetVersion ( ) const

overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 756 of file CHolonomicFullEval.cpp.

serializeTo() [1/2]

void CHolonomicFullEval::serializeTo ( mrpt::serialization::CArchive &  out ) const

overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions

std::exception

On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 757 of file CHolonomicFullEval.cpp.

References mrpt::nav::CHolonomicFullEval::TOptions::clearance_threshold_ratio, mrpt::nav::CHolonomicFullEval::TOptions::factorNormalizeOrNot, mrpt::nav::CHolonomicFullEval::TOptions::factorWeights, mrpt::nav::CHolonomicFullEval::TOptions::gap_width_ratio_threshold, mrpt::nav::CHolonomicFullEval::TOptions::HYSTERESIS_SECTOR_COUNT, m_last_selected_sector, mrpt::nav::CHolonomicFullEval::TOptions::OBSTACLE_SLOW_DOWN_DISTANCE, options, mrpt::nav::CHolonomicFullEval::TOptions::PHASE_FACTORS, mrpt::nav::CHolonomicFullEval::TOptions::PHASE_THRESHOLDS, mrpt::nav::CHolonomicFullEval::TOptions::TARGET_SLOW_APPROACHING_DISTANCE, and mrpt::nav::CHolonomicFullEval::TOptions::TOO_CLOSE_OBSTACLE.

serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase &  out ) const

inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

Here is the call graph for this function:

setAssociatedPTG()

void CAbstractHolonomicReactiveMethod::setAssociatedPTG ( mrpt::nav::CParameterizedTrajectoryGenerator *  ptg )

inherited

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)

Definition at line 40 of file CAbstractHolonomicReactiveMethod.cpp.

References mrpt::nav::CAbstractHolonomicReactiveMethod::m_associatedPTG.

setConfigFileSectionName()

void CAbstractHolonomicReactiveMethod::setConfigFileSectionName ( const std::string &  sectName )

inherited

Defines the name of the section used in initialize()

Defines the name of the section (Default: "FULL_EVAL_CONFIG")

Definition at line 30 of file CAbstractHolonomicReactiveMethod.cpp.

References mrpt::nav::CAbstractHolonomicReactiveMethod::m_cfgSectionName.

setTargetApproachSlowDownDistance()

void mrpt::nav::CHolonomicFullEval::setTargetApproachSlowDownDistance ( const double  dist )

inlineoverridevirtual

Sets the actual value of this parameter [m].

See also

getTargetApproachSlowDownDistance()

Implements mrpt::nav::CAbstractHolonomicReactiveMethod.

Definition at line 125 of file CHolonomicFullEval.h.

References options, and mrpt::nav::CHolonomicFullEval::TOptions::TARGET_SLOW_APPROACHING_DISTANCE.

writeToMatlab()

virtual mxArray* mrpt::serialization::CSerializable::writeToMatlab ( ) const

inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns

A new mxArray (caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.h.

Member Data Documentation

_init_CHolonomicFullEval

mrpt::rtti::CLASSINIT mrpt::nav::CHolonomicFullEval::_init_CHolonomicFullEval

staticprotected

Definition at line 57 of file CHolonomicFullEval.h.

className

constexpr const char* mrpt::nav::CHolonomicFullEval::className = "CHolonomicFullEval"

static

Definition at line 57 of file CHolonomicFullEval.h.

m_associatedPTG

mrpt::nav::CParameterizedTrajectoryGenerator* mrpt::nav::CAbstractHolonomicReactiveMethod::m_associatedPTG

protectedinherited

If applicable, this will contain the argument of the most recent call to setAssociatedPTG()

Definition at line 127 of file CAbstractHolonomicReactiveMethod.h.

Referenced by mrpt::nav::CAbstractHolonomicReactiveMethod::getAssociatedPTG(), and mrpt::nav::CAbstractHolonomicReactiveMethod::setAssociatedPTG().

m_dirs_scores

mrpt::math::CMatrixD mrpt::nav::CHolonomicFullEval::m_dirs_scores

private

Individual scores for each direction: (i,j), i (row) are directions, j (cols) are scores.

Not all directions may have evaluations, in which case a "-1" value will be found.

Definition at line 136 of file CHolonomicFullEval.h.

Referenced by evalSingleTarget(), and navigate().

m_enableApproachTargetSlowDown

bool mrpt::nav::CAbstractHolonomicReactiveMethod::m_enableApproachTargetSlowDown

protectedinherited

Whether to decrease speed when approaching target.

Definition at line 129 of file CAbstractHolonomicReactiveMethod.h.

Referenced by mrpt::nav::CAbstractHolonomicReactiveMethod::enableApproachTargetSlowDown(), and navigate().

m_last_selected_sector

unsigned int mrpt::nav::CHolonomicFullEval::m_last_selected_sector

private

Definition at line 131 of file CHolonomicFullEval.h.

Referenced by evalSingleTarget(), navigate(), serializeFrom(), and serializeTo().

m_sincos_lut

mrpt::obs::CSinCosLookUpTableFor2DScans mrpt::nav::CHolonomicFullEval::m_sincos_lut

private

Definition at line 156 of file CHolonomicFullEval.h.

Referenced by evalSingleTarget().

options

TOptions mrpt::nav::CHolonomicFullEval::options

Parameters of the algorithm (can be set manually or loaded from CHolonomicFullEval::initialize or options.loadFromConfigFile(), etc.)

Definition at line 119 of file CHolonomicFullEval.h.

Referenced by evalSingleTarget(), getTargetApproachSlowDownDistance(), navigate(), serializeFrom(), serializeTo(), and setTargetApproachSlowDownDistance().

runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::nav::CHolonomicFullEval::runtimeClassId

staticprotected

Definition at line 57 of file CHolonomicFullEval.h.