Detailed Description

This is the base class for any reactive/planned navigation system.

See derived classes.

How to use:

A class derived from CRobot2NavInterface with callbacks must be defined by the user and provided to the constructor.
navigationStep() must be called periodically in order to effectively run the navigation. This method will internally call the callbacks to gather sensor data and robot positioning data.

It implements the following state machine (see CAbstractNavigator::getCurrentState() ), taking into account the extensions described in CWaypointsNavigator

See also: CWaypointsNavigator, CReactiveNavigationSystem, CRobot2NavInterface, all children classes

Definition at line 59 of file CAbstractNavigator.h.

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

Inheritance diagram for mrpt::nav::CAbstractNavigator:

Classes
struct	TAbstractNavigatorParams

struct	TargetInfo
	Individual target info in CAbstractNavigator::TNavigationParamsBase and derived classes. More...

struct	TNavigationParams
	The struct for configuring navigation requests. More...

struct	TNavigationParamsBase
	Base for all high-level navigation commands. More...

struct	TRobotPoseVel

Public Member Functions
	CAbstractNavigator (CRobot2NavInterface &robot_interface_impl)
	ctor More...

virtual	~CAbstractNavigator ()
	dtor More...

const mrpt::utils::CTimeLogger &	getDelaysTimeLogger () const
	Gives access to a const-ref to the internal time logger used to estimate delays. More...

Public Attributes
TAbstractNavigatorParams	params_abstract_navigator

Protected Member Functions
void	dispatchPendingNavEvents ()

virtual void	performNavigationStep ()=0
	To be implemented in derived classes. More...

virtual void	onStartNewNavigation ()=0
	Called whenever a new navigation has been started. More...

virtual void	onNavigateCommandReceived ()
	Called after each call to CAbstractNavigator::navigate() More...

void	updateCurrentPoseAndSpeeds ()
	Call to the robot getCurrentPoseAndSpeeds() and updates members m_curPoseVel accordingly. More...

virtual void	performNavigationStepNavigating (bool call_virtual_nav_method=true)
	Factorization of the part inside navigationStep(), for the case of state being NAVIGATING. More...

void	processNavigateCommand (const TNavigationParams *params)
	Does the job of navigate(), except the call to onNavigateCommandReceived() More...

void	doEmergencyStop (const std::string &msg)
	Stops the robot and set navigation state to error. More...

virtual bool	changeSpeeds (const mrpt::kinematics::CVehicleVelCmd &vel_cmd)
	Default: forward call to m_robot.changeSpeed(). More...

virtual bool	changeSpeedsNOP ()
	Default: forward call to m_robot.changeSpeedsNOP(). More...

virtual bool	stop (bool isEmergencyStop)
	Default: forward call to m_robot.stop(). More...

virtual bool	checkHasReachedTarget (const double targetDist) const
	Default implementation: check if target_dist is below the accepted distance. More...

virtual bool	checkCollisionWithLatestObstacles (const mrpt::math::TPose2D &relative_robot_pose) const
	Checks whether the robot shape, when placed at the given pose (relative to the current pose), is colliding with any of the latest known obstacles. More...

Protected Attributes
std::vector< std::function< void(void)> >	m_pending_events
	Events generated during navigationStep(), enqueued to be called at the end of the method execution to avoid user code to change the navigator state. More...

TState	m_navigationState
	Current internal state of navigator: More...

std::unique_ptr< TNavigationParams >	m_navigationParams
	Current navigation parameters. More...

CRobot2NavInterface &	m_robot
	The navigator-robot interface. More...

mrpt::poses::FrameTransformer< 2 > *	m_frame_tf
	Optional, user-provided frame transformer. More...

std::recursive_mutex	m_nav_cs
	mutex for all navigation methods More...

