Detailed Description

A base class for holonomic reactive navigation methods.

See also: CHolonomicVFF,CHolonomicND,CHolonomicFullEval, CReactiveNavigationSystem

Definition at line 32 of file CAbstractHolonomicReactiveMethod.h.

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

Inheritance diagram for mrpt::nav::CAbstractHolonomicReactiveMethod:

Classes
struct	NavInput
	Input parameters for CAbstractHolonomicReactiveMethod::navigate() More...

struct	NavOutput
	Output for CAbstractHolonomicReactiveMethod::navigate() More...

Public Member Functions
virtual void	navigate (const NavInput &ni, NavOutput &no)=0
	Invokes the holonomic navigation algorithm itself. More...

	CAbstractHolonomicReactiveMethod (const std::string &defaultCfgSectionName)
	ctor More...

virtual	~CAbstractHolonomicReactiveMethod ()
	virtual dtor More...

virtual void	initialize (const mrpt::utils::CConfigFileBase &c)=0
	Initialize the parameters of the navigator, reading from the default section name (see derived classes) or the one set via setConfigFileSectionName() More...

virtual void	saveConfigFile (mrpt::utils::CConfigFileBase &c) const =0
	saves all available parameters, in a forma loadable by `initialize()` More...

void	setConfigFileSectionName (const std::string &sectName)
	Defines the name of the section used in initialize() More...

std::string	getConfigFileSectionName () const
	Gets the name of the section used in initialize() More...

virtual double	getTargetApproachSlowDownDistance () const =0
	Returns the actual value of this parameter [m], as set via the children class options structure. More...

virtual void	setTargetApproachSlowDownDistance (const double dist)=0
	Sets the actual value of this parameter [m]. More...

void	setAssociatedPTG (mrpt::nav::CParameterizedTrajectoryGenerator *ptg)
	Optionally, sets the associated PTG, just in case a derived class requires this info (not required for methods where the robot kinematics are totally abstracted) More...

mrpt::nav::CParameterizedTrajectoryGenerator *	getAssociatedPTG () const
	Returns the pointer set by setAssociatedPTG() More...

void	enableApproachTargetSlowDown (bool enable)

virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a `mxArray` Matlab object, typically a MATLAB `struct` whose contents are documented in each derived class. More...

virtual CObject *	clone () const =0
	Returns a deep copy (clone) of the object, indepently of its class. More...

RTTI classes and functions
mrpt::utils::CObject::Ptr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...

Static Public Member Functions
static CAbstractHolonomicReactiveMethod::Ptr	Factory (const std::string &className) noexcept

static CAbstractHolonomicReactiveMethod *	Create (const std::string &className) noexcept
	Class factory from class name, e.g. More...

Protected Member Functions
virtual void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const =0
	Introduces a pure virtual method responsible for writing to a CStream. More...

virtual void	readFromStream (mrpt::utils::CStream &in, int version)=0
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...

Protected Attributes
mrpt::nav::CParameterizedTrajectoryGenerator *	m_associatedPTG
	If applicable, this will contain the argument of the most recent call to setAssociatedPTG() More...

bool	m_enableApproachTargetSlowDown
	Whether to decrease speed when approaching target. More...

Private Attributes
std::string	m_cfgSectionName
	used in setConfigFileSectionName(), initialize() More...

RTTI stuff
using	Ptr = std::shared_ptr< CAbstractHolonomicReactiveMethod >

using	ConstPtr = std::shared_ptr< const CAbstractHolonomicReactiveMethod >

static const mrpt::utils::TRuntimeClassId	runtimeClassId

class	mrpt::utils::CStream

static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()

virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

static const mrpt::utils::TRuntimeClassId &	GetRuntimeClassIdStatic ()

Member Typedef Documentation

◆ ConstPtr

using mrpt::nav::CAbstractHolonomicReactiveMethod::ConstPtr = std::shared_ptr<const CAbstractHolonomicReactiveMethod >

Definition at line 34 of file CAbstractHolonomicReactiveMethod.h.

◆ Ptr

using mrpt::nav::CAbstractHolonomicReactiveMethod::Ptr = std::shared_ptr< CAbstractHolonomicReactiveMethod >

Definition at line 34 of file CAbstractHolonomicReactiveMethod.h.

Constructor & Destructor Documentation

◆ CAbstractHolonomicReactiveMethod()

mrpt::nav::CAbstractHolonomicReactiveMethod::CAbstractHolonomicReactiveMethod ( const std::string & defaultCfgSectionName )

ctor

◆ ~CAbstractHolonomicReactiveMethod()

CAbstractHolonomicReactiveMethod::~CAbstractHolonomicReactiveMethod ( )

virtual

virtual dtor

Definition at line 29 of file CAbstractHolonomicReactiveMethod.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::nav::CAbstractHolonomicReactiveMethod::_GetBaseClass ( )

staticprotected

◆ clone()

virtual CObject* mrpt::utils::CObject::clone ( ) const

pure virtualinherited

Returns a deep copy (clone) of the object, indepently of its class.

Referenced by mrpt::utils::CObject::duplicateGetSmartPtr(), mrpt::maps::CSimpleMap::insert(), mrpt::obs::CActionCollection::insert(), and mrpt::poses::CPoseRandomSampler::setPosePDF().

Here is the caller graph for this function:

◆ Create()

static CAbstractHolonomicReactiveMethod* mrpt::nav::CAbstractHolonomicReactiveMethod::Create ( const std::string & className )

staticnoexcept

Class factory from class name, e.g.

"CHolonomicVFF", etc.

