A holonomic reactive navigation method, based on Virtual Force Fields (VFF).
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 (see also the field CHolonomicVFF::options).
Definition at line 50 of file CHolonomicVFF.h.
#include <mrpt/nav/holonomic/CHolonomicVFF.h>
Classes | |
struct | TOptions |
Algorithm options. More... | |
Public Member Functions | |
void * | operator new (size_t size) |
void * | operator new[] (size_t size) |
void | operator delete (void *ptr) noexcept |
void | operator delete[] (void *ptr) noexcept |
void | operator delete (void *memory, void *ptr) noexcept |
void * | operator new (size_t size, const std::nothrow_t &) noexcept |
void | operator delete (void *ptr, const std::nothrow_t &) noexcept |
CHolonomicVFF (const mrpt::utils::CConfigFileBase *INI_FILE=nullptr) | |
Initialize the parameters of the navigator, from some configuration file, or default values if set to NULL. More... | |
void | navigate (const NavInput &ni, NavOutput &no) override |
Invokes the holonomic navigation algorithm itself. More... | |
void | initialize (const mrpt::utils::CConfigFileBase &INI_FILE) override |
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 override |
saves all available parameters, in a forma loadable by initialize() More... | |
double | getTargetApproachSlowDownDistance () const override |
Returns the actual value of this parameter [m], as set via the children class options structure. More... | |
void | setTargetApproachSlowDownDistance (const double dist) override |
Sets the actual value of this parameter [m]. More... | |
void | setConfigFileSectionName (const std::string §Name) |
Defines the name of the section used in initialize() More... | |
std::string | getConfigFileSectionName () const |
Gets the name of the section used in initialize() 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... | |
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 void * | operator new (size_t size, void *ptr) |
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... | |
Public Attributes | |
TOptions | options |
Parameters of the algorithm (can be set manually or loaded from CHolonomicVFF::initialize or options.loadFromConfigFile(), etc.) More... | |
Protected Member Functions | |
CSerializable virtual methods | |
void | writeToStream (mrpt::utils::CStream &out, int *getVersion) const override |
Introduces a pure virtual method responsible for writing to a CStream. More... | |
void | readFromStream (mrpt::utils::CStream &in, int version) override |
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... | |
RTTI stuff | |
using | Ptr = std::shared_ptr< CHolonomicVFF > |
using | ConstPtr = std::shared_ptr< const CHolonomicVFF > |
static mrpt::utils::CLASSINIT | _init_CHolonomicVFF |
static const mrpt::utils::TRuntimeClassId | runtimeClassId |
static constexpr const char * | className = "CHolonomicVFF" |
static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
static const mrpt::utils::TRuntimeClassId & | GetRuntimeClassIdStatic () |
static mrpt::utils::CObject * | CreateObject () |
template<typename... Args> | |
static Ptr | Create (Args &&... args) |
virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const override |
Returns information about the class of an object in runtime. More... | |
virtual mrpt::utils::CObject * | clone () const override |
Returns a deep copy (clone) of the object, indepently of its class. More... | |
using mrpt::nav::CHolonomicVFF::ConstPtr = std::shared_ptr<const CHolonomicVFF > |
Definition at line 52 of file CHolonomicVFF.h.
using mrpt::nav::CHolonomicVFF::Ptr = std::shared_ptr< CHolonomicVFF > |
A typedef for the associated smart pointer
Definition at line 52 of file CHolonomicVFF.h.
mrpt::nav::CHolonomicVFF::CHolonomicVFF | ( | const mrpt::utils::CConfigFileBase * | INI_FILE = nullptr | ) |
Initialize the parameters of the navigator, from some configuration file, or default values if set to NULL.
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staticprotected |
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overridevirtual |
Returns a deep copy (clone) of the object, indepently of its class.
Implements mrpt::utils::CObject.
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inlinestatic |
Definition at line 52 of file CHolonomicVFF.h.
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staticnoexceptinherited |
Class factory from class name, e.g.
"CHolonomicVFF"
, etc.
std::logic_error | On invalid or missing parameters. |
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static |
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inlineinherited |
Definition at line 121 of file CAbstractHolonomicReactiveMethod.h.
References mrpt::nav::CAbstractHolonomicReactiveMethod::m_enableApproachTargetSlowDown.
Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate().
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staticnoexceptinherited |
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().
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inherited |
Returns the pointer set by setAssociatedPTG()
Definition at line 47 of file CAbstractHolonomicReactiveMethod.cpp.
References mrpt::nav::CAbstractHolonomicReactiveMethod::m_associatedPTG.
Referenced by mrpt::nav::CHolonomicFullEval::evalSingleTarget(), and mrpt::nav::CHolonomicFullEval::navigate().