TRobotPoseVel	m_curPoseVel
	Current robot pose (updated in CAbstractNavigator::navigationStep() ) More...

double	m_last_curPoseVelUpdate_robot_time

std::string	m_last_curPoseVelUpdate_pose_frame_id

mrpt::poses::CPose2DInterpolator	m_latestPoses
	Latest robot poses (updated in CAbstractNavigator::navigationStep() ) More...

mrpt::poses::CPose2DInterpolator	m_latestOdomPoses

mrpt::utils::CTimeLogger	m_timlog_delays
	Time logger to collect delay-related stats. More...

double	m_badNavAlarm_minDistTarget
	For sending an alarm (error event) when it seems that we are not approaching toward the target in a while... More...

mrpt::system::TTimeStamp	m_badNavAlarm_lastMinDistTime

Private Member Functions
void	internal_onStartNewNavigation ()
	Called before starting a new navigation. More...

Private Attributes
TState	m_lastNavigationState
	Last internal state of navigator: More...

bool	m_navigationEndEventSent
	Will be false until the navigation end is sent, and it is reset with each new command. More...

int	m_counter_check_target_is_blocked

Navigation control API
enum	TState { IDLE = 0, NAVIGATING, SUSPENDED, NAV_ERROR }
	The different states for the navigation system. More...

virtual void	loadConfigFile (const mrpt::utils::CConfigFileBase &c)
	Loads all params from a file. More...

virtual void	saveConfigFile (mrpt::utils::CConfigFileBase &c) const
	Saves all current options to a config file. More...

virtual void	initialize ()=0
	Must be called before any other navigation command. More...

virtual void	navigationStep ()
	This method must be called periodically in order to effectively run the navigation. More...

virtual void	navigate (const TNavigationParams *params)
	Navigation request to a single target location. More...

virtual void	cancel ()
	Cancel current navegation. More...

virtual void	resume ()
	Continues with suspended navigation. More...

virtual void	suspend ()
	Suspend current navegation. More...

virtual void	resetNavError ()
	Resets a `NAV_ERROR` state back to `IDLE` More...

TState	getCurrentState () const
	Returns the current navigator state. More...

void	setFrameTF (mrpt::poses::FrameTransformer< 2 > *frame_tf)
	Sets a user-provided frame transformer object; used only if providing targets in a frame ID different than the one in which robot odometry is given (both IDs default to `"map"`). More...

const mrpt::poses::FrameTransformer< 2 > *	getFrameTF () const
	Get the current frame tf object (defaults to nullptr) More...

Member Enumeration Documentation

◆ TState

enum mrpt::nav::CAbstractNavigator::TState

The different states for the navigation system.

Enumerator
IDLE
NAVIGATING
SUSPENDED
NAV_ERROR

Definition at line 172 of file CAbstractNavigator.h.

Constructor & Destructor Documentation

◆ CAbstractNavigator()

CAbstractNavigator::CAbstractNavigator ( CRobot2NavInterface & robot_interface_impl )

ctor

Definition at line 92 of file CAbstractNavigator.cpp.

References mrpt::poses::imLinear2Neig, m_latestOdomPoses, m_latestPoses, and mrpt::poses::CPoseInterpolatorBase< DIM >::setInterpolationMethod().

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◆ ~CAbstractNavigator()

CAbstractNavigator::~CAbstractNavigator ( )

virtual

dtor

Definition at line 112 of file CAbstractNavigator.cpp.

Member Function Documentation

◆ cancel()

void CAbstractNavigator::cancel ( )

virtual

Cancel current navegation.

Reimplemented in mrpt::nav::CWaypointsNavigator.

Definition at line 114 of file CAbstractNavigator.cpp.

References IDLE, m_nav_cs, m_navigationState, MRPT_LOG_DEBUG, and stop().

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

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◆ changeSpeeds()

bool CAbstractNavigator::changeSpeeds ( const mrpt::kinematics::CVehicleVelCmd & vel_cmd )

protectedvirtual

Default: forward call to m_robot.changeSpeed().

Can be overriden.

Definition at line 414 of file CAbstractNavigator.cpp.

References mrpt::nav::CRobot2NavInterface::changeSpeeds(), and m_robot.

