Detailed Description

The pure virtual interface between a real or simulated robot and any CAbstractNavigator-derived class.

The user must define a new class derived from CRobot2NavInterface and reimplement all pure virtual and the desired virtual methods according to the documentation in this class.

[New in MRPT 1.5.0] This class does not make assumptions about the kinematic model of the robot, so it can work with either Ackermann, differential-driven or holonomic robots. It will depend on the used PTGs, so checkout each PTG documentation for the lenght and meaning of velocity commands.

If used for a simulator, users may prefer to inherit from one of these classes, which already provide partial implementations:

See also: CReactiveNavigationSystem, CAbstractNavigator

Definition at line 43 of file CRobot2NavInterface.h.

#include <mrpt/nav/reactive/CRobot2NavInterface.h>

Inheritance diagram for mrpt::nav::CRobot2NavInterface:

Public Member Functions
	CRobot2NavInterface ()

	~CRobot2NavInterface () override

virtual bool	getCurrentPoseAndSpeeds (mrpt::math::TPose2D &curPose, mrpt::math::TTwist2D &curVelGlobal, mrpt::system::TTimeStamp &timestamp, mrpt::math::TPose2D &curOdometry, std::string &frame_id)=0
	Get the current pose and velocity of the robot. More...

virtual bool	changeSpeeds (const mrpt::kinematics::CVehicleVelCmd &vel_cmd)=0
	Sends a velocity command to the robot. More...

virtual bool	changeSpeedsNOP ()
	Just like changeSpeeds(), but will be called when the last velocity command is still the preferred solution, so there is no need to change that past command. More...

virtual bool	stop (bool isEmergencyStop=true)=0
	Stop the robot right now. More...

virtual mrpt::kinematics::CVehicleVelCmd::Ptr	getEmergencyStopCmd ()=0
	Gets the emergency stop command for the current robot. More...

virtual mrpt::kinematics::CVehicleVelCmd::Ptr	getStopCmd ()=0
	Gets the emergency stop command for the current robot. More...

virtual mrpt::kinematics::CVehicleVelCmd::Ptr	getAlignCmd (const double relative_heading_radians)
	Gets a motion command to make the robot to align with a given relative heading, without translating. More...

virtual bool	startWatchdog (float T_ms)
	Start the watchdog timer of the robot platform, if any, for maximum expected delay between consecutive calls to changeSpeeds(). More...

virtual bool	stopWatchdog ()
	Stop the watchdog timer. More...

virtual bool	senseObstacles (mrpt::maps::CSimplePointsMap &obstacles, mrpt::system::TTimeStamp &timestamp)=0
	Return the current set of obstacle points, as seen from the local coordinate frame of the robot. More...

virtual double	getNavigationTime ()
	Returns the number of seconds ellapsed since the constructor of this class was invoked, or since the last call of resetNavigationTimer(). More...

virtual void	resetNavigationTimer ()
	see getNavigationTime() More...

Navigation event callbacks
virtual void	sendNavigationStartEvent ()
	Callback: Start of navigation command. More...

virtual void	sendNavigationEndEvent ()
	Callback: End of navigation command (reach of single goal, or final waypoint of waypoint list) More...

virtual void	sendWaypointReachedEvent (int waypoint_index, bool reached_nSkipped)
	Callback: Reached an intermediary waypoint in waypoint list navigation. More...

virtual void	sendNewWaypointTargetEvent (int waypoint_index)
	Callback: Heading towards a new intermediary/final waypoint in waypoint list navigation. More...

virtual void	sendNavigationEndDueToErrorEvent ()
	Callback: Error asking sensory data from robot or sending motor commands. More...

virtual void	sendWaySeemsBlockedEvent ()
	Callback: No progression made towards target for a predefined period of time. More...

virtual void	sendApparentCollisionEvent ()
	Callback: Apparent collision event (i.e. More...

virtual void	sendCannotGetCloserToBlockedTargetEvent ()
	Callback: Target seems to be blocked by an obstacle. 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...

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

Private Attributes
mrpt::system::CTicTac	m_navtime
	For getNavigationTime. 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...