Exceptions

std::logic_error On invalid or missing parameters.

◆ enableApproachTargetSlowDown()

void mrpt::nav::CAbstractHolonomicReactiveMethod::enableApproachTargetSlowDown ( bool enable )

inline

Definition at line 121 of file CAbstractHolonomicReactiveMethod.h.

References m_enableApproachTargetSlowDown.

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

Here is the caller graph for this function:

◆ Factory()

CAbstractHolonomicReactiveMethod::Ptr CAbstractHolonomicReactiveMethod::Factory ( const std::string & className )

staticnoexcept

Definition at line 52 of file CAbstractHolonomicReactiveMethod.cpp.

References mrpt::utils::TRuntimeClassId::createObject(), mrpt::utils::findRegisteredClass(), and mrpt::utils::registerAllPendingClasses().

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

Here is the call graph for this function:

Here is the caller graph for this function:

◆ getAssociatedPTG()

mrpt::nav::CParameterizedTrajectoryGenerator * CAbstractHolonomicReactiveMethod::getAssociatedPTG ( ) const

Returns the pointer set by setAssociatedPTG()

Definition at line 47 of file CAbstractHolonomicReactiveMethod.cpp.

References m_associatedPTG.

Referenced by mrpt::nav::CHolonomicFullEval::evalSingleTarget(), and mrpt::nav::CHolonomicFullEval::navigate().

Here is the caller graph for this function:

◆ getConfigFileSectionName()

std::string CAbstractHolonomicReactiveMethod::getConfigFileSectionName ( ) const

Gets the name of the section used in initialize()

Definition at line 36 of file CAbstractHolonomicReactiveMethod.cpp.

References m_cfgSectionName.

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::nav::CAbstractHolonomicReactiveMethod::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

Reimplemented in mrpt::nav::CHolonomicFullEval, mrpt::nav::CHolonomicND, and mrpt::nav::CHolonomicVFF.

◆ GetRuntimeClassIdStatic()

static const mrpt::utils::TRuntimeClassId& mrpt::nav::CAbstractHolonomicReactiveMethod::GetRuntimeClassIdStatic ( )

static

◆ getTargetApproachSlowDownDistance()

virtual double mrpt::nav::CAbstractHolonomicReactiveMethod::getTargetApproachSlowDownDistance ( ) const

pure virtual

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

See also: setTargetApproachSlowDownDistance()

Implemented in mrpt::nav::CHolonomicFullEval, mrpt::nav::CHolonomicND, and mrpt::nav::CHolonomicVFF.

◆ initialize()

virtual void mrpt::nav::CAbstractHolonomicReactiveMethod::initialize ( const mrpt::utils::CConfigFileBase & c )

pure virtual

Initialize the parameters of the navigator, reading from the default section name (see derived classes) or the one set via setConfigFileSectionName()

Implemented in mrpt::nav::CHolonomicND, mrpt::nav::CHolonomicFullEval, and mrpt::nav::CHolonomicVFF.

◆ navigate()

virtual void mrpt::nav::CAbstractHolonomicReactiveMethod::navigate	(	const NavInput &	ni,
		NavOutput &	no
	)

pure virtual

Invokes the holonomic navigation algorithm itself.

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

Implemented in mrpt::nav::CHolonomicFullEval, mrpt::nav::CHolonomicND, and mrpt::nav::CHolonomicVFF.

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

Here is the caller graph for this function:

◆ readFromStream()

virtual void mrpt::utils::CSerializable::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)

protectedpure virtualinherited

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions

std::exception On any error, see CStream::ReadBuffer

See also: CStream

◆ saveConfigFile()

virtual void mrpt::nav::CAbstractHolonomicReactiveMethod::saveConfigFile ( mrpt::utils::CConfigFileBase & c ) const

pure virtual

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

Implemented in mrpt::nav::CHolonomicND, mrpt::nav::CHolonomicFullEval, and mrpt::nav::CHolonomicVFF.

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

Here is the caller graph for this function:

◆ setAssociatedPTG()

void CAbstractHolonomicReactiveMethod::setAssociatedPTG ( mrpt::nav::CParameterizedTrajectoryGenerator * ptg )

Optionally, sets the associated PTG, just in case a derived class requires this info (not required for methods where the robot kinematics are totally abstracted)

Definition at line 41 of file CAbstractHolonomicReactiveMethod.cpp.

References m_associatedPTG.

◆ setConfigFileSectionName()

void CAbstractHolonomicReactiveMethod::setConfigFileSectionName ( const std::string & sectName )

Defines the name of the section used in initialize()

Defines the name of the section (Default: "FULL_EVAL_CONFIG")

Definition at line 31 of file CAbstractHolonomicReactiveMethod.cpp.

References m_cfgSectionName.

◆ setTargetApproachSlowDownDistance()

virtual void mrpt::nav::CAbstractHolonomicReactiveMethod::setTargetApproachSlowDownDistance ( const double dist )

pure virtual

Sets the actual value of this parameter [m].

See also: getTargetApproachSlowDownDistance()

Implemented in mrpt::nav::CHolonomicFullEval, mrpt::nav::CHolonomicND, and mrpt::nav::CHolonomicVFF.

◆ writeToMatlab()

virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const

inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns: A new mxArray (caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB.

Definition at line 89 of file CSerializable.h.

◆ writeToStream()

virtual void mrpt::utils::CSerializable::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const

protectedpure virtualinherited

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters

out	The output binary stream where object must be dumped.
getVersion	If nullptr, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions

std::exception On any error, see CStream::WriteBuffer