Referenced by mrpt::nav::CNavigatorManualSequence::navigationStep(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

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◆ changeSpeedsNOP()

bool CAbstractNavigator::changeSpeedsNOP ( )

protectedvirtual

Default: forward call to m_robot.changeSpeedsNOP().

Can be overriden.

Definition at line 420 of file CAbstractNavigator.cpp.

References mrpt::nav::CRobot2NavInterface::changeSpeedsNOP(), and m_robot.

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

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◆ checkCollisionWithLatestObstacles()

bool CAbstractNavigator::checkCollisionWithLatestObstacles ( const mrpt::math::TPose2D & relative_robot_pose ) const

protectedvirtual

Checks whether the robot shape, when placed at the given pose (relative to the current pose), is colliding with any of the latest known obstacles.

Default implementation: always returns false.

Reimplemented in mrpt::nav::CReactiveNavigationSystem3D, and mrpt::nav::CReactiveNavigationSystem.

Definition at line 671 of file CAbstractNavigator.cpp.

Referenced by performNavigationStepNavigating().

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◆ checkHasReachedTarget()

bool CAbstractNavigator::checkHasReachedTarget ( const double targetDist ) const

protectedvirtual

Default implementation: check if target_dist is below the accepted distance.

If true is returned here, the end-of-navigation event will be sent out (only for non-intermediary targets).

Reimplemented in mrpt::nav::CWaypointsNavigator.

Definition at line 481 of file CAbstractNavigator.cpp.

Referenced by performNavigationStepNavigating().

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◆ dispatchPendingNavEvents()

void CAbstractNavigator::dispatchPendingNavEvents ( )

protected

Definition at line 251 of file CAbstractNavigator.cpp.

References m_pending_events.

Referenced by mrpt::nav::CWaypointsNavigator::navigationStep(), and navigationStep().

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◆ doEmergencyStop()

void CAbstractNavigator::doEmergencyStop ( const std::string & msg )

protected

Stops the robot and set navigation state to error.

Definition at line 262 of file CAbstractNavigator.cpp.

References m_navigationState, MRPT_LOG_ERROR, NAV_ERROR, and stop().

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

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◆ getCurrentState()

TState mrpt::nav::CAbstractNavigator::getCurrentState ( ) const

inline

Returns the current navigator state.

Definition at line 181 of file CAbstractNavigator.h.

References m_navigationState.

◆ getDelaysTimeLogger()

const mrpt::utils::CTimeLogger& mrpt::nav::CAbstractNavigator::getDelaysTimeLogger ( ) const

inline

Gives access to a const-ref to the internal time logger used to estimate delays.

See also: getTimeLogger() in derived classes

Definition at line 229 of file CAbstractNavigator.h.

References m_timlog_delays.

◆ getFrameTF()

const mrpt::poses::FrameTransformer<2>* mrpt::nav::CAbstractNavigator::getFrameTF ( ) const

inline

Get the current frame tf object (defaults to nullptr)

See also: setFrameTF

Definition at line 195 of file CAbstractNavigator.h.

References m_frame_tf.

◆ initialize()

virtual void mrpt::nav::CAbstractNavigator::initialize ( )

pure virtual

Must be called before any other navigation command.

Implemented in mrpt::nav::CAbstractPTGBasedReactive, and mrpt::nav::CNavigatorManualSequence.

◆ internal_onStartNewNavigation()

void CAbstractNavigator::internal_onStartNewNavigation ( )

private

Called before starting a new navigation.

Internally, it calls to child-implemented onStartNewNavigation()

Definition at line 487 of file CAbstractNavigator.cpp.

References mrpt::poses::CPoseInterpolatorBase< DIM >::clear(), m_latestOdomPoses, m_latestPoses, m_robot, onStartNewNavigation(), and mrpt::nav::CRobot2NavInterface::startWatchdog().

Referenced by performNavigationStepNavigating().

