Detailed Description

See base class CAbstractPTGBasedReactive for a description and instructions of use.

This particular implementation assumes a 3D (or "2.5D") robot shape model, build as a vertical stack of "2D slices".

Paper describing the method:

M. Jaimez-Tarifa, J. Gonzalez-Jimenez, J.L. Blanco, "Efficient Reactive Navigation with Exact Collision Determination for 3D Robot Shapes", International Journal of Advanced Robotic Systems, 2015.

Class history:

SEP/2012: First design.
JUL/2013: Integrated into MRPT library.
DEC/2013: Code refactoring between this class and CAbstractHolonomicReactiveMethod
FEB/2017: Refactoring of all parameters for a consistent organization in sections by class names (MRPT 1.5.0)

This class requires a number of parameters which are usually provided via an external config (".ini") file. Alternatively, a memory-only object can be used to avoid physical files, see mrpt::config::CConfigFileMemory.

A template config file can be generated at any moment by the user by calling saveConfigFile() with a default-constructed object.

Next we provide a self-documented template config file; or see it online: https://github.com/MRPT/mrpt/blob/master/share/mrpt/config_files/navigation-ptgs/reactive3d_config.ini

# ------------------------------------------------------------------------------------------
# Example configuration file for MRPT (>=1.5) Reactive Navigation engine.
# See C++ documentation: https://reference.mrpt.org/devel/classmrpt_1_1nav_1_1_c_reactive_navigation_system3_d.html
# This .ini file is missing information about the equipped sensors and the Short-Term memory
# For more detailed information, please see the App "ReactiveNav3D-Demo" within MRPT
# ------------------------------------------------------------------------------------------

# Max linear vel (m/s):
@define ROBOT_MAX_V  1.0
# Max angular vel (deg/s):
@define ROBOT_MAX_W  60.0
# Max distance to "foresee" obstacles (m):
@define NAV_MAX_REF_DIST   10.0

[CAbstractNavigator]
dist_to_target_for_sending_event                  = 0.000000             // Default value=0, means use the `targetAllowedDistance` passed by the user in the navigation request.
alarm_seems_not_approaching_target_timeout        = 30.000000            // navigator timeout (seconds) [Default=30 sec]
dist_check_target_is_blocked                 = 2.0       // When closer than this distance, check if the target is blocked to abort navigation with an error
hysteresis_check_target_is_blocked           = 3         // How many steps should the condition for dist_check_target_is_blocked be fulfilled to raise an event
enable_time_profiler                         = false


[CWaypointsNavigator]
max_distance_to_allow_skip_waypoint               = -1.000000            // Max distance to `foresee` waypoints [meters]. (<0: unlimited)
min_timesteps_confirm_skip_waypoints              = 1                    // Min timesteps a `future` waypoint must be seen as reachable to become the active one.
waypoint_angle_tolerance                          = 5.0                  // Angular error tolerance for waypoints with an assigned heading [deg]
multitarget_look_ahead   = 0  // >=0 number of waypoints to forward to the underlying navigation engine, to ease obstacles avoidance when a waypoint is blocked (Default=0 : none).


[CAbstractPTGBasedReactive]
robotMax_V_mps                                    = ${ROBOT_MAX_V}       // Max. linear speed (m/s) [Default=-1 (not set), will raise exception if needed and not set]
robotMax_W_degps                                  = ${ROBOT_MAX_W}       // Max. angular speed (rad/s) [Default=-1 (not set), will raise exception if needed and not set]
#robotMinCurvRadius                                = -1.000000            // Min. radius of curvature of paths (m) [Default=-1 (not set), will raise exception if needed and not set]

holonomic_method                                  = CHolonomicFullEval   // C++ class name of the holonomic navigation method to run in the transformed TP-Space.
# List of known classes:
# - `CHolonomicFullEval`
# - `CHolonomicND`
# - `CHolonomicVFF`


motion_decider_method                             = CMultiObjMotionOpt_Scalarization // C++ class name of the motion decider method.
# List of known classes:
# - `CMultiObjMotionOpt_Scalarization`


ref_distance                                      = ${NAV_MAX_REF_DIST}   // Maximum distance up to obstacles will be considered (D_{max} in papers).
#speedfilter_tau                                   = 0.000000             // Time constant (in seconds) for the low-pass filter applied to kinematic velocity commands (default=0: no filtering)
secure_distance_start                             = 0.050000             // In normalized distance [0,1], start/end of a ramp function that scales the holonomic navigator output velocity.
secure_distance_end                               = 0.150000             // In normalized distance [0,1], start/end of a ramp function that scales the holonomic navigator output velocity.
use_delays_model                                  = false                // Whether to use robot pose inter/extrapolation to improve accuracy (Default:false)
max_distance_predicted_actual_path                = 0.150000             // Max distance [meters] to discard current PTG and issue a new vel cmd (default= 0.05)
min_normalized_free_space_for_ptg_continuation    = 0.200000             // Min normalized dist [0,1] after current pose in a PTG continuation to allow it.

enable_obstacle_filtering                         = true                 // Enabled obstacle filtering (params in its own section)
evaluate_clearance                                = false


[CPointCloudFilterByDistance]
min_dist                                          = 0.100000
angle_tolerance                                   = 5.000000
too_old_seconds                                   = 1.000000
previous_keyframes                                = 1                    // (Default: 1) How many previous keyframes will be compared with the latest pointcloud.
max_deletion_ratio                                = 0.400000             // (Default: 0.4) If the ratio [0,1] of points considered invalid (`deletion` ) is larger than this ratio, no point will be deleted since it would be too suspicious and may indicate a failure of this filter.


[CHolonomicFullEval]
# [0]=Free space
# [1]=Dist. in sectors
# [2]=Closer to target (Euclidean)
# [3]=Hysteresis
# [5]=like [2] but without being decimated if path obstructed
# [6]=closeness to target_k
factorWeights                    = [0.25 , 0.1 , 1  , 0.05 , 0.5, 1, 1 ]
factorNormalizeOrNot             = [0    , 0   , 0  , 0    , 1  , 1, 0 ]

TOO_CLOSE_OBSTACLE                                = 0.15                 // Directions with collision-free distances below this threshold are not elegible.
TARGET_SLOW_APPROACHING_DISTANCE                  = 0.300000             // Start to reduce speed when closer than this to target.
OBSTACLE_SLOW_DOWN_DISTANCE                       = 0.150000             // Start to reduce speed when clearance is below this value ([0,1] ratio wrt obstacle reference/max distance)
HYSTERESIS_SECTOR_COUNT                           = 5.000000             // Range of `sectors` (directions) for hysteresis over successive timesteps
LOG_SCORE_MATRIX                                  = false                // Save the entire score matrix in log files

clearance_threshold_ratio                         = 0.10                 // Ratio [0,1], times path_count, gives the minimum number of paths at each side of a target direction to be accepted as desired direction
gap_width_ratio_threshold                         = 0.20                 // Ratio [0,1], times path_count, gives the minimum gap width to accept a direct motion towards target.

PHASE_COUNT                                       = 3                    // Number of evaluation phases to run (params for each phase below)
PHASE1_FACTORS                                    = [6]                // Indices of the factors above to be considered in this phase
PHASE1_THRESHOLD                                  = 0.5                  // Phase scores must be above this relative range threshold [0,1] to be considered in next phase (Default:`0.75`)
PHASE2_FACTORS                                    = [4]                  // Indices of the factors above to be considered in this phase
PHASE2_THRESHOLD                                  = 0.7                  // Phase scores must be above this relative range threshold [0,1] to be considered in next phase (Default:`0.75`)
PHASE3_FACTORS                                    = [0 2]                // Indices of the factors above to be considered in this phase
PHASE3_THRESHOLD                                  = 0.7                  // Phase scores must be above this relative range threshold [0,1] to be considered in next phase (Default:`0.75`)


[CHolonomicND]
WIDE_GAP_SIZE_PERCENT                             = 0.250000
MAX_SECTOR_DIST_FOR_D2_PERCENT                    = 0.250000
RISK_EVALUATION_SECTORS_PERCENT                   = 0.100000
RISK_EVALUATION_DISTANCE                          = 0.400000             // In normalized ps-meters [0,1]
TOO_CLOSE_OBSTACLE                                = 0.150000             // For stopping gradually
TARGET_SLOW_APPROACHING_DISTANCE                  = 0.600000             // In normalized ps-meters
factorWeights                                     = 1.00 0.50 2.00 0.40  // [0]=Free space, [1]=Dist. in sectors, [2]=Closer to target (Euclidean), [3]=Hysteresis


[CHolonomicVFF]
TARGET_SLOW_APPROACHING_DISTANCE                  = 0.100000             // For stopping gradually
TARGET_ATTRACTIVE_FORCE                           = 20.000000            // Dimension-less (may have to be tuned depending on the density of obstacle sampling)

[CMultiObjectiveMotionOptimizerBase]
# Next follows a list of `score%i_{name,formula}` pairs for i=1,...,N
# Each one defines an exprtk formula for one of the scores that will be evaluated for each candidate movement.
# Multiobjective optimizers will then use those scores to select the best candidate,
# possibly using more parameters that follow below.
# See list of all available variables in documentation of mrpt::nav::CAbstractPTGBasedReactive at https://reference.mrpt.org/devel/classmrpt_1_1nav_1_1_c_abstract_p_t_g_based_reactive.html

score1_name     = target_distance
score1_formula  = \
	var effective_trg_d_norm := max(0,target_d_norm-move_cur_d); \
	if(collision_free_distance>effective_trg_d_norm, \
		1/(1+effective_trg_d_norm^2), \
		0)

score2_name     = collision_free_distance_score
score2_formula  = \
	var effective_trg_d_norm := max(0,target_d_norm-move_cur_d); \
	if (collision_free_distance>(effective_trg_d_norm+0.05), \
		1.0, \
		collision_free_distance)

score3_name     = euclidean_nearness
score3_formula  = 1/(1+dist_eucl_min^2)

score4_name     = hysteresis_score
score4_formula  = hysteresis

score5_name     = path_index_near_target
score5_formula  = \
	var dif:=abs(target_k-move_k); \
	if (dif>(num_paths/2)) \
	{ \
		dif:=num_paths-dif; \
	}; \
	exp(-abs(dif / (num_paths/10.0)));

score6_name        = ptg_priority_score
score6_formula     = ptg_priority


# Next follows a list of `movement_assert%i` exprtk expressions for i=1,...,N
# defining expressions for conditions that any candidate movement must fulfill
# in order to get through the evaluation process. *All* assert conditions must be satisfied.
#movement_assert1 = XXX

# Comma-separated list of scores to normalize so the highest is 1.0.
scores_to_normalize  =
#target_distance

[CMultiObjMotionOpt_Scalarization]
# A formula that takes all/a subset of scores and generates a scalar global score.
scalar_score_formula  = ptg_priority_score*( \
	0.3*target_distance + \
	0.5*collision_free_distance_score + \
	8.0*euclidean_nearness + \
	0.1 * hysteresis_score + \
	0.2*path_index_near_target \
	)


[CReactiveNavigationSystem3D]
min_obstacles_height                              = 0.000000             // Minimum `z` coordinate of obstacles to be considered fo collision checking
max_obstacles_height                              = 10.000000            // Maximum `z` coordinate of obstacles to be considered fo collision checking

#Indicate the geometry of the robot as a set of prisms.
#Format - (LEVELX_HEIGHT, LEVELX_VECTORX, LEVELX_VECTORY)

#Number of height levels used to model the robot
HEIGHT_LEVELS = 3

LEVEL1_HEIGHT = 0.6
LEVEL1_VECTORX = 0.3 0.3 -0.3 -0.3
LEVEL1_VECTORY = -0.3 0.3 0.3 -0.3

LEVEL2_HEIGHT = 0.9
LEVEL2_VECTORX = 0.05 0.05 -0.05 -0.05
LEVEL2_VECTORY = -0.1 0.1 0.1 -0.1

LEVEL3_HEIGHT = 0.6
LEVEL3_VECTORX = 0.30 -0.15 -0.15
LEVEL3_VECTORY = 0 0.2 -0.2


# PTGs: See classes derived from mrpt::nav::CParameterizedTrajectoryGenerator ( https://reference.mrpt.org/svn/classmrpt_1_1nav_1_1_c_parameterized_trajectory_generator.html)
# refer to papers for details.
#------------------------------------------------------------------------------
PTG_COUNT      = 1    // Was: 3 (Reduced to speed-up unit tests!)

