class mrpt::nav::CNavigatorManualSequence

Overview

“Fake navigator” for tests: it just sends out a pre-programmed sequence of commands to the robot.

For a short discussion of the API, see CNavigatorVirtualBase

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

class CNavigatorManualSequence: public mrpt::nav::CAbstractNavigator
{
public:
    // structs

    struct TVelCmd;

    // fields

    std::map<double, TVelCmd> programmed_orders;

    // construction

    CNavigatorManualSequence(CRobot2NavInterface& react_iterf_impl);

    // methods

    virtual void loadConfigFile(const mrpt::config::CConfigFileBase& c);
    virtual void saveConfigFile(mrpt::config::CConfigFileBase& c) const;
    virtual void initialize();
    virtual void navigationStep();
};

Inherited Members

public:
    // enums

    enum TErrorCode;
    enum TState;

    // structs

    struct TMsg;
    struct TAbstractNavigatorParams;
    struct TErrorReason;
    struct TNavigationParams;
    struct TNavigationParamsBase;
    struct TRobotPoseVel;
    struct TargetInfo;

    // fields

    mrpt::system::CTimeLogger m_navProfiler {        false, "mrpt::nav::CAbstractNavigator"};

    // methods

    virtual void loadConfigFile(const mrpt::config::CConfigFileBase& c);
    virtual void saveConfigFile(mrpt::config::CConfigFileBase& c) const;
    virtual void initialize() = 0;
    virtual void navigationStep();
    virtual void navigate(const TNavigationParams* params);
    virtual void cancel();
    virtual void resume();
    virtual void suspend();
    virtual void resetNavError();
    TState getCurrentState() const;
    const TErrorReason& getErrorReason() const;
    void setFrameTF(const std::weak_ptr<mrpt::poses::FrameTransformer<2>>& frame_tf);
    std::weak_ptr<mrpt::poses::FrameTransformer<2>> getFrameTF() const;
    void enableRethrowNavExceptions(const bool enable);
    const mrpt::system::CTimeLogger& getDelaysTimeLogger() const;

Fields

std::map<double, TVelCmd> programmed_orders

map [time_in_secs_since_beginning] -> orders.

Methods

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

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.

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

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.

virtual void initialize()

Must be called for loading collision grids, etc.

before invoking any navigation command

virtual void navigationStep()

Overriden in this class to ignore the cancel/pause/…

commands