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◆ loadConfigFile()

void CAbstractNavigator::loadConfigFile ( const mrpt::utils::CConfigFileBase & c )

virtual

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.

Reimplemented in mrpt::nav::CAbstractPTGBasedReactive, mrpt::nav::CWaypointsNavigator, mrpt::nav::CReactiveNavigationSystem3D, mrpt::nav::CReactiveNavigationSystem, and mrpt::nav::CNavigatorManualSequence.

Definition at line 159 of file CAbstractNavigator.cpp.

References mrpt::utils::CConfigFileMemory::getContent(), mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams::loadFromConfigFile(), MRPT_END, MRPT_LOG_INFO, MRPT_START, params_abstract_navigator, and saveConfigFile().

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

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◆ navigate()

void CAbstractNavigator::navigate ( const TNavigationParams * params )

virtual

Navigation request to a single target location.

It starts a new navigation.

Parameters

[in] params Pointer to structure with navigation info (its contents will be copied, so the original can be freely destroyed upon return if it was dynamically allocated.)

Note: A pointer is used so the passed object can be polymorphic with derived types.

Reimplemented in mrpt::nav::CNavigatorManualSequence.

Definition at line 316 of file CAbstractNavigator.cpp.

References MRPT_END, MRPT_START, onNavigateCommandReceived(), and processNavigateCommand().

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◆ navigationStep()

void CAbstractNavigator::navigationStep ( )

virtual

This method must be called periodically in order to effectively run the navigation.

Reimplemented in mrpt::nav::CWaypointsNavigator, and mrpt::nav::CNavigatorManualSequence.

Definition at line 182 of file CAbstractNavigator.cpp.

References dispatchPendingNavEvents(), IDLE, m_lastNavigationState, m_nav_cs, m_navigationState, m_pending_events, m_robot, m_timlog_delays, MRPT_LOG_ERROR, MRPT_LOG_INFO, NAV_ERROR, NAVIGATING, performNavigationStepNavigating(), stop(), mrpt::nav::CRobot2NavInterface::stopWatchdog(), and SUSPENDED.

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

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◆ onNavigateCommandReceived()

void CAbstractNavigator::onNavigateCommandReceived ( )

protectedvirtual

Called after each call to CAbstractNavigator::navigate()

Reimplemented in mrpt::nav::CWaypointsNavigator.

Definition at line 275 of file CAbstractNavigator.cpp.

References m_nav_cs, m_navigationEndEventSent, and m_navigationParams.

Referenced by navigate(), and mrpt::nav::CWaypointsNavigator::onNavigateCommandReceived().

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◆ onStartNewNavigation()

virtual void mrpt::nav::CAbstractNavigator::onStartNewNavigation ( )

protectedpure virtual

Called whenever a new navigation has been started.

Can be used to reset state variables, etc.

Implemented in mrpt::nav::CAbstractPTGBasedReactive, mrpt::nav::CWaypointsNavigator, and mrpt::nav::CNavigatorManualSequence.

Referenced by internal_onStartNewNavigation().

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◆ performNavigationStep()

virtual void mrpt::nav::CAbstractNavigator::performNavigationStep ( )

protectedpure virtual

To be implemented in derived classes.

Implemented in mrpt::nav::CAbstractPTGBasedReactive, and mrpt::nav::CNavigatorManualSequence.

Referenced by performNavigationStepNavigating().

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◆ performNavigationStepNavigating()

void CAbstractNavigator::performNavigationStepNavigating ( bool call_virtual_nav_method = true )

protectedvirtual

Factorization of the part inside navigationStep(), for the case of state being NAVIGATING.

Performs house-hold tasks like raising events in case of starting/ending navigation, timeout reaching destination, etc. call_virtual_nav_method can be set to false to avoid calling the virtual method performNavigationStep()

Definition at line 496 of file CAbstractNavigator.cpp.