# C-PTG (circular arcs), driving forward (K=+1)
PTG1_Type      = CPTG_DiffDrive_C
PTG1_resolution = 0.02      # Look-up-table cell size or resolution (in meters)
PTG1_refDistance= ${NAV_MAX_REF_DIST}      # Max distance to account for obstacles
PTG1_num_paths = 41   // Was: 121 (Reduced to speed-up unit tests!)
PTG1_v_max_mps = ${ROBOT_MAX_V}
PTG1_w_max_dps = ${ROBOT_MAX_W}
PTG1_K         = 1.0
PTG1_score_priority = 1.0

# alpha-a PTG
PTG2_Type        = CPTG_DiffDrive_alpha
PTG2_resolution = 0.02      # Look-up-table cell size or resolution (in meters)
PTG2_refDistance= ${NAV_MAX_REF_DIST}      # Max distance to account for obstacles
PTG2_num_paths   = 121
PTG2_v_max_mps   = ${ROBOT_MAX_V}
PTG2_w_max_dps   = ${ROBOT_MAX_W}
PTG2_cte_a0v_deg = 57
PTG2_cte_a0w_deg = 57
PTG2_score_priority = 1.0

# C-PTG (circular arcs), backwards (K=-1)
# lower priority since we prefer driving forward
PTG3_Type      = CPTG_DiffDrive_C
PTG3_resolution = 0.02      # Look-up-table cell size or resolution (in meters)
PTG3_refDistance= ${NAV_MAX_REF_DIST}      # Max distance to account for obstacles
PTG3_num_paths = 121
PTG3_v_max_mps = ${ROBOT_MAX_V}
PTG3_w_max_dps = ${ROBOT_MAX_W}
PTG3_K         = -1.0
PTG3_score_priority = 1.0



# Parameters for the SIMULATOR in the app: ReactiveNav3D-Demo:
# ---------------------------------------------------------------
[LASER_CONFIG]
N_LASERS = 3

# Indicate the lasers parameters. This information must be consistent with the robot shape (height sections).
# Laser pose is relative to the robot coordinate system.
# Information required: 	LASERX_POSE, LASERX_MAX_RANGE, LASERX_APERTURE
# 							LASERX_STD_ERROR, LASERX_LEVEL, LASERX_SEGMENTS
LASER1_POSE = 0 0 0.4 0 0 0
LASER1_MAX_RANGE = 30
LASER1_APERTURE = 3.141592
LASER1_STD_ERROR = 0.02
LASER1_LEVEL = 1
LASER1_SEGMENTS = 181

LASER2_POSE = 0 0 1.1 0 0 0
LASER2_MAX_RANGE = 30
LASER2_APERTURE = 3.141592
LASER2_STD_ERROR = 0.02
LASER2_LEVEL = 2
LASER2_SEGMENTS = 181

LASER3_POSE = 0 0 1.8 0 0 0
LASER3_MAX_RANGE = 30
LASER3_APERTURE = 3.141592
LASER3_STD_ERROR = 0.02
LASER3_LEVEL = 3
LASER3_SEGMENTS = 181


[KINECT_CONFIG]
# Kinects declaration
# Indicate the number of kinects

N_KINECTS = 1

# Indicate the kinect parameters. This information must be consistent with the robot shape (height sections).
# Kinect pose is relative to the robot coordinate system.
# Information required: KINECTX_LEVEL, KINECTX_X, KINECTX_Y, KINECTX_Z, KINECTX_PHI (DEGREES), KINECTX_PITCH_ANGLE (DEGREES),
# 						KINECTX_MINRANGE, KINECTX_MAXRANGE (METERS), KINECTX_ROWS, KINECTX_COLUMNS, KINECTX_STD_ERROR

KINECT1_LEVEL = 2
KINECT1_X = 0
KINECT1_Y = 0
KINECT1_Z = 1
KINECT1_PHI = 0
KINECT1_PITCH = 0
KINECT1_MINRANGE = 0.3
KINECT1_MAXRANGE = 5
KINECT1_FOV_V = 45
KINECT1_FOV_H = 58
KINECT1_ROWS = 21
KINECT1_COLUMNS = 21
KINECT1_STD_ERROR = 0.0


[MAP_CONFIG]
#  The maps are included in the ReactiveNav3D_demo.h file as .xpm files.
#  To modify them change this included files, and the method CMyReactInterface::loadmaps() if necessary
MAP_RESOLUTION = 0.02

#Initial robot position in the simulator
X0 = 2   // [m]
Y0 = 0   // [m]
PHI0 = -90  // [deg]



# Parameters for the Obstacles grid (short term memory),
# ------------------------------------------------------------
[STM_CONFIG]
Stm_active = 1 \n			; Utilize it(1) or not(0)
Obs_grid_length = 2		; (lenght/resolution) has to be integer
Obs_grid_resolution = 0.04
Vision_limit = 0.5			; Min. Limit of vision of the RGBD sensor
Pos_likelihood_incr = 0.8	; Range: 0.51 - 1
Neg_likelihood_incr = 0.4	; Range: 0 - 0.49
Occupancy_threshold = 0.8	; Threshold used to include or not a virtual obstacle

See also: CAbstractNavigator, CParameterizedTrajectoryGenerator, CAbstractHolonomicReactiveMethod

Definition at line 83 of file CReactiveNavigationSystem3D.h.

#include <mrpt/nav/reactive/CReactiveNavigationSystem3D.h>

Inheritance diagram for mrpt::nav::CReactiveNavigationSystem3D:

Classes
struct	TPTGmultilevel
	A set of PTGs of the same type, one per "height level". More...

Public Member Functions
	CReactiveNavigationSystem3D (CRobot2NavInterface &react_iterf_impl, bool enableConsoleOutput=true, bool enableLogFile=false, const std::string &logFileDirectory=std::string("./reactivenav.logs"))
	See docs in ctor of base class. More...

	~CReactiveNavigationSystem3D () override
	Destructor. More...

void	changeRobotShape (TRobotShape robotShape)
	Change the robot shape, which is taken into account for collision grid building. More...

bool	checkCollisionWithLatestObstacles (const mrpt::math::TPose2D &relative_robot_pose) const override
	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...

size_t	getPTG_count () const override
	Returns the number of different PTGs that have been setup. More...

CParameterizedTrajectoryGenerator *	getPTG (size_t i) override
	Gets the i'th PTG. More...

const CParameterizedTrajectoryGenerator *	getPTG (size_t i) const override
	Gets the i'th PTG. More...

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

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

void	initialize () override
	Must be called for loading collision grids, or the first navigation command may last a long time to be executed. More...

void	setHolonomicMethod (const std::string &method, const mrpt::config::CConfigFileBase &cfgBase)
	Selects which one from the set of available holonomic methods will be used into transformed TP-Space, and sets its configuration from a configuration file. More...

void	getLastLogRecord (CLogFileRecord &o)
	Provides a copy of the last log record with information about execution. More...

void	enableKeepLogRecords (bool enable=true)
	Enables keeping an internal registry of navigation logs that can be queried with getLastLogRecord() More...

void	enableLogFile (bool enable)
	Enables/disables saving log files. More...

void	setLogFileDirectory (const std::string &sDir)
	Changes the prefix for new log files. More...

std::string	getLogFileDirectory () const

void	enableTimeLog (bool enable=true)
	Enables/disables the detailed time logger (default:disabled upon construction) When enabled, a report will be dumped to std::cout upon destruction. More...

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

const mrpt::kinematics::CVehicleVelCmd::TVelCmdParams &	getCurrentRobotSpeedLimits () const
	Get the current, global (honored for all PTGs) robot speed limits. More...

mrpt::kinematics::CVehicleVelCmd::TVelCmdParams &	changeCurrentRobotSpeedLimits ()
	Changes the current, global (honored for all PTGs) robot speed limits, via returning a reference to a structure that holds those limits. More...

void	setTargetApproachSlowDownDistance (const double dist)
	Changes this parameter in all inner holonomic navigator instances [m]. More...

double	getTargetApproachSlowDownDistance () const
	Returns this parameter for the first inner holonomic navigator instances [m] (should be the same in all of them?) More...

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

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

bool	isRelativePointReachable (const mrpt::math::TPoint2D &wp_local_wrt_robot) const
	Returns `true` if, according to the information gathered at the last navigation step, there is a free path to the given point; `false` otherwise: if way is blocked or there is missing information, the point is out of range for the existing PTGs, etc. More...

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

Waypoint navigation control API
virtual void	navigateWaypoints (const TWaypointSequence &nav_request)
	Waypoint navigation request. More...

virtual void	getWaypointNavStatus (TWaypointStatusSequence &out_nav_status) const
	Get a copy of the control structure which describes the progress status of the waypoint navigation. More...

TWaypointStatusSequence	getWaypointNavStatus () const
	Get a copy of the control structure which describes the progress status of the waypoint navigation. 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
TAbstractPTGNavigatorParams	params_abstract_ptg_navigator

TWaypointsNavigatorParams	params_waypoints_navigator

TAbstractNavigatorParams	params_abstract_navigator

mrpt::system::CTimeLogger	m_navProfiler
	Publicly available time profiling object. More...