Constructor & Destructor Documentation

◆ CRobot2NavInterface()

CRobot2NavInterface::CRobot2NavInterface ( )

Definition at line 16 of file CRobot2NavInterface.cpp.

◆ ~CRobot2NavInterface()

CRobot2NavInterface::~CRobot2NavInterface ( )

overridedefault

Member Function Documentation

◆ changeSpeeds()

virtual bool mrpt::nav::CRobot2NavInterface::changeSpeeds ( const mrpt::kinematics::CVehicleVelCmd & vel_cmd )

pure virtual

Sends a velocity command to the robot.

The number components in each command depends on children classes of mrpt::kinematics::CVehicleVelCmd. One robot may accept one or more different CVehicleVelCmd classes. This method resets the watchdog timer (that may be or may be not implemented in a particular robotic platform) started with startWatchdog()

Returns: false on any error.

See also: startWatchdog

Implemented in mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven, and mrpt::nav::CRobot2NavInterfaceForSimulator_Holo.

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

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◆ changeSpeedsNOP()

bool CRobot2NavInterface::changeSpeedsNOP ( )

virtual

Just like changeSpeeds(), but will be called when the last velocity command is still the preferred solution, so there is no need to change that past command.

The unique effect of this callback would be resetting the watchdog timer.

Returns: false on any error.

See also: changeSpeeds(), startWatchdog()

Definition at line 21 of file CRobot2NavInterface.cpp.

References MRPT_LOG_THROTTLE_INFO.

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

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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.

◆ getAlignCmd()

mrpt::kinematics::CVehicleVelCmd::Ptr CRobot2NavInterface::getAlignCmd ( const double relative_heading_radians )

virtual

Gets a motion command to make the robot to align with a given relative heading, without translating.

Only for circular robots that can rotate in place; otherwise, return an empty smart pointer to indicate that the operation is not possible (this is what the default implementation does).

Reimplemented in mrpt::nav::CRobot2NavInterfaceForSimulator_Holo.

Definition at line 30 of file CRobot2NavInterface.cpp.

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

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◆ getCurrentPoseAndSpeeds()

virtual bool mrpt::nav::CRobot2NavInterface::getCurrentPoseAndSpeeds	(	mrpt::math::TPose2D &	curPose,
		mrpt::math::TTwist2D &	curVelGlobal,
		mrpt::system::TTimeStamp &	timestamp,
		mrpt::math::TPose2D &	curOdometry,
		std::string &	frame_id
	)

pure virtual

Get the current pose and velocity of the robot.

The implementation should not take too much time to return, so if it might take more than ~10ms to ask the robot for the instantaneous data, it may be good enough to return the latest values from a cache which is updated in a parallel thread.

Returns: false on any error retrieving these values from the robot.

Parameters

curPose	(output) The latest robot pose (typically from a mapping/localization module), in world coordinates. (x,y: meters, phi: radians)
curVelGlobal	(output) The latest robot velocity vector, in world coordinates. (vx,vy: m/s, omega: rad/s)
timestamp	(output) The timestamp for the read pose and velocity values. Use mrpt::system::now() unless you have something more accurate.
curOdometry	(output) The latest robot raw odometry pose; may have long-time drift should be more locally consistent than curPose (x,y: meters, phi: radians)
frame_id	(output) ID of the coordinate frame for curPose. Default is not modified is "map". [Only for future support to submapping,etc.]

Implemented in mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven, and mrpt::nav::CRobot2NavInterfaceForSimulator_Holo.

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

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◆ getEmergencyStopCmd()

virtual mrpt::kinematics::CVehicleVelCmd::Ptr mrpt::nav::CRobot2NavInterface::getEmergencyStopCmd ( )

pure virtual

Gets the emergency stop command for the current robot.

Returns: the emergency stop command

Implemented in mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven, and mrpt::nav::CRobot2NavInterfaceForSimulator_Holo.

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

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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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◆ 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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◆ getNavigationTime()

double CRobot2NavInterface::getNavigationTime ( )

virtual

Returns the number of seconds ellapsed since the constructor of this class was invoked, or since the last call of resetNavigationTimer().