References ASSERT_, checkCollisionWithLatestObstacles(), checkHasReachedTarget(), mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams::dist_check_target_is_blocked, mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams::dist_to_target_for_sending_event, mrpt::math::TSegment2D::distance(), mrpt::poses::CPoseInterpolatorBase< DIM >::empty(), mrpt::mrpt::format(), mrpt::system::getCurrentTime(), mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams::hysteresis_check_target_is_blocked, IDLE, internal_onStartNewNavigation(), m_badNavAlarm_lastMinDistTime, m_badNavAlarm_minDistTarget, m_counter_check_target_is_blocked, m_curPoseVel, m_lastNavigationState, m_latestPoses, m_navigationEndEventSent, m_navigationParams, m_navigationState, m_pending_events, m_robot, MRPT_LOG_DEBUG, MRPT_LOG_ERROR, MRPT_LOG_ERROR_FMT, MRPT_LOG_INFO, MRPT_LOG_THROTTLE_WARN, MRPT_LOG_WARN, NAV_ERROR, NAVIGATING, params_abstract_navigator, performNavigationStep(), mrpt::nav::CAbstractNavigator::TRobotPoseVel::pose, mrpt::poses::CPoseInterpolatorBase< DIM >::rbegin(), mrpt::nav::CRobot2NavInterface::sendNavigationEndEvent(), mrpt::nav::CRobot2NavInterface::sendNavigationStartEvent(), mrpt::nav::CRobot2NavInterface::sendWaySeemsBlockedEvent(), mrpt::poses::CPoseInterpolatorBase< DIM >::size(), stop(), mrpt::system::timeDifference(), and updateCurrentPoseAndSpeeds().

Referenced by navigationStep(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

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◆ processNavigateCommand()

void CAbstractNavigator::processNavigateCommand ( const TNavigationParams * params )

protected

Does the job of navigate(), except the call to onNavigateCommandReceived()

Definition at line 283 of file CAbstractNavigator.cpp.

References ASSERT_, mrpt::system::getCurrentTime(), m_badNavAlarm_lastMinDistTime, m_badNavAlarm_minDistTarget, m_curPoseVel, m_nav_cs, m_navigationParams, m_navigationState, MRPT_END, MRPT_START, NAVIGATING, mrpt::nav::CAbstractNavigator::TRobotPoseVel::pose, and updateCurrentPoseAndSpeeds().

Referenced by navigate(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

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◆ resetNavError()

void CAbstractNavigator::resetNavError ( )

virtual

Resets a NAV_ERROR state back to IDLE

Definition at line 146 of file CAbstractNavigator.cpp.

References IDLE, m_nav_cs, m_navigationState, MRPT_LOG_DEBUG, and NAV_ERROR.

◆ resume()

void CAbstractNavigator::resume ( )

virtual

Continues with suspended navigation.

See also: suspend

Definition at line 123 of file CAbstractNavigator.cpp.

References m_nav_cs, m_navigationState, MRPT_LOG_DEBUG, NAVIGATING, and SUSPENDED.

◆ saveConfigFile()

void CAbstractNavigator::saveConfigFile ( mrpt::utils::CConfigFileBase & c ) const

virtual

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.

Reimplemented in mrpt::nav::CAbstractPTGBasedReactive, mrpt::nav::CWaypointsNavigator, mrpt::nav::CReactiveNavigationSystem3D, mrpt::nav::CReactiveNavigationSystem, and mrpt::nav::CNavigatorManualSequence.

Definition at line 176 of file CAbstractNavigator.cpp.

References params_abstract_navigator, and mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams::saveToConfigFile().

Referenced by loadConfigFile(), and mrpt::nav::CWaypointsNavigator::saveConfigFile().

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◆ setFrameTF()

void CAbstractNavigator::setFrameTF ( mrpt::poses::FrameTransformer< 2 > * frame_tf )

Sets a user-provided frame transformer object; used only if providing targets in a frame ID different than the one in which robot odometry is given (both IDs default to "map").

Ownership of the pointee object remains belonging to the user, which is responsible of deleting it and ensuring its a valid pointer during the lifetime of this navigator object.