Protected Member Functions
void	performNavigationStep () override
	The main method for the navigator. More...

virtual CAbstractHolonomicReactiveMethod *	getHoloMethod (int idx)

bool	impl_waypoint_is_reachable (const mrpt::math::TPoint2D &wp_local_wrt_robot) const override
	Implements the way to waypoint is free function in children classes: `true` must be returned if, according to the information gathered at the last navigation step, there is a free path to the given point; `false` otherwise: if way is blocked or there is missing information, the point is out of range, etc. More...

bool	STEP2_SenseObstacles ()

void	calc_move_candidate_scores (TCandidateMovementPTG &holonomicMovement, const std::vector< double > &in_TPObstacles, const mrpt::nav::ClearanceDiagram &in_clearance, const std::vector< mrpt::math::TPose2D > &WS_Targets, const std::vector< PTGTarget > &TP_Targets, CLogFileRecord::TInfoPerPTG &log, CLogFileRecord &newLogRec, const bool this_is_PTG_continuation, const mrpt::math::TPose2D &relPoseVelCmd_NOP, const unsigned int ptg_idx4weights, const mrpt::system::TTimeStamp tim_start_iteration, const mrpt::nav::CHolonomicLogFileRecord::Ptr &hlfr)
	Scores holonomicMovement. More...

virtual double	generate_vel_cmd (const TCandidateMovementPTG &in_movement, mrpt::kinematics::CVehicleVelCmd::Ptr &new_vel_cmd)
	Return the [0,1] velocity scale of raw PTG cmd_vel. More...

void	STEP8_GenerateLogRecord (CLogFileRecord &newLogRec, const std::vector< mrpt::math::TPose2D > &relTargets, int nSelectedPTG, const mrpt::kinematics::CVehicleVelCmd::Ptr &new_vel_cmd, int nPTGs, const bool best_is_NOP_cmdvel, const math::TPose2D &rel_cur_pose_wrt_last_vel_cmd_NOP, const math::TPose2D &rel_pose_PTG_origin_wrt_sense_NOP, const double executionTimeValue, const double tim_changeSpeed, const mrpt::system::TTimeStamp &tim_start_iteration)

void	preDestructor ()
	To be called during children destructors to assure thread-safe destruction, and free of shared objects. More...

void	onStartNewNavigation () override
	Called whenever a new navigation has been started. More...

void	build_movement_candidate (CParameterizedTrajectoryGenerator *ptg, const size_t indexPTG, const std::vector< mrpt::math::TPose2D > &relTargets, const mrpt::math::TPose2D &rel_pose_PTG_origin_wrt_sense, TInfoPerPTG &ipf, TCandidateMovementPTG &holonomicMovement, CLogFileRecord &newLogRec, const bool this_is_PTG_continuation, mrpt::nav::CAbstractHolonomicReactiveMethod &holoMethod, const mrpt::system::TTimeStamp tim_start_iteration, const TNavigationParams &navp=TNavigationParams(), const mrpt::math::TPose2D &relPoseVelCmd_NOP=mrpt::math::TPose2D(0, 0, 0))

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

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

virtual void	waypoints_navigationStep ()
	The waypoints-specific part of navigationStep() More...

bool	waypoints_isAligning () const

void	dispatchPendingNavEvents ()

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...

Protected Attributes
std::vector< CAbstractHolonomicReactiveMethod::Ptr >	m_holonomicMethod
	The holonomic navigation algorithm (one object per PTG, so internal states are maintained) More...

std::unique_ptr< mrpt::io::CStream >	m_logFile

mrpt::io::CStream *	m_prev_logfile {nullptr}
	The current log file stream, or nullptr if not being used. More...

bool	m_enableKeepLogRecords {false}
	See enableKeepLogRecords. More...

CLogFileRecord	lastLogRecord
	The last log. More...

mrpt::kinematics::CVehicleVelCmd::Ptr	m_last_vel_cmd
	Last velocity commands. More...

std::recursive_mutex	m_critZoneLastLog
	Critical zones. More...

bool	m_enableConsoleOutput
	Enables / disables the console debug output. More...

bool	m_init_done {false}
	Whether loadConfigFile() has been called or not. More...

mrpt::system::CTicTac	timerForExecutionPeriod

mrpt::system::CTimeLogger	m_timelogger {false}
	A complete time logger. More...

bool	m_PTGsMustBeReInitialized {true}

bool	m_closing_navigator {false}
	Signal that the destructor has been called, so no more calls are accepted from other threads. More...

mrpt::system::TTimeStamp	m_WS_Obstacles_timestamp {INVALID_TIMESTAMP}

mrpt::maps::CPointCloudFilterBase::Ptr	m_WS_filter
	Default: none. More...

mrpt::nav::CMultiObjectiveMotionOptimizerBase::Ptr	m_multiobjopt

std::vector< TInfoPerPTG >	m_infoPerPTG
	Temporary buffers for working with each PTG during a navigationStep() More...

mrpt::system::TTimeStamp	m_infoPerPTG_timestamp {INVALID_TIMESTAMP}

TSentVelCmd	m_lastSentVelCmd

TWaypointStatusSequence	m_waypoint_nav_status
	The latest waypoints navigation command and the up-to-date control status. More...

std::recursive_mutex	m_nav_waypoints_cs

bool	m_was_aligning {false}
	Whether the last timestep was "is_aligning" in a waypoint with heading. More...

bool	m_is_aligning {false}

mrpt::system::TTimeStamp	m_last_alignment_cmd

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 {IDLE}
	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 {-1e9}

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...

Variables for CReactiveNavigationSystem::performNavigationStep
mrpt::system::CTicTac	totalExecutionTime

mrpt::system::CTicTac	executionTime

mrpt::system::CTicTac	tictac

mrpt::math::LowPassFilter_IIR1	meanExecutionTime {0.7, 1}

mrpt::math::LowPassFilter_IIR1	meanTotalExecutionTime {0.7, 1}

mrpt::math::LowPassFilter_IIR1	meanExecutionPeriod {0.7, 1}
	Runtime estimation of execution period of the method. More...

mrpt::math::LowPassFilter_IIR1	tim_changeSpeed_avr {0.7}

mrpt::math::LowPassFilter_IIR1	timoff_obstacles_avr {0.7}

mrpt::math::LowPassFilter_IIR1	timoff_curPoseAndSpeed_avr {0.7}

mrpt::math::LowPassFilter_IIR1	timoff_sendVelCmd_avr {0.7}

Private Member Functions
void	STEP1_InitPTGs () override

bool	implementSenseObstacles (mrpt::system::TTimeStamp &obs_timestamp) override
	Return false on any fatal error. More...

void	STEP3_WSpaceToTPSpace (const size_t ptg_idx, std::vector< double > &out_TPObstacles, mrpt::nav::ClearanceDiagram &out_clearance, const mrpt::math::TPose2D &rel_pose_PTG_origin_wrt_sense, const bool eval_clearance) override
	Transform the obstacle into TP-Obstacles in TP-Spaces. More...

void	loggingGetWSObstaclesAndShape (CLogFileRecord &out_log) override
	Generates a pointcloud of obstacles, and the robot shape, to be saved in the logging record for the current timestep. More...

Private Attributes
mrpt::maps::CSimplePointsMap	m_WS_Obstacles_unsorted
	The unsorted set of obstacles from the sensors. More...

std::vector< mrpt::maps::CSimplePointsMap >	m_WS_Obstacles_inlevels
	One point cloud per 2.5D robot-shape-slice, coordinates relative to the robot local frame. More...

TRobotShape	m_robotShape
	The robot 3D shape model. More...

std::vector< TPTGmultilevel >	m_ptgmultilevel
	The set of PTG-transformations to be used: indices are [ptg_index][height_index]. More...

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

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...

Logging methods
void	logStr (const VerbosityLevel level, std::string_view 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)

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...

Member Enumeration Documentation

◆ TErrorCode

enum mrpt::nav::CAbstractNavigator::TErrorCode

inherited

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

inherited

The different states for the navigation system.

Enumerator
IDLE
NAVIGATING
SUSPENDED
NAV_ERROR

Definition at line 172 of file CAbstractNavigator.h.

Constructor & Destructor Documentation

◆ CReactiveNavigationSystem3D()

CReactiveNavigationSystem3D::CReactiveNavigationSystem3D	(	CRobot2NavInterface &	react_iterf_impl,
		bool	enableConsoleOutput = `true`,
		bool	enableLogFile = `false`,
		const std::string &	logFileDirectory = `std::string("./reactivenav.logs")`
	)

See docs in ctor of base class.

Definition at line 25 of file CReactiveNavigationSystem3D.cpp.

◆ ~CReactiveNavigationSystem3D()

CReactiveNavigationSystem3D::~CReactiveNavigationSystem3D ( )

override

Destructor.

Definition at line 35 of file CReactiveNavigationSystem3D.cpp.

References m_ptgmultilevel, and mrpt::nav::CAbstractPTGBasedReactive::preDestructor().

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Member Function Documentation

◆ build_movement_candidate()

void CAbstractPTGBasedReactive::build_movement_candidate	(	CParameterizedTrajectoryGenerator *	ptg,
		const size_t	indexPTG,
		const std::vector< mrpt::math::TPose2D > &	relTargets,
		const mrpt::math::TPose2D &	rel_pose_PTG_origin_wrt_sense,
		TInfoPerPTG &	ipf,
		TCandidateMovementPTG &	holonomicMovement,
		CLogFileRecord &	newLogRec,
		const bool	this_is_PTG_continuation,
		mrpt::nav::CAbstractHolonomicReactiveMethod &	holoMethod,
		const mrpt::system::TTimeStamp	tim_start_iteration,
		const TNavigationParams &	navp = `TNavigationParams()`,
		const mrpt::math::TPose2D &	relPoseVelCmd_NOP = `mrpt::math::TPose2D(0, 0, 0)`
	)

protectedinherited

Definition at line 1538 of file CAbstractPTGBasedReactive.cpp.

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

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◆ calc_move_candidate_scores()

void CAbstractPTGBasedReactive::calc_move_candidate_scores	(	TCandidateMovementPTG &	holonomicMovement,
		const std::vector< double > &	in_TPObstacles,
		const mrpt::nav::ClearanceDiagram &	in_clearance,
		const std::vector< mrpt::math::TPose2D > &	WS_Targets,
		const std::vector< PTGTarget > &	TP_Targets,
		CLogFileRecord::TInfoPerPTG &	log,
		CLogFileRecord &	newLogRec,
		const bool	this_is_PTG_continuation,
		const mrpt::math::TPose2D &	relPoseVelCmd_NOP,
		const unsigned int	ptg_idx4weights,
		const mrpt::system::TTimeStamp	tim_start_iteration,
		const mrpt::nav::CHolonomicLogFileRecord::Ptr &	hlfr
	)

protectedinherited

Scores holonomicMovement.

Definition at line 1006 of file CAbstractPTGBasedReactive.cpp.

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

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◆ cancel()

void CWaypointsNavigator::cancel ( )

overridevirtualinherited

Cancel current navegation.

Reimplemented from mrpt::nav::CAbstractNavigator.

Definition at line 102 of file CWaypointsNavigator.cpp.