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inherited |
Gets the name of the section used in initialize()
Definition at line 36 of file CAbstractHolonomicReactiveMethod.cpp.
References mrpt::nav::CAbstractHolonomicReactiveMethod::m_cfgSectionName.
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overridevirtual |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::nav::CAbstractHolonomicReactiveMethod.
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static |
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inlineoverridevirtual |
Returns the actual value of this parameter [m], as set via the children class options structure.
Implements mrpt::nav::CAbstractHolonomicReactiveMethod.
Definition at line 88 of file CHolonomicVFF.h.
References options, and mrpt::nav::CHolonomicVFF::TOptions::TARGET_SLOW_APPROACHING_DISTANCE.
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overridevirtual |
Initialize the parameters of the navigator, reading from the default section name (see derived classes) or the one set via setConfigFileSectionName()
Implements mrpt::nav::CAbstractHolonomicReactiveMethod.
Definition at line 34 of file CHolonomicVFF.cpp.
Invokes the holonomic navigation algorithm itself.
See the description of the input/output structures for details on each parameter.
Implements mrpt::nav::CAbstractHolonomicReactiveMethod.
Definition at line 46 of file CHolonomicVFF.cpp.
References ASSERT_, mrpt::nav::CAbstractHolonomicReactiveMethod::NavOutput::desiredDirection, mrpt::nav::CAbstractHolonomicReactiveMethod::NavOutput::desiredSpeed, mrpt::nav::CAbstractHolonomicReactiveMethod::NavOutput::logRecord, M_PI, mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::maxRobotSpeed, min, mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::obstacles, and mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::targets.
Definition at line 52 of file CHolonomicVFF.h.
Definition at line 52 of file CHolonomicVFF.h.
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inlinenoexcept |
Definition at line 52 of file CHolonomicVFF.h.
Definition at line 52 of file CHolonomicVFF.h.
Definition at line 52 of file CHolonomicVFF.h.
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inlinenoexcept |
Definition at line 52 of file CHolonomicVFF.h.
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inline |
Definition at line 52 of file CHolonomicVFF.h.
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inline |
Definition at line 52 of file CHolonomicVFF.h.
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overrideprotectedvirtual |
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.
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. |
std::exception | On any error, see CStream::ReadBuffer |
Implements mrpt::utils::CSerializable.
Definition at line 117 of file CHolonomicVFF.cpp.
References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.
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overridevirtual |
saves all available parameters, in a forma loadable by initialize()
Implements mrpt::nav::CAbstractHolonomicReactiveMethod.
Definition at line 38 of file CHolonomicVFF.cpp.
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inherited |
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 mrpt::nav::CAbstractHolonomicReactiveMethod::m_associatedPTG.
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inherited |
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 mrpt::nav::CAbstractHolonomicReactiveMethod::m_cfgSectionName.
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inlineoverridevirtual |
Sets the actual value of this parameter [m].
Implements mrpt::nav::CAbstractHolonomicReactiveMethod.
Definition at line 92 of file CHolonomicVFF.h.
References options, and mrpt::nav::CHolonomicVFF::TOptions::TARGET_SLOW_APPROACHING_DISTANCE.
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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.
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.
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overrideprotectedvirtual |
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.
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. |
std::exception | On any error, see CStream::WriteBuffer |
Implements mrpt::utils::CSerializable.
Definition at line 107 of file CHolonomicVFF.cpp.
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staticprotected |
Definition at line 52 of file CHolonomicVFF.h.
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static |
Definition at line 52 of file CHolonomicVFF.h.
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protectedinherited |
If applicable, this will contain the argument of the most recent call to setAssociatedPTG()
Definition at line 129 of file CAbstractHolonomicReactiveMethod.h.
Referenced by mrpt::nav::CAbstractHolonomicReactiveMethod::getAssociatedPTG(), and mrpt::nav::CAbstractHolonomicReactiveMethod::setAssociatedPTG().
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protectedinherited |
Whether to decrease speed when approaching target.
Definition at line 131 of file CAbstractHolonomicReactiveMethod.h.
Referenced by mrpt::nav::CAbstractHolonomicReactiveMethod::enableApproachTargetSlowDown(), and mrpt::nav::CHolonomicFullEval::navigate().
TOptions mrpt::nav::CHolonomicVFF::options |
Parameters of the algorithm (can be set manually or loaded from CHolonomicVFF::initialize or options.loadFromConfigFile(), etc.)
Definition at line 86 of file CHolonomicVFF.h.
Referenced by getTargetApproachSlowDownDistance(), and setTargetApproachSlowDownDistance().
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staticprotected |
Definition at line 52 of file CHolonomicVFF.h.
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