CAbstractHolonomicReactiveMethod.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#include "nav-precomp.h"  // Precomp header

#include <mrpt/nav/holonomic/CAbstractHolonomicReactiveMethod.h>
#include <mrpt/utils/CStream.h>

using namespace mrpt;
using namespace mrpt::utils;
using namespace mrpt::nav;

IMPLEMENTS_VIRTUAL_SERIALIZABLE(
        CAbstractHolonomicReactiveMethod, CSerializable, mrpt::nav)

CAbstractHolonomicReactiveMethod::CAbstractHolonomicReactiveMethod(
        const std::string& defaultCfgSectionName)
        : m_associatedPTG(nullptr),
          m_enableApproachTargetSlowDown(true),
          m_cfgSectionName(defaultCfgSectionName)
{
}
CAbstractHolonomicReactiveMethod::~CAbstractHolonomicReactiveMethod() {}
/** Defines the name of the section (Default: "FULL_EVAL_CONFIG") */
void CAbstractHolonomicReactiveMethod::setConfigFileSectionName(
        const std::string& sectName)
{
        m_cfgSectionName = sectName;
}
std::string CAbstractHolonomicReactiveMethod::getConfigFileSectionName() const
{
        return m_cfgSectionName;
}

void CAbstractHolonomicReactiveMethod::setAssociatedPTG(
        mrpt::nav::CParameterizedTrajectoryGenerator* ptg)
{
        m_associatedPTG = ptg;
}
mrpt::nav::CParameterizedTrajectoryGenerator*
        CAbstractHolonomicReactiveMethod::getAssociatedPTG() const
{
        return m_associatedPTG;
}

CAbstractHolonomicReactiveMethod::Ptr CAbstractHolonomicReactiveMethod::Factory(
        const std::string& className) noexcept
{
        try
        {
                mrpt::utils::registerAllPendingClasses();

                // Factory:
                const mrpt::utils::TRuntimeClassId* classId =
                        mrpt::utils::findRegisteredClass(className);
                if (!classId) return nullptr;

                return CAbstractHolonomicReactiveMethod::Ptr(
                        dynamic_cast<CAbstractHolonomicReactiveMethod*>(
                                classId->createObject()));
        }
        catch (...)
        {
                return nullptr;
        }
}

CAbstractHolonomicReactiveMethod::NavInput::NavInput()
        : targets(), maxRobotSpeed(1.0), maxObstacleDist(1.0), clearance(nullptr)
{
}

CAbstractHolonomicReactiveMethod::NavOutput::NavOutput()
        : desiredDirection(0), desiredSpeed(0)
{
}