References mrpt::nav::CAbstractNavigator::cancel(), mrpt::nav::CWaypointsNavigator::m_nav_waypoints_cs, and mrpt::nav::CWaypointsNavigator::m_waypoint_nav_status.

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◆ changeCurrentRobotSpeedLimits()

mrpt::kinematics::CVehicleVelCmd::TVelCmdParams& mrpt::nav::CAbstractPTGBasedReactive::changeCurrentRobotSpeedLimits ( )

inlineinherited

Changes the current, global (honored for all PTGs) robot speed limits, via returning a reference to a structure that holds those limits.

Definition at line 271 of file CAbstractPTGBasedReactive.h.

References mrpt::nav::CAbstractPTGBasedReactive::params_abstract_ptg_navigator, and mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::robot_absolute_speed_limits.

◆ changeRobotShape()

void CReactiveNavigationSystem3D::changeRobotShape ( TRobotShape robotShape )

Change the robot shape, which is taken into account for collision grid building.

Definition at line 46 of file CReactiveNavigationSystem3D.cpp.

References mrpt::nav::CAbstractPTGBasedReactive::m_PTGsMustBeReInitialized, m_robotShape, mrpt::nav::TRobotShape::polygon(), mrpt::nav::TRobotShape::size(), THROW_EXCEPTION, and mrpt::math::CPolygon::verticesCount().

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◆ changeSpeeds()

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

protectedvirtualinherited

Default: forward call to m_robot.changeSpeed().

Can be overriden.

Definition at line 421 of file CAbstractNavigator.cpp.

References mrpt::nav::CRobot2NavInterface::changeSpeeds(), and mrpt::nav::CAbstractNavigator::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 ( )

protectedvirtualinherited

Default: forward call to m_robot.changeSpeedsNOP().

Can be overriden.

Definition at line 427 of file CAbstractNavigator.cpp.

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

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

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◆ checkCollisionWithLatestObstacles()

bool CReactiveNavigationSystem3D::checkCollisionWithLatestObstacles ( const mrpt::math::TPose2D & relative_robot_pose ) const

overridevirtual

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 from mrpt::nav::CAbstractNavigator.

Definition at line 332 of file CReactiveNavigationSystem3D.cpp.

References ASSERT_, ASSERT_EQUAL_, mrpt::math::TPose2D::inverseComposePoint(), m_ptgmultilevel, m_robotShape, m_WS_Obstacles_inlevels, MRPT_LOG_WARN, R, mrpt::nav::TRobotShape::size(), mrpt::math::TPoint2D_data< T >::x, and mrpt::math::TPoint2D_data< T >::y.

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◆ checkHasReachedTarget()

bool CWaypointsNavigator::checkHasReachedTarget ( const double targetDist ) const

overrideprotectedvirtualinherited

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 from mrpt::nav::CAbstractNavigator.

Definition at line 537 of file CWaypointsNavigator.cpp.

References mrpt::system::dateTimeLocalToString(), mrpt::nav::TWaypointStatus::getAsText(), INVALID_TIMESTAMP, mrpt::nav::CAbstractNavigator::m_navigationParams, mrpt::nav::CWaypointsNavigator::m_waypoint_nav_status, MRPT_LOG_DEBUG_STREAM, and mrpt::nav::TWaypointStatus::reached.

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◆ dispatchPendingNavEvents()

void CAbstractNavigator::dispatchPendingNavEvents ( )

protectedinherited

Definition at line 246 of file CAbstractNavigator.cpp.

References mrpt::nav::CAbstractNavigator::m_pending_events.

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

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◆ doEmergencyStop()

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

protectedvirtualinherited

Stops the robot and set navigation state to error.

Definition at line 257 of file CAbstractNavigator.cpp.

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

◆ enableKeepLogRecords()

void mrpt::nav::CAbstractPTGBasedReactive::enableKeepLogRecords ( bool enable = true )

inlineinherited

Enables keeping an internal registry of navigation logs that can be queried with getLastLogRecord()

Definition at line 158 of file CAbstractPTGBasedReactive.h.

References mrpt::nav::CAbstractPTGBasedReactive::m_enableKeepLogRecords.

◆ enableLogFile()

void CAbstractPTGBasedReactive::enableLogFile ( bool enable )

inherited

Enables/disables saving log files.

Definition at line 118 of file CAbstractPTGBasedReactive.cpp.

References mrpt::system::createDirectory(), mrpt::system::directoryExists(), mrpt::system::fileExists(), mrpt::format(), mrpt::lockHelper(), mrpt::nav::CAbstractPTGBasedReactive::m_logFile, mrpt::nav::CAbstractNavigator::m_nav_cs, mrpt::nav::CAbstractPTGBasedReactive::m_navlogfiles_dir, MRPT_LOG_DEBUG, MRPT_LOG_DEBUG_FMT, MRPT_LOG_ERROR_FMT, ok, mrpt::io::CFileGZOutputStream::open(), and THROW_EXCEPTION_FMT.

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

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◆ enableRethrowNavExceptions()

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

inlineinherited

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 mrpt::nav::CAbstractNavigator::m_rethrow_exceptions.

◆ enableTimeLog()

void mrpt::nav::CAbstractPTGBasedReactive::enableTimeLog ( bool enable = true )

inlineinherited

Enables/disables the detailed time logger (default:disabled upon construction) When enabled, a report will be dumped to std::cout upon destruction.

See also: getTimeLogger

Definition at line 246 of file CAbstractPTGBasedReactive.h.

References mrpt::system::CTimeLogger::enable(), and mrpt::nav::CAbstractPTGBasedReactive::m_timelogger.

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◆ generate_vel_cmd()

double CAbstractPTGBasedReactive::generate_vel_cmd	(	const TCandidateMovementPTG &	in_movement,
		mrpt::kinematics::CVehicleVelCmd::Ptr &	new_vel_cmd
	)

protectedvirtualinherited

Return the [0,1] velocity scale of raw PTG cmd_vel.

Definition at line 1414 of file CAbstractPTGBasedReactive.cpp.

References mrpt::nav::CParameterizedTrajectoryGenerator::alpha2index(), mrpt::nav::TCandidateMovementPTG::direction, mrpt::nav::CParameterizedTrajectoryGenerator::directionToMotionCommand(), mrpt::math::LowPassFilter_IIR1::getLastOutput(), mrpt::nav::CParameterizedTrajectoryGenerator::getSupportedKinematicVelocityCommand(), mrpt::nav::CAbstractPTGBasedReactive::m_last_vel_cmd, mrpt::nav::CAbstractPTGBasedReactive::m_timelogger, mrpt::nav::CAbstractPTGBasedReactive::meanExecutionPeriod, MRPT_LOG_ERROR_STREAM, mrpt::nav::CAbstractPTGBasedReactive::params_abstract_ptg_navigator, mrpt::nav::TCandidateMovementPTG::PTG, mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::robot_absolute_speed_limits, mrpt::nav::TCandidateMovementPTG::speed, and mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::speedfilter_tau.

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

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◆ getCurrentRobotSpeedLimits()

const mrpt::kinematics::CVehicleVelCmd::TVelCmdParams& mrpt::nav::CAbstractPTGBasedReactive::getCurrentRobotSpeedLimits ( ) const

inlineinherited

Get the current, global (honored for all PTGs) robot speed limits.

Definition at line 263 of file CAbstractPTGBasedReactive.h.

References mrpt::nav::CAbstractPTGBasedReactive::params_abstract_ptg_navigator, and mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::robot_absolute_speed_limits.

◆ getCurrentState()

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

inlineinherited

Returns the current navigator state.

Definition at line 181 of file CAbstractNavigator.h.

References mrpt::nav::CAbstractNavigator::m_navigationState.

◆ getDelaysTimeLogger()

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

inlineinherited

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 mrpt::nav::CAbstractNavigator::m_timlog_delays.

◆ getErrorReason()

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

inlineinherited

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

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

Definition at line 204 of file CAbstractNavigator.h.

References mrpt::nav::CAbstractNavigator::m_navErrorReason.

◆ getFrameTF()

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

inlineinherited

Get the current frame tf object (defaults to nullptr)

See also: setFrameTF

Definition at line 218 of file CAbstractNavigator.h.

References mrpt::nav::CAbstractNavigator::m_frame_tf.

◆ getHoloMethod()

CAbstractHolonomicReactiveMethod * CAbstractPTGBasedReactive::getHoloMethod ( int idx )

protectedvirtualinherited

Definition at line 2011 of file CAbstractPTGBasedReactive.cpp.

References mrpt::nav::CAbstractPTGBasedReactive::m_holonomicMethod.

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

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◆ getLastLogRecord()

void CAbstractPTGBasedReactive::getLastLogRecord ( CLogFileRecord & o )

inherited

Provides a copy of the last log record with information about execution.

Parameters

o	An object where the log will be stored into.

Note: Log records are not prepared unless either "enableLogFile" is enabled in the constructor or "enableLogFile()" has been called.

Definition at line 195 of file CAbstractPTGBasedReactive.cpp.

References mrpt::nav::CAbstractPTGBasedReactive::lastLogRecord, mrpt::lockHelper(), and mrpt::nav::CAbstractPTGBasedReactive::m_critZoneLastLog.

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◆ 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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◆ getLogFileDirectory()

std::string mrpt::nav::CAbstractPTGBasedReactive::getLogFileDirectory ( ) const

inlineinherited

Definition at line 171 of file CAbstractPTGBasedReactive.h.

References mrpt::nav::CAbstractPTGBasedReactive::m_navlogfiles_dir.

◆ 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 201 of file system/COutputLogger.h.

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

Referenced by mrpt::apps::RawlogGrabberApp::dump_verbose_info(), mrpt::maps::CRandomFieldGridMap2D::isEnabledVerbose(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and mrpt::apps::ICP_SLAM_App_Base::run().

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◆ getPTG() [1/2]

CParameterizedTrajectoryGenerator* mrpt::nav::CReactiveNavigationSystem3D::getPTG ( size_t i )

inlineoverridevirtual

Gets the i'th PTG.

Implements mrpt::nav::CAbstractPTGBasedReactive.

Definition at line 109 of file CReactiveNavigationSystem3D.h.

References ASSERT_, and m_ptgmultilevel.

◆ getPTG() [2/2]

const CParameterizedTrajectoryGenerator* mrpt::nav::CReactiveNavigationSystem3D::getPTG ( size_t i ) const

inlineoverridevirtual

Gets the i'th PTG.

Implements mrpt::nav::CAbstractPTGBasedReactive.

Definition at line 117 of file CReactiveNavigationSystem3D.h.

References ASSERT_, and m_ptgmultilevel.

◆ getPTG_count()

size_t mrpt::nav::CReactiveNavigationSystem3D::getPTG_count ( ) const

inlineoverridevirtual

Returns the number of different PTGs that have been setup.

Implements mrpt::nav::CAbstractPTGBasedReactive.

Definition at line 104 of file CReactiveNavigationSystem3D.h.

References ASSERT_, and m_ptgmultilevel.

