class mrpt::nav::CHolonomicND

Overview

An implementation of the holonomic reactive navigation method “Nearness-Diagram”.

The algorithm “Nearness-Diagram” was proposed in:

Nearness diagram (ND) navigation: collision avoidance in troublesome scenarios, IEEE Transactions on Robotics and Automation, Minguez, J. and Montano, L., vol. 20, no. 1, pp. 45-59, 2004.

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

# Section name can be changed via setConfigFileSectionName()
[ND_CONFIG]
factorWeights=1.0 0.5 2.0 0.4
// 1: Free space
// 2: Dist. in sectors
// 3: Closer to target (euclidean)
// 4: Hysteresis
WIDE_GAP_SIZE_PERCENT            = 0.25
MAX_SECTOR_DIST_FOR_D2_PERCENT   = 0.25
RISK_EVALUATION_SECTORS_PERCENT  = 0.25
RISK_EVALUATION_DISTANCE         = 0.15  // In normalized ps-meters [0,1]
TARGET_SLOW_APPROACHING_DISTANCE = 0.60  // For stopping gradually
TOO_CLOSE_OBSTACLE               = 0.02  // In normalized ps-meters

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

class CHolonomicND: public mrpt::nav::CAbstractHolonomicReactiveMethod
{
public:
    // typedefs

    typedef std::vector<TGap> TGapArray;

    // enums

    enum TSituations;

    // structs

    struct TGap;
    struct TOptions;

    // fields

    TOptions options;

    // construction

    CHolonomicND(const mrpt::config::CConfigFileBase* INI_FILE = nullptr);

    // methods

    virtual void navigate(const NavInput& ni, NavOutput& no);
    virtual void initialize(const mrpt::config::CConfigFileBase& INI_FILE);
    virtual void saveConfigFile(mrpt::config::CConfigFileBase& c) const;
    virtual double getTargetApproachSlowDownDistance() const;
    virtual void setTargetApproachSlowDownDistance(const double dist);
};

Inherited Members

public:
    // structs

    struct NavInput;
    struct NavOutput;

    // methods

    mrpt::rtti::CObject::Ptr duplicateGetSmartPtr() const;
    static CAbstractHolonomicReactiveMethod* Create(const std::string& className);
    virtual void navigate(const NavInput& ni, NavOutput& no) = 0;
    virtual void initialize(const mrpt::config::CConfigFileBase& c) = 0;
    virtual void saveConfigFile(mrpt::config::CConfigFileBase& c) const = 0;
    void setConfigFileSectionName(const std::string& sectName);
    std::string getConfigFileSectionName() const;
    virtual double getTargetApproachSlowDownDistance() const = 0;
    virtual void setTargetApproachSlowDownDistance(const double dist) = 0;
    void setAssociatedPTG(mrpt::nav::CParameterizedTrajectoryGenerator* ptg);
    mrpt::nav::CParameterizedTrajectoryGenerator* getAssociatedPTG() const;
    virtual mxArray* writeToMatlab() const;
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    virtual CObject* clone() const = 0;

Fields

TOptions options

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

Construction

CHolonomicND(const mrpt::config::CConfigFileBase* INI_FILE = nullptr)

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

Methods

virtual void navigate(const NavInput& ni, NavOutput& no)

Invokes the holonomic navigation algorithm itself.

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

virtual void initialize(const mrpt::config::CConfigFileBase& INI_FILE)

Initialize the parameters of the navigator.

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

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

virtual double getTargetApproachSlowDownDistance() const

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