This will be normally wall-clock time, except in simulators where this method will return simulation time.

Reimplemented in mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven, and mrpt::nav::CRobot2NavInterfaceForSimulator_Holo.

Definition at line 119 of file CRobot2NavInterface.cpp.

References m_navtime, and mrpt::system::CTicTac::Tac().

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

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◆ getStopCmd()

virtual mrpt::kinematics::CVehicleVelCmd::Ptr mrpt::nav::CRobot2NavInterface::getStopCmd ( )

pure virtual

Gets the emergency stop command for the current robot.

Returns: the emergency stop command

Implemented in mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven, and mrpt::nav::CRobot2NavInterfaceForSimulator_Holo.

◆ 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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◆ 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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◆ 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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◆ resetNavigationTimer()

void CRobot2NavInterface::resetNavigationTimer ( )

virtual

see getNavigationTime()

Reimplemented in mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven, and mrpt::nav::CRobot2NavInterfaceForSimulator_Holo.

Definition at line 121 of file CRobot2NavInterface.cpp.

References m_navtime, and mrpt::system::CTicTac::Tic().

Referenced by mrpt::nav::CNavigatorManualSequence::initialize().

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◆ sendApparentCollisionEvent()

void CRobot2NavInterface::sendApparentCollisionEvent ( )

virtual

Callback: Apparent collision event (i.e.

there is at least one obstacle point inside the robot shape)

Definition at line 102 of file CRobot2NavInterface.cpp.

References MRPT_LOG_THROTTLE_INFO.

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

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◆ sendCannotGetCloserToBlockedTargetEvent()

void CRobot2NavInterface::sendCannotGetCloserToBlockedTargetEvent ( )

virtual

Callback: Target seems to be blocked by an obstacle.

Definition at line 110 of file CRobot2NavInterface.cpp.

References MRPT_LOG_THROTTLE_INFO.

◆ sendNavigationEndDueToErrorEvent()

void CRobot2NavInterface::sendNavigationEndDueToErrorEvent ( )

virtual

Callback: Error asking sensory data from robot or sending motor commands.

Definition at line 86 of file CRobot2NavInterface.cpp.

References MRPT_LOG_THROTTLE_INFO.

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

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◆ sendNavigationEndEvent()

void CRobot2NavInterface::sendNavigationEndEvent ( )

virtual

Callback: End of navigation command (reach of single goal, or final waypoint of waypoint list)

Definition at line 63 of file CRobot2NavInterface.cpp.

References MRPT_LOG_INFO.

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

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◆ sendNavigationStartEvent()

void CRobot2NavInterface::sendNavigationStartEvent ( )

virtual

Callback: Start of navigation command.

Definition at line 56 of file CRobot2NavInterface.cpp.

References MRPT_LOG_INFO.

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

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◆ sendNewWaypointTargetEvent()

void CRobot2NavInterface::sendNewWaypointTargetEvent ( int waypoint_index )

virtual

Callback: Heading towards a new intermediary/final waypoint in waypoint list navigation.

Definition at line 79 of file CRobot2NavInterface.cpp.

References MRPT_LOG_INFO_STREAM.

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

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◆ sendWaypointReachedEvent()

void CRobot2NavInterface::sendWaypointReachedEvent	(	int	waypoint_index,
		bool	reached_nSkipped
	)

virtual

Callback: Reached an intermediary waypoint in waypoint list navigation.

reached_nSkipped will be true if the waypoint was physically reached; false if it was actually "skipped".

Definition at line 70 of file CRobot2NavInterface.cpp.

References MRPT_LOG_INFO_STREAM.

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

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◆ sendWaySeemsBlockedEvent()

void CRobot2NavInterface::sendWaySeemsBlockedEvent ( )

virtual

Callback: No progression made towards target for a predefined period of time.

Definition at line 94 of file CRobot2NavInterface.cpp.

References MRPT_LOG_THROTTLE_INFO.