◆ getTargetApproachSlowDownDistance()

double CAbstractPTGBasedReactive::getTargetApproachSlowDownDistance ( ) const

inherited

Returns this parameter for the first inner holonomic navigator instances [m] (should be the same in all of them?)

Definition at line 2005 of file CAbstractPTGBasedReactive.cpp.

References ASSERT_, and mrpt::nav::CAbstractPTGBasedReactive::m_holonomicMethod.

◆ getTimeLogger()

const mrpt::system::CTimeLogger& mrpt::nav::CAbstractPTGBasedReactive::getTimeLogger ( ) const

inlineinherited

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

See also: enableTimeLog

Definition at line 249 of file CAbstractPTGBasedReactive.h.

References mrpt::nav::CAbstractPTGBasedReactive::m_timelogger.

◆ getWaypointNavStatus() [1/2]

void CWaypointsNavigator::getWaypointNavStatus ( TWaypointStatusSequence & out_nav_status ) const

virtualinherited

Get a copy of the control structure which describes the progress status of the waypoint navigation.

Definition at line 94 of file CWaypointsNavigator.cpp.

References mrpt::nav::CWaypointsNavigator::m_waypoint_nav_status.

◆ getWaypointNavStatus() [2/2]

TWaypointStatusSequence mrpt::nav::CWaypointsNavigator::getWaypointNavStatus ( ) const

inlineinherited

Get a copy of the control structure which describes the progress status of the waypoint navigation.

Definition at line 93 of file CWaypointsNavigator.h.

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

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◆ impl_waypoint_is_reachable()

bool CAbstractPTGBasedReactive::impl_waypoint_is_reachable ( const mrpt::math::TPoint2D & wp_local_wrt_robot ) const

overrideprotectedvirtualinherited

Implements the way to waypoint is free function in children classes: true must be returned if, according to the information gathered at the last navigation step, there is a free path to the given point; false otherwise: if way is blocked or there is missing information, the point is out of range, etc.

Implements mrpt::nav::CWaypointsNavigator.

Definition at line 1464 of file CAbstractPTGBasedReactive.cpp.

References ASSERT_, mrpt::nav::CParameterizedTrajectoryGenerator::getPathCount(), mrpt::nav::CAbstractPTGBasedReactive::getPTG(), mrpt::nav::CAbstractPTGBasedReactive::getPTG_count(), INVALID_TIMESTAMP, mrpt::nav::CParameterizedTrajectoryGenerator::inverseMap_WS2TP(), mrpt::nav::CAbstractPTGBasedReactive::m_infoPerPTG, mrpt::nav::CAbstractPTGBasedReactive::m_infoPerPTG_timestamp, MRPT_END, MRPT_START, mrpt::system::now(), mrpt::system::timeDifference(), mrpt::math::TPoint2D_data< T >::x, and mrpt::math::TPoint2D_data< T >::y.

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◆ implementSenseObstacles()

bool CReactiveNavigationSystem3D::implementSenseObstacles ( mrpt::system::TTimeStamp & obs_timestamp )

overrideprivatevirtual

Return false on any fatal error.

Implements mrpt::nav::CAbstractPTGBasedReactive.

Definition at line 187 of file CReactiveNavigationSystem3D.cpp.

References mrpt::containers::clear(), mrpt::system::CTimeLogger::enter(), mrpt::nav::TRobotShape::getHeight(), mrpt::maps::CPointsMap::getPointsBuffer(), mrpt::system::CTimeLogger::leave(), mrpt::nav::CAbstractNavigator::m_robot, m_robotShape, mrpt::nav::CAbstractPTGBasedReactive::m_timelogger, mrpt::nav::CAbstractNavigator::m_timlog_delays, m_WS_Obstacles_inlevels, m_WS_Obstacles_unsorted, mrpt::nav::CAbstractPTGBasedReactive::params_abstract_ptg_navigator, mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::ref_distance, mrpt::nav::CRobot2NavInterface::senseObstacles(), and mrpt::nav::TRobotShape::size().

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◆ initialize()

void CAbstractPTGBasedReactive::initialize ( )

overridevirtualinherited

Must be called for loading collision grids, or the first navigation command may last a long time to be executed.

Internally, it just calls STEP1_CollisionGridsBuilder().

Implements mrpt::nav::CAbstractNavigator.

Definition at line 102 of file CAbstractPTGBasedReactive.cpp.

References ASSERT_, INVALID_TIMESTAMP, mrpt::lockHelper(), mrpt::nav::CAbstractPTGBasedReactive::m_infoPerPTG_timestamp, mrpt::nav::CAbstractPTGBasedReactive::m_multiobjopt, mrpt::nav::CAbstractNavigator::m_nav_cs, and mrpt::nav::CAbstractPTGBasedReactive::STEP1_InitPTGs().

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◆ isLoggingLevelVisible()

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

inlineinherited

Definition at line 202 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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◆ isRelativePointReachable()

bool CWaypointsNavigator::isRelativePointReachable ( const mrpt::math::TPoint2D & wp_local_wrt_robot ) const

inherited

Returns true if, according to the information gathered at the last navigation step, there is a free path to the given point; false otherwise: if way is blocked or there is missing information, the point is out of range for the existing PTGs, etc.

Definition at line 476 of file CWaypointsNavigator.cpp.

References mrpt::nav::CWaypointsNavigator::impl_waypoint_is_reachable().

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◆ isRethrowNavExceptionsEnabled()

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

inlineinherited

Definition at line 232 of file CAbstractNavigator.h.

References mrpt::nav::CAbstractNavigator::m_rethrow_exceptions.

◆ loadConfigFile()

void CReactiveNavigationSystem3D::loadConfigFile ( const mrpt::config::CConfigFileBase & c )

overridevirtual

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 from mrpt::nav::CAbstractPTGBasedReactive.

Definition at line 72 of file CReactiveNavigationSystem3D.cpp.

References mrpt::math::CPolygon::AddVertex(), ASSERT_, mrpt::nav::CParameterizedTrajectoryGenerator::CreatePTG(), mrpt::format(), mrpt::nav::CAbstractPTGBasedReactive::loadConfigFile(), m_ptgmultilevel, mrpt::nav::CAbstractPTGBasedReactive::m_PTGsMustBeReInitialized, m_robotShape, MRPT_END, MRPT_LOG_DEBUG_FMT, MRPT_LOG_INFO_FMT, MRPT_START, mrpt::nav::TRobotShape::polygon(), mrpt::config::CConfigFileBase::read_float(), mrpt::config::CConfigFileBase::read_int(), mrpt::config::CConfigFileBase::read_string(), mrpt::config::CConfigFileBase::read_vector(), mrpt::nav::TRobotShape::resize(), mrpt::nav::TRobotShape::setHeight(), mrpt::nav::TRobotShape::setRadius(), and mrpt::nav::TRobotShape::size().

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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::hmtslam::CHMTSLAM::areaAbstraction(), 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(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), CGraphSlamHandler< GRAPH_T >::readConfigFname(), CGraphSlamHandler< GRAPH_T >::saveResults(), CGraphSlamHandler< GRAPH_T >::setResultsDirName(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), mrpt::hmtslam::CHMTSLAM::thread_3D_viewer(), mrpt::hmtslam::CHMTSLAM::thread_LSLAM(), mrpt::hmtslam::CHMTSLAM::thread_TBI(), 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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◆ loggingGetWSObstaclesAndShape()

void CReactiveNavigationSystem3D::loggingGetWSObstaclesAndShape ( CLogFileRecord & out_log )

overrideprivatevirtual

Generates a pointcloud of obstacles, and the robot shape, to be saved in the logging record for the current timestep.

Generates a pointcloud of obstacles to be saved in the logging record for the current timestep.

Implements mrpt::nav::CAbstractPTGBasedReactive.

Definition at line 290 of file CReactiveNavigationSystem3D.cpp.

References mrpt::maps::CMetricMap::clear(), mrpt::nav::TRobotShape::getRadius(), mrpt::maps::CPointsMap::insertAnotherMap(), m_robotShape, m_WS_Obstacles_inlevels, mrpt::nav::TRobotShape::polygon(), mrpt::math::CVectorDynamic< T >::resize(), mrpt::nav::CLogFileRecord::robotShape_radius, mrpt::nav::CLogFileRecord::robotShape_x, mrpt::nav::CLogFileRecord::robotShape_y, mrpt::nav::TRobotShape::size(), mrpt::math::CVectorDynamic< T >::size(), mrpt::nav::CLogFileRecord::WS_Obstacles, mrpt::math::TPoint2D_data< T >::x, and mrpt::math::TPoint2D_data< T >::y.

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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,
		std::string_view	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 )

virtualinherited

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 319 of file CAbstractNavigator.cpp.

References MRPT_END, MRPT_START, mrpt::nav::CAbstractNavigator::onNavigateCommandReceived(), and mrpt::nav::CAbstractNavigator::processNavigateCommand().

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◆ navigateWaypoints()

void CWaypointsNavigator::navigateWaypoints ( const TWaypointSequence & nav_request )

virtualinherited

Waypoint navigation request.

This immediately cancels any other previous on-going navigation.

See also: CAbstractNavigator::navigate() for single waypoint navigation requests.

Definition at line 66 of file CWaypointsNavigator.cpp.

References ASSERT_, ASSERTMSG_, mrpt::nav::CWaypointsNavigator::m_nav_waypoints_cs, mrpt::nav::CWaypointsNavigator::m_waypoint_nav_status, MRPT_END, MRPT_START, mrpt::system::now(), mrpt::nav::CWaypointsNavigator::onNavigateCommandReceived(), mrpt::nav::TWaypointStatusSequence::timestamp_nav_started, mrpt::nav::TWaypointStatusSequence::waypoint_index_current_goal, mrpt::nav::TWaypointSequence::waypoints, and mrpt::nav::TWaypointStatusSequence::waypoints.

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◆ navigationStep()

void CWaypointsNavigator::navigationStep ( )

overridevirtualinherited

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

Reimplemented from mrpt::nav::CAbstractNavigator.

Definition at line 443 of file CWaypointsNavigator.cpp.

References mrpt::nav::CAbstractNavigator::dispatchPendingNavEvents(), mrpt::nav::CWaypointsNavigator::m_is_aligning, mrpt::nav::CAbstractNavigator::m_navigationState, mrpt::nav::CAbstractNavigator::m_navProfiler, MRPT_END, MRPT_START, mrpt::nav::CAbstractNavigator::navigationStep(), mrpt::nav::CAbstractNavigator::SUSPENDED, and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

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◆ onNavigateCommandReceived()

void CWaypointsNavigator::onNavigateCommandReceived ( )

overrideprotectedvirtualinherited

Called after each call to CAbstractNavigator::navigate()

Reimplemented from mrpt::nav::CAbstractNavigator.

Definition at line 54 of file CWaypointsNavigator.cpp.

References INVALID_TIMESTAMP, mrpt::nav::CWaypointsNavigator::m_nav_waypoints_cs, mrpt::nav::CWaypointsNavigator::m_was_aligning, mrpt::nav::CWaypointsNavigator::m_waypoint_nav_status, mrpt::nav::CAbstractNavigator::onNavigateCommandReceived(), mrpt::nav::TWaypointStatusSequence::timestamp_nav_started, and mrpt::nav::TWaypointStatusSequence::waypoint_index_current_goal.

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

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◆ onStartNewNavigation()

void CAbstractPTGBasedReactive::onStartNewNavigation ( )

overrideprotectedvirtualinherited

Called whenever a new navigation has been started.

Can be used to reset state variables, etc.

Implements mrpt::nav::CAbstractNavigator.

Definition at line 1510 of file CAbstractPTGBasedReactive.cpp.

References mrpt::nav::CAbstractNavigator::m_last_curPoseVelUpdate_robot_time, mrpt::nav::CAbstractPTGBasedReactive::m_lastSentVelCmd, mrpt::nav::CWaypointsNavigator::onStartNewNavigation(), and mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::reset().

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◆ performNavigationStep()

void CAbstractPTGBasedReactive::performNavigationStep ( )

overrideprotectedvirtualinherited

The main method for the navigator.

The main method: executes one time-iteration of the reactive navigation algorithm.

Allow PTGs to be responsive to target location, dynamics, etc.

Implements mrpt::nav::CAbstractNavigator.

Definition at line 233 of file CAbstractPTGBasedReactive.cpp.

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◆ performNavigationStepNavigating()

void CAbstractNavigator::performNavigationStepNavigating ( bool call_virtual_nav_method = true )

protectedvirtualinherited

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 499 of file CAbstractNavigator.cpp.

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

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◆ preDestructor()

void CAbstractPTGBasedReactive::preDestructor ( )

protectedinherited

To be called during children destructors to assure thread-safe destruction, and free of shared objects.

Definition at line 70 of file CAbstractPTGBasedReactive.cpp.

References mrpt::nav::CAbstractPTGBasedReactive::deleteHolonomicObjects(), mrpt::nav::CAbstractPTGBasedReactive::m_closing_navigator, mrpt::nav::CAbstractPTGBasedReactive::m_logFile, mrpt::nav::CAbstractNavigator::m_nav_cs, and mrpt::nav::CAbstractNavigator::stop().

Referenced by mrpt::nav::CAbstractPTGBasedReactive::~CAbstractPTGBasedReactive(), mrpt::nav::CReactiveNavigationSystem::~CReactiveNavigationSystem(), and ~CReactiveNavigationSystem3D().

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◆ processNavigateCommand()

void CAbstractNavigator::processNavigateCommand ( const TNavigationParams * params )

protectedvirtualinherited

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

Definition at line 285 of file CAbstractNavigator.cpp.

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

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◆ resetNavError()

void CAbstractNavigator::resetNavError ( )

virtualinherited

Resets a NAV_ERROR state back to IDLE

Definition at line 133 of file CAbstractNavigator.cpp.

References mrpt::nav::CAbstractNavigator::IDLE, mrpt::lockHelper(), mrpt::nav::CAbstractNavigator::m_nav_cs, mrpt::nav::CAbstractNavigator::m_navErrorReason, mrpt::nav::CAbstractNavigator::m_navigationState, MRPT_LOG_DEBUG, and mrpt::nav::CAbstractNavigator::NAV_ERROR.

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◆ resume()

void CAbstractNavigator::resume ( )

virtualinherited

Continues with suspended navigation.

See also: suspend

Definition at line 110 of file CAbstractNavigator.cpp.

References mrpt::lockHelper(), mrpt::nav::CAbstractNavigator::m_nav_cs, mrpt::nav::CAbstractNavigator::m_navigationState, MRPT_LOG_DEBUG, mrpt::nav::CAbstractNavigator::NAVIGATING, and mrpt::nav::CAbstractNavigator::SUSPENDED.

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◆ saveConfigFile()

void CReactiveNavigationSystem3D::saveConfigFile ( mrpt::config::CConfigFileBase & c ) const

overridevirtual

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 from mrpt::nav::CAbstractPTGBasedReactive.

Definition at line 59 of file CReactiveNavigationSystem3D.cpp.

References m_ptgmultilevel, m_robotShape, MRPT_SAVE_CONFIG_VAR_COMMENT, and mrpt::nav::TRobotShape::size().

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◆ setFrameTF()

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

inherited

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 145 of file CAbstractNavigator.cpp.

References mrpt::nav::CAbstractNavigator::m_frame_tf.

◆ setHolonomicMethod()

void CAbstractPTGBasedReactive::setHolonomicMethod	(	const std::string &	method,
		const mrpt::config::CConfigFileBase &	cfgBase
	)

inherited

Selects which one from the set of available holonomic methods will be used into transformed TP-Space, and sets its configuration from a configuration file.

Available methods: class names of those derived from CAbstractHolonomicReactiveMethod

Definition at line 206 of file CAbstractPTGBasedReactive.cpp.

References ASSERT_, mrpt::nav::CAbstractPTGBasedReactive::deleteHolonomicObjects(), mrpt::nav::CAbstractHolonomicReactiveMethod::Factory(), mrpt::nav::CAbstractPTGBasedReactive::getPTG(), mrpt::nav::CAbstractPTGBasedReactive::getPTG_count(), mrpt::lockHelper(), mrpt::nav::CAbstractPTGBasedReactive::m_holonomicMethod, mrpt::nav::CAbstractNavigator::m_nav_cs, and THROW_EXCEPTION_FMT.

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

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◆ setLogFileDirectory()

void mrpt::nav::CAbstractPTGBasedReactive::setLogFileDirectory ( const std::string & sDir )

inlineinherited

Changes the prefix for new log files.

Definition at line 167 of file CAbstractPTGBasedReactive.h.

References mrpt::nav::CAbstractPTGBasedReactive::m_navlogfiles_dir.

◆ 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(), mrpt::apps::ICP_SLAM_App_Base::ICP_SLAM_App_Base(), mrpt::apps::ICP_SLAM_App_Live::ICP_SLAM_App_Live(), mrpt::apps::ICP_SLAM_App_Rawlog::ICP_SLAM_App_Rawlog(), mrpt::graphslam::CWindowManager::initCWindowManager(), mrpt::apps::MonteCarloLocalization_Base::MonteCarloLocalization_Base(), mrpt::apps::RBPF_SLAM_App_Base::RBPF_SLAM_App_Base(), and mrpt::apps::RBPF_SLAM_App_Rawlog::RBPF_SLAM_App_Rawlog().

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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(), generic_kf_slam_test(), generic_pf_test(), generic_rbpf_slam_test(), mrpt::apps::RawlogGrabberApp::initialize(), mrpt::hwdrivers::CHokuyoURG::initialize(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and mrpt::apps::ICP_SLAM_App_Base::run().

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◆ setTargetApproachSlowDownDistance()

void CAbstractPTGBasedReactive::setTargetApproachSlowDownDistance ( const double dist )

inherited

Changes this parameter in all inner holonomic navigator instances [m].

Definition at line 1996 of file CAbstractPTGBasedReactive.cpp.

References mrpt::nav::CAbstractPTGBasedReactive::m_holonomicMethod.

◆ setVerbosityLevel()

void COutputLogger::setVerbosityLevel ( const VerbosityLevel level )

inherited

alias of setMinLoggingLevel()

Definition at line 149 of file COutputLogger.cpp.

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

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◆ STEP1_InitPTGs()

void CReactiveNavigationSystem3D::STEP1_InitPTGs ( )

overrideprivatevirtual

Implements mrpt::nav::CAbstractPTGBasedReactive.

Definition at line 138 of file CReactiveNavigationSystem3D.cpp.

References mrpt::format(), mrpt::nav::TRobotShape::getRadius(), mrpt::nav::CAbstractPTGBasedReactive::m_enableConsoleOutput, m_ptgmultilevel, mrpt::nav::CAbstractPTGBasedReactive::m_PTGsMustBeReInitialized, m_robotShape, mrpt::nav::CAbstractPTGBasedReactive::m_timelogger, MRPT_LOG_INFO, MRPT_LOG_INFO_FMT, mrpt::nav::CAbstractPTGBasedReactive::params_abstract_ptg_navigator, mrpt::nav::TRobotShape::polygon(), mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::ptg_cache_files_directory, mrpt::nav::CPTG_RobotShape_Polygonal::setRobotShape(), mrpt::nav::CPTG_RobotShape_Circular::setRobotShapeRadius(), and mrpt::nav::TRobotShape::size().

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◆ STEP2_SenseObstacles()

bool CAbstractPTGBasedReactive::STEP2_SenseObstacles ( )

protectedinherited

Definition at line 1504 of file CAbstractPTGBasedReactive.cpp.

References mrpt::nav::CAbstractPTGBasedReactive::implementSenseObstacles(), and mrpt::nav::CAbstractPTGBasedReactive::m_WS_Obstacles_timestamp.

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

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◆ STEP3_WSpaceToTPSpace()

void CReactiveNavigationSystem3D::STEP3_WSpaceToTPSpace	(	const size_t	ptg_idx,
		std::vector< double > &	out_TPObstacles,
		mrpt::nav::ClearanceDiagram &	out_clearance,
		const mrpt::math::TPose2D &	rel_pose_PTG_origin_wrt_sense,
		const bool	eval_clearance
	)

overrideprivatevirtual

Transform the obstacle into TP-Obstacles in TP-Spaces.

Implements mrpt::nav::CAbstractPTGBasedReactive.

Definition at line 248 of file CReactiveNavigationSystem3D.cpp.

References ASSERT_, ASSERT_EQUAL_, m_ptgmultilevel, m_robotShape, m_WS_Obstacles_inlevels, and mrpt::nav::TRobotShape::size().

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◆ STEP8_GenerateLogRecord()

void CAbstractPTGBasedReactive::STEP8_GenerateLogRecord	(	CLogFileRecord &	newLogRec,
		const std::vector< mrpt::math::TPose2D > &	relTargets,
		int	nSelectedPTG,
		const mrpt::kinematics::CVehicleVelCmd::Ptr &	new_vel_cmd,
		int	nPTGs,
		const bool	best_is_NOP_cmdvel,
		const math::TPose2D &	rel_cur_pose_wrt_last_vel_cmd_NOP,
		const math::TPose2D &	rel_pose_PTG_origin_wrt_sense_NOP,
		const double	executionTimeValue,
		const double	tim_changeSpeed,
		const mrpt::system::TTimeStamp &	tim_start_iteration
	)

protectedinherited

Definition at line 938 of file CAbstractPTGBasedReactive.cpp.

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

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◆ stop()

bool CAbstractNavigator::stop ( bool isEmergencyStop )

protectedvirtualinherited

Default: forward call to m_robot.stop().

Can be overriden.

Definition at line 429 of file CAbstractNavigator.cpp.

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

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

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◆ suspend()

void CAbstractNavigator::suspend ( )

virtualinherited

Suspend current navegation.