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

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◆ senseObstacles()

virtual bool mrpt::nav::CRobot2NavInterface::senseObstacles	(	mrpt::maps::CSimplePointsMap &	obstacles,
		mrpt::system::TTimeStamp &	timestamp
	)

pure virtual

Return the current set of obstacle points, as seen from the local coordinate frame of the robot.

Returns: false on any error.

Parameters

[out]	obstacles	A representation of obstacles in robot-centric coordinates.
[out]	timestamp	The timestamp for the read obstacles. Use mrpt::system::now() unless you have something more accurate.

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

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◆ 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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◆ 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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◆ startWatchdog()

bool CRobot2NavInterface::startWatchdog ( float T_ms )

virtual

Start the watchdog timer of the robot platform, if any, for maximum expected delay between consecutive calls to changeSpeeds().

Parameters

T_ms	Period, in ms.

Returns: false on any error.

Definition at line 37 of file CRobot2NavInterface.cpp.

References MRPT_LOG_INFO_FMT.

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

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◆ stop()

virtual bool mrpt::nav::CRobot2NavInterface::stop ( bool isEmergencyStop = true )

pure virtual

Stop the robot right now.

Parameters

[in] isEmergencyStop true if stop is due to some unexpected error. false if "stop" happens as part of a normal operation (e.g. target reached).

Returns: false on any error.

Implemented in mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven, and mrpt::nav::CRobot2NavInterfaceForSimulator_Holo.

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

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◆ stopWatchdog()

bool CRobot2NavInterface::stopWatchdog ( )

virtual

Stop the watchdog timer.

Returns: false on any error.

See also: startWatchdog

Definition at line 47 of file CRobot2NavInterface.cpp.

References MRPT_LOG_INFO.

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

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◆ writeLogToFile()

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

inherited

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

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

See also: dumpToConsole, getAsString

Definition at line 165 of file COutputLogger.cpp.

References ASSERTMSG_, and mrpt::format().

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Member Data Documentation

◆ logging_enable_console_output

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

inherited

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

Definition at line 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_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_navtime

mrpt::system::CTicTac mrpt::nav::CRobot2NavInterface::m_navtime

private

For getNavigationTime.

Definition at line 196 of file CRobot2NavInterface.h.

Referenced by getNavigationTime(), and resetNavigationTimer().

Detailed Description

Public Member Functions

Static Public Member Functions

Protected Attributes

Private Attributes

Logging methods

Constructor & Destructor Documentation

◆ CRobot2NavInterface()

◆ ~CRobot2NavInterface()

Member Function Documentation

◆ changeSpeeds()

◆ changeSpeedsNOP()

◆ dumpLogToConsole()

◆ getAlignCmd()

◆ getCurrentPoseAndSpeeds()

◆ getEmergencyStopCmd()

◆ getLogAsString() [1/2]

◆ getLogAsString() [2/2]

◆ getLoggerLastMsg() [1/2]

◆ getLoggerLastMsg() [2/2]

◆ getLoggerName()

◆ getMinLoggingLevel()

◆ getNavigationTime()

◆ getStopCmd()

◆ isLoggingLevelVisible()

◆ logCond()

◆ logDeregisterCallback()

◆ logFmt()

◆ loggerReset()

◆ logging_levels_to_colors()

◆ logging_levels_to_names()

◆ logRegisterCallback()

◆ logStr()

◆ resetNavigationTimer()

◆ sendApparentCollisionEvent()

◆ sendCannotGetCloserToBlockedTargetEvent()

◆ sendNavigationEndDueToErrorEvent()

◆ sendNavigationEndEvent()

◆ sendNavigationStartEvent()

◆ sendNewWaypointTargetEvent()

◆ sendWaypointReachedEvent()

◆ sendWaySeemsBlockedEvent()

◆ senseObstacles()

◆ setLoggerName()

◆ setMinLoggingLevel()

◆ setVerbosityLevel()

◆ startWatchdog()

◆ stop()

◆ stopWatchdog()

◆ writeLogToFile()

Member Data Documentation

◆ logging_enable_console_output

◆ logging_enable_keep_record

◆ m_min_verbosity_level

◆ m_navtime