See also: resume

Definition at line 119 of file CAbstractNavigator.cpp.

References mrpt::lockHelper(), mrpt::nav::CAbstractNavigator::m_nav_cs, mrpt::nav::CAbstractNavigator::m_navigationState, MRPT_LOG_DEBUG, mrpt::nav::CAbstractNavigator::NAVIGATING, mrpt::nav::CAbstractNavigator::stop(), and mrpt::nav::CAbstractNavigator::SUSPENDED.

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◆ updateCurrentPoseAndSpeeds()

void CAbstractNavigator::updateCurrentPoseAndSpeeds ( )

protectedvirtualinherited

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 328 of file CAbstractNavigator.cpp.

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

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◆ waypoints_isAligning()

bool mrpt::nav::CWaypointsNavigator::waypoints_isAligning ( ) const

inlineprotectedinherited

Definition at line 163 of file CWaypointsNavigator.h.

References mrpt::nav::CWaypointsNavigator::m_is_aligning.

◆ waypoints_navigationStep()

void CWaypointsNavigator::waypoints_navigationStep ( )

protectedvirtualinherited

The waypoints-specific part of navigationStep()

Definition at line 112 of file CWaypointsNavigator.cpp.

Referenced by mrpt::nav::CWaypointsNavigator::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

◆ executionTime

mrpt::system::CTicTac mrpt::nav::CAbstractPTGBasedReactive::executionTime

protectedinherited

Definition at line 317 of file CAbstractPTGBasedReactive.h.

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

◆ lastLogRecord

CLogFileRecord mrpt::nav::CAbstractPTGBasedReactive::lastLogRecord

protectedinherited

The last log.

Definition at line 298 of file CAbstractPTGBasedReactive.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::getLastLogRecord(), and mrpt::nav::CAbstractPTGBasedReactive::STEP8_GenerateLogRecord().

◆ 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 240 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 243 of file system/COutputLogger.h.

◆ m_badNavAlarm_lastMinDistTime

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

protectedinherited

Definition at line 388 of file CAbstractNavigator.h.

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

◆ m_badNavAlarm_minDistTarget

double mrpt::nav::CAbstractNavigator::m_badNavAlarm_minDistTarget

protectedinherited

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

Definition at line 387 of file CAbstractNavigator.h.

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

◆ m_closing_navigator

bool mrpt::nav::CAbstractPTGBasedReactive::m_closing_navigator {false}

protectedinherited

Signal that the destructor has been called, so no more calls are accepted from other threads.

Definition at line 404 of file CAbstractPTGBasedReactive.h.

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

◆ m_critZoneLastLog

std::recursive_mutex mrpt::nav::CAbstractPTGBasedReactive::m_critZoneLastLog

protectedinherited

Critical zones.

Definition at line 303 of file CAbstractPTGBasedReactive.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::getLastLogRecord(), and mrpt::nav::CAbstractPTGBasedReactive::STEP8_GenerateLogRecord().

◆ m_curPoseVel

TRobotPoseVel mrpt::nav::CAbstractNavigator::m_curPoseVel

protectedinherited

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

Definition at line 375 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(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), mrpt::nav::CAbstractNavigator::processNavigateCommand(), mrpt::nav::CAbstractPTGBasedReactive::STEP8_GenerateLogRecord(), mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

◆ m_enableConsoleOutput

bool mrpt::nav::CAbstractPTGBasedReactive::m_enableConsoleOutput

protectedinherited

Enables / disables the console debug output.

Definition at line 306 of file CAbstractPTGBasedReactive.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), and STEP1_InitPTGs().

◆ m_enableKeepLogRecords

bool mrpt::nav::CAbstractPTGBasedReactive::m_enableKeepLogRecords {false}

protectedinherited

See enableKeepLogRecords.

Definition at line 296 of file CAbstractPTGBasedReactive.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CAbstractPTGBasedReactive::enableKeepLogRecords(), and mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep().

◆ m_frame_tf

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

protectedinherited

Optional, user-provided frame transformer.

Definition at line 356 of file CAbstractNavigator.h.

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

◆ m_holonomicMethod

std::vector<CAbstractHolonomicReactiveMethod::Ptr> mrpt::nav::CAbstractPTGBasedReactive::m_holonomicMethod

protectedinherited

The holonomic navigation algorithm (one object per PTG, so internal states are maintained)

Definition at line 291 of file CAbstractPTGBasedReactive.h.

◆ m_infoPerPTG

std::vector<TInfoPerPTG> mrpt::nav::CAbstractPTGBasedReactive::m_infoPerPTG

protectedinherited

Temporary buffers for working with each PTG during a navigationStep()

Definition at line 423 of file CAbstractPTGBasedReactive.h.

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

◆ m_infoPerPTG_timestamp

mrpt::system::TTimeStamp mrpt::nav::CAbstractPTGBasedReactive::m_infoPerPTG_timestamp {INVALID_TIMESTAMP}

protectedinherited

Definition at line 424 of file CAbstractPTGBasedReactive.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::impl_waypoint_is_reachable(), mrpt::nav::CAbstractPTGBasedReactive::initialize(), and mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep().

◆ m_init_done

bool mrpt::nav::CAbstractPTGBasedReactive::m_init_done {false}

protectedinherited

Whether loadConfigFile() has been called or not.

Definition at line 308 of file CAbstractPTGBasedReactive.h.

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

◆ m_is_aligning

bool mrpt::nav::CWaypointsNavigator::m_is_aligning {false}

protectedinherited

Definition at line 167 of file CWaypointsNavigator.h.

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

◆ m_last_alignment_cmd

mrpt::system::TTimeStamp mrpt::nav::CWaypointsNavigator::m_last_alignment_cmd

protectedinherited

Definition at line 168 of file CWaypointsNavigator.h.

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

◆ m_last_curPoseVelUpdate_pose_frame_id

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

protectedinherited

Definition at line 377 of file CAbstractNavigator.h.

Referenced by mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds().

◆ m_last_curPoseVelUpdate_robot_time

double mrpt::nav::CAbstractNavigator::m_last_curPoseVelUpdate_robot_time {-1e9}

protectedinherited

Definition at line 376 of file CAbstractNavigator.h.

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

◆ m_last_vel_cmd

mrpt::kinematics::CVehicleVelCmd::Ptr mrpt::nav::CAbstractPTGBasedReactive::m_last_vel_cmd

protectedinherited

Last velocity commands.

Definition at line 300 of file CAbstractPTGBasedReactive.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), and mrpt::nav::CAbstractPTGBasedReactive::generate_vel_cmd().

◆ m_lastSentVelCmd

TSentVelCmd mrpt::nav::CAbstractPTGBasedReactive::m_lastSentVelCmd

protectedinherited

Definition at line 462 of file CAbstractPTGBasedReactive.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), mrpt::nav::CAbstractPTGBasedReactive::onStartNewNavigation(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), and mrpt::nav::CAbstractPTGBasedReactive::STEP8_GenerateLogRecord().

◆ m_latestOdomPoses

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

protectedinherited

Definition at line 379 of file CAbstractNavigator.h.

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

◆ m_latestPoses

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

protectedinherited

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

Definition at line 379 of file CAbstractNavigator.h.

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

◆ m_logFile

std::unique_ptr<mrpt::io::CStream> mrpt::nav::CAbstractPTGBasedReactive::m_logFile

protectedinherited

Definition at line 292 of file CAbstractPTGBasedReactive.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CAbstractPTGBasedReactive::enableLogFile(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::nav::CAbstractPTGBasedReactive::preDestructor(), and mrpt::nav::CAbstractPTGBasedReactive::STEP8_GenerateLogRecord().

◆ 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 253 of file system/COutputLogger.h.

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

◆ m_multiobjopt

mrpt::nav::CMultiObjectiveMotionOptimizerBase::Ptr mrpt::nav::CAbstractPTGBasedReactive::m_multiobjopt

protectedinherited

Definition at line 410 of file CAbstractPTGBasedReactive.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::initialize(), mrpt::nav::CAbstractPTGBasedReactive::loadConfigFile(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), and mrpt::nav::CAbstractPTGBasedReactive::saveConfigFile().

◆ m_nav_cs

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

protectedinherited

mutex for all navigation methods

Definition at line 359 of file CAbstractNavigator.h.

◆ m_nav_waypoints_cs

std::recursive_mutex mrpt::nav::CWaypointsNavigator::m_nav_waypoints_cs

protectedinherited

Definition at line 144 of file CWaypointsNavigator.h.

Referenced by mrpt::nav::CWaypointsNavigator::cancel(), mrpt::nav::CWaypointsNavigator::navigateWaypoints(), mrpt::nav::CWaypointsNavigator::onNavigateCommandReceived(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

◆ m_navigationParams

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

protectedinherited

Current navigation parameters.

Definition at line 350 of file CAbstractNavigator.h.

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

◆ m_navigationState

TState mrpt::nav::CAbstractNavigator::m_navigationState {IDLE}

protectedinherited

Current internal state of navigator:

Definition at line 348 of file CAbstractNavigator.h.

◆ m_navProfiler

mrpt::system::CTimeLogger mrpt::nav::CAbstractNavigator::m_navProfiler

inherited

Initial value:

{false,

"mrpt::nav::CAbstractNavigator"}

Publicly available time profiling object.

Default: disabled

Definition at line 268 of file CAbstractNavigator.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), mrpt::nav::CAbstractNavigator::loadConfigFile(), mrpt::nav::CWaypointsNavigator::navigationStep(), mrpt::nav::CAbstractNavigator::navigationStep(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::nav::CReactiveNavigationSystem::STEP3_WSpaceToTPSpace(), mrpt::nav::CAbstractPTGBasedReactive::STEP8_GenerateLogRecord(), and mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds().

◆ m_pending_events

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

protectedinherited

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 289 of file CAbstractNavigator.h.

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

◆ m_prev_logfile

mrpt::io::CStream* mrpt::nav::CAbstractPTGBasedReactive::m_prev_logfile {nullptr}

protectedinherited

The current log file stream, or nullptr if not being used.

Definition at line 294 of file CAbstractPTGBasedReactive.h.

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

◆ m_ptgmultilevel

std::vector<TPTGmultilevel> mrpt::nav::CReactiveNavigationSystem3D::m_ptgmultilevel

private

The set of PTG-transformations to be used: indices are [ptg_index][height_index].

Definition at line 160 of file CReactiveNavigationSystem3D.h.

Referenced by checkCollisionWithLatestObstacles(), getPTG(), getPTG_count(), loadConfigFile(), saveConfigFile(), STEP1_InitPTGs(), STEP3_WSpaceToTPSpace(), and ~CReactiveNavigationSystem3D().

◆ m_PTGsMustBeReInitialized

bool mrpt::nav::CAbstractPTGBasedReactive::m_PTGsMustBeReInitialized {true}

protectedinherited

Definition at line 313 of file CAbstractPTGBasedReactive.h.

Referenced by mrpt::nav::CReactiveNavigationSystem::changeRobotCircularShapeRadius(), mrpt::nav::CReactiveNavigationSystem::changeRobotShape(), changeRobotShape(), loadConfigFile(), mrpt::nav::CAbstractPTGBasedReactive::loadConfigFile(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), and STEP1_InitPTGs().

◆ m_robot

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

protectedinherited

The navigator-robot interface.

Definition at line 353 of file CAbstractNavigator.h.

◆ m_robotShape

TRobotShape mrpt::nav::CReactiveNavigationSystem3D::m_robotShape

private

The robot 3D shape model.

Definition at line 156 of file CReactiveNavigationSystem3D.h.

Referenced by changeRobotShape(), checkCollisionWithLatestObstacles(), implementSenseObstacles(), loadConfigFile(), loggingGetWSObstaclesAndShape(), saveConfigFile(), STEP1_InitPTGs(), and STEP3_WSpaceToTPSpace().

◆ m_timelogger

mrpt::system::CTimeLogger mrpt::nav::CAbstractPTGBasedReactive::m_timelogger {false}

protectedinherited

A complete time logger.

See also: enableTimeLog()

Definition at line 312 of file CAbstractPTGBasedReactive.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CAbstractPTGBasedReactive::enableTimeLog(), mrpt::nav::CAbstractPTGBasedReactive::generate_vel_cmd(), mrpt::nav::CAbstractPTGBasedReactive::getTimeLogger(), mrpt::nav::CReactiveNavigationSystem::implementSenseObstacles(), implementSenseObstacles(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), STEP1_InitPTGs(), and mrpt::nav::CAbstractPTGBasedReactive::STEP8_GenerateLogRecord().

◆ m_timlog_delays

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

protectedinherited

Initial value:

{

true, "CAbstractNavigator::m_timlog_delays"}

Time logger to collect delay-related stats.

Definition at line 382 of file CAbstractNavigator.h.

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

◆ m_was_aligning

bool mrpt::nav::CWaypointsNavigator::m_was_aligning {false}

protectedinherited

Whether the last timestep was "is_aligning" in a waypoint with heading.

Definition at line 166 of file CWaypointsNavigator.h.

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

◆ m_waypoint_nav_status

TWaypointStatusSequence mrpt::nav::CWaypointsNavigator::m_waypoint_nav_status

protectedinherited

The latest waypoints navigation command and the up-to-date control status.

Definition at line 143 of file CWaypointsNavigator.h.

Referenced by mrpt::nav::CWaypointsNavigator::cancel(), mrpt::nav::CWaypointsNavigator::checkHasReachedTarget(), mrpt::nav::CWaypointsNavigator::getWaypointNavStatus(), mrpt::nav::CWaypointsNavigator::navigateWaypoints(), mrpt::nav::CWaypointsNavigator::onNavigateCommandReceived(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

◆ m_WS_filter

mrpt::maps::CPointCloudFilterBase::Ptr mrpt::nav::CAbstractPTGBasedReactive::m_WS_filter

protectedinherited

Default: none.

Definition at line 408 of file CAbstractPTGBasedReactive.h.

Referenced by mrpt::nav::CReactiveNavigationSystem::implementSenseObstacles(), and mrpt::nav::CAbstractPTGBasedReactive::loadConfigFile().

◆ m_WS_Obstacles_inlevels

std::vector<mrpt::maps::CSimplePointsMap> mrpt::nav::CReactiveNavigationSystem3D::m_WS_Obstacles_inlevels

private

One point cloud per 2.5D robot-shape-slice, coordinates relative to the robot local frame.

Definition at line 153 of file CReactiveNavigationSystem3D.h.

Referenced by checkCollisionWithLatestObstacles(), implementSenseObstacles(), loggingGetWSObstaclesAndShape(), and STEP3_WSpaceToTPSpace().

◆ m_WS_Obstacles_timestamp

mrpt::system::TTimeStamp mrpt::nav::CAbstractPTGBasedReactive::m_WS_Obstacles_timestamp {INVALID_TIMESTAMP}

protectedinherited

Definition at line 406 of file CAbstractPTGBasedReactive.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), and mrpt::nav::CAbstractPTGBasedReactive::STEP2_SenseObstacles().

◆ m_WS_Obstacles_unsorted

mrpt::maps::CSimplePointsMap mrpt::nav::CReactiveNavigationSystem3D::m_WS_Obstacles_unsorted

private

The unsorted set of obstacles from the sensors.

Definition at line 150 of file CReactiveNavigationSystem3D.h.

Referenced by implementSenseObstacles().

◆ meanExecutionPeriod

mrpt::math::LowPassFilter_IIR1 mrpt::nav::CAbstractPTGBasedReactive::meanExecutionPeriod {0.7, 1}

protectedinherited

Runtime estimation of execution period of the method.

Definition at line 321 of file CAbstractPTGBasedReactive.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::generate_vel_cmd(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), and mrpt::nav::CAbstractPTGBasedReactive::STEP8_GenerateLogRecord().

◆ meanExecutionTime

mrpt::math::LowPassFilter_IIR1 mrpt::nav::CAbstractPTGBasedReactive::meanExecutionTime {0.7, 1}

protectedinherited

Definition at line 318 of file CAbstractPTGBasedReactive.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), and mrpt::nav::CAbstractPTGBasedReactive::STEP8_GenerateLogRecord().

◆ meanTotalExecutionTime

mrpt::math::LowPassFilter_IIR1 mrpt::nav::CAbstractPTGBasedReactive::meanTotalExecutionTime {0.7, 1}

protectedinherited

Definition at line 319 of file CAbstractPTGBasedReactive.h.

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

◆ params_abstract_navigator

TAbstractNavigatorParams mrpt::nav::CAbstractNavigator::params_abstract_navigator

inherited

Definition at line 258 of file CAbstractNavigator.h.

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

◆ params_abstract_ptg_navigator

TAbstractPTGNavigatorParams mrpt::nav::CAbstractPTGBasedReactive::params_abstract_ptg_navigator

inherited

Definition at line 234 of file CAbstractPTGBasedReactive.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), mrpt::nav::CAbstractPTGBasedReactive::changeCurrentRobotSpeedLimits(), mrpt::nav::CAbstractPTGBasedReactive::generate_vel_cmd(), mrpt::nav::CAbstractPTGBasedReactive::getCurrentRobotSpeedLimits(), implementSenseObstacles(), mrpt::nav::CAbstractPTGBasedReactive::loadConfigFile(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::nav::CAbstractPTGBasedReactive::saveConfigFile(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), STEP1_InitPTGs(), and mrpt::nav::CReactiveNavigationSystem::STEP3_WSpaceToTPSpace().

◆ params_waypoints_navigator

TWaypointsNavigatorParams mrpt::nav::CWaypointsNavigator::params_waypoints_navigator

inherited

Definition at line 133 of file CWaypointsNavigator.h.

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

◆ tictac

mrpt::system::CTicTac mrpt::nav::CAbstractPTGBasedReactive::tictac

protectedinherited

Definition at line 317 of file CAbstractPTGBasedReactive.h.

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

◆ tim_changeSpeed_avr

mrpt::math::LowPassFilter_IIR1 mrpt::nav::CAbstractPTGBasedReactive::tim_changeSpeed_avr {0.7}

protectedinherited

Definition at line 322 of file CAbstractPTGBasedReactive.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), and mrpt::nav::CAbstractPTGBasedReactive::STEP8_GenerateLogRecord().

◆ timerForExecutionPeriod

mrpt::system::CTicTac mrpt::nav::CAbstractPTGBasedReactive::timerForExecutionPeriod

protectedinherited

Definition at line 309 of file CAbstractPTGBasedReactive.h.

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

◆ timoff_curPoseAndSpeed_avr

mrpt::math::LowPassFilter_IIR1 mrpt::nav::CAbstractPTGBasedReactive::timoff_curPoseAndSpeed_avr {0.7}

protectedinherited

Definition at line 323 of file CAbstractPTGBasedReactive.h.

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

◆ timoff_obstacles_avr

mrpt::math::LowPassFilter_IIR1 mrpt::nav::CAbstractPTGBasedReactive::timoff_obstacles_avr {0.7}

protectedinherited

Definition at line 323 of file CAbstractPTGBasedReactive.h.

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

◆ timoff_sendVelCmd_avr

mrpt::math::LowPassFilter_IIR1 mrpt::nav::CAbstractPTGBasedReactive::timoff_sendVelCmd_avr {0.7}

protectedinherited

Definition at line 324 of file CAbstractPTGBasedReactive.h.

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

◆ totalExecutionTime

mrpt::system::CTicTac mrpt::nav::CAbstractPTGBasedReactive::totalExecutionTime

protectedinherited

Definition at line 317 of file CAbstractPTGBasedReactive.h.

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

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

◆ CReactiveNavigationSystem3D()

◆ ~CReactiveNavigationSystem3D()

Member Function Documentation

◆ build_movement_candidate()

◆ calc_move_candidate_scores()

◆ cancel()

◆ changeCurrentRobotSpeedLimits()

◆ changeRobotShape()

◆ changeSpeeds()

◆ changeSpeedsNOP()

◆ checkCollisionWithLatestObstacles()

◆ checkHasReachedTarget()

◆ dispatchPendingNavEvents()

◆ doEmergencyStop()

◆ dumpLogToConsole()

◆ enableKeepLogRecords()

◆ enableLogFile()

◆ enableRethrowNavExceptions()

◆ enableTimeLog()

◆ generate_vel_cmd()

◆ getCurrentRobotSpeedLimits()

◆ getCurrentState()

◆ getDelaysTimeLogger()

◆ getErrorReason()

◆ getFrameTF()

◆ getHoloMethod()

◆ getLastLogRecord()

◆ getLogAsString() [1/2]

◆ getLogAsString() [2/2]

◆ getLogFileDirectory()

◆ getLoggerLastMsg() [1/2]

◆ getLoggerLastMsg() [2/2]

◆ getLoggerName()

◆ getMinLoggingLevel()

◆ getPTG() [1/2]

◆ getPTG() [2/2]

◆ getPTG_count()

◆ getTargetApproachSlowDownDistance()

◆ getTimeLogger()

◆ getWaypointNavStatus() [1/2]

◆ getWaypointNavStatus() [2/2]

◆ impl_waypoint_is_reachable()

◆ implementSenseObstacles()

◆ initialize()

◆ isLoggingLevelVisible()

◆ isRelativePointReachable()

◆ isRethrowNavExceptionsEnabled()

◆ loadConfigFile()

◆ logCond()

◆ logDeregisterCallback()

◆ logFmt()

◆ loggerReset()

◆ logging_levels_to_colors()

◆ logging_levels_to_names()

◆ loggingGetWSObstaclesAndShape()

◆ logRegisterCallback()

◆ logStr()

◆ navigate()

◆ navigateWaypoints()

◆ navigationStep()

◆ onNavigateCommandReceived()

◆ onStartNewNavigation()

◆ performNavigationStep()

◆ performNavigationStepNavigating()

◆ preDestructor()