Detailed Description

See base class CAbstractPTGBasedReactive for a description and instructions of use.

This particular implementation assumes a 2D robot shape which can be polygonal or circular (depending on the selected PTGs).

Publications:

Blanco, Jose-Luis, Javier Gonzalez, and Juan-Antonio Fernandez-Madrigal. "Extending obstacle avoidance methods through multiple parameter-space transformations". Autonomous Robots 24.1 (2008): 29-48.

Class history:

17/JUN/2004: First design.
16/SEP/2004: Totally redesigned, according to document "MultiParametric Based Space Transformation for Reactive Navigation"
29/SEP/2005: Totally rewritten again, for integration into MRPT library and according to the ICRA paper.
17/OCT/2007: Whole code updated to accomodate to MRPT 0.5 and make it portable to Linux.
DEC/2013: Code refactoring between this class and CAbstractHolonomicReactiveMethod
FEB/2017: Refactoring of all parameters for a consistent organization in sections by class names (MRPT 1.5.0)

This class requires a number of parameters which are usually provided via an external config (".ini") file. Alternatively, a memory-only object can be used to avoid physical files, see mrpt::utils::CConfigFileMemory.

A template config file can be generated at any moment by the user by calling saveConfigFile() with a default-constructed object.

Next we provide a self-documented template config file; or see it online: https://github.com/MRPT/mrpt/blob/master/share/mrpt/config_files/navigation-ptgs/reactive2d_config.ini

# ------------------------------------------------------------------------
# Example configuration file for MRPT (>=1.5) Reactive Navigation engine.
# See C++ documentation: http://reference.mrpt.org/devel/classmrpt_1_1nav_1_1_c_reactive_navigation_system.html
# See ROS node documentation: http://wiki.ros.org/mrpt_reactivenav2d
# ------------------------------------------------------------------------

# Max linear vel (m/s):
@define ROBOT_MAX_V  1.0        
# Max angular vel (deg/s):
@define ROBOT_MAX_W  60.0        
# Max distance to "foresee" obstacles (m):
@define NAV_MAX_REF_DIST   10.0

[CAbstractNavigator]
dist_to_target_for_sending_event                  = 0.000000             // Default value=0, means use the `targetAllowedDistance` passed by the user in the navigation request.
alarm_seems_not_approaching_target_timeout        = 30.000000            // navigator timeout (seconds) [Default=30 sec]
dist_check_target_is_blocked                 = 2.0       // When closer than this distance, check if the target is blocked to abort navigation with an error
hysteresis_check_target_is_blocked           = 3         // How many steps should the condition for dist_check_target_is_blocked be fulfilled to raise an event


[CWaypointsNavigator]
max_distance_to_allow_skip_waypoint               = -1.000000            // Max distance to `foresee` waypoints [meters]. (<0: unlimited)
min_timesteps_confirm_skip_waypoints              = 1                    // Min timesteps a `future` waypoint must be seen as reachable to become the active one.
waypoint_angle_tolerance                          = 5.0                  // Angular error tolerance for waypoints with an assigned heading [deg]
multitarget_look_ahead   = 0  // >=0 number of waypoints to forward to the underlying navigation engine, to ease obstacles avoidance when a waypoint is blocked (Default=0 : none).


[CAbstractPTGBasedReactive]
robotMax_V_mps                                    = ${ROBOT_MAX_V}                // Max. linear speed (m/s) [Default=-1 (not set), will raise exception if needed and not set]
robotMax_W_degps                                  = ${ROBOT_MAX_W}                // Max. angular speed (rad/s) [Default=-1 (not set), will raise exception if needed and not set]
#robotMinCurvRadius                                = -1.000000            // Min. radius of curvature of paths (m) [Default=-1 (not set), will raise exception if needed and not set]

holonomic_method                                  = CHolonomicFullEval   // C++ class name of the holonomic navigation method to run in the transformed TP-Space.
# List of known classes:
# - `CHolonomicFullEval`
# - `CHolonomicND`
# - `CHolonomicVFF`


motion_decider_method                             = CMultiObjMotionOpt_Scalarization // C++ class name of the motion decider method.
# List of known classes:
# - `CMultiObjMotionOpt_Scalarization`


ref_distance                                      = ${NAV_MAX_REF_DIST}   // Maximum distance up to obstacles will be considered (D_{max} in papers).
#speedfilter_tau                                   = 0.000000             // Time constant (in seconds) for the low-pass filter applied to kinematic velocity commands (default=0: no filtering)
secure_distance_start                             = 0.050000             // In normalized distance [0,1], start/end of a ramp function that scales the holonomic navigator output velocity.
secure_distance_end                               = 0.150000             // In normalized distance [0,1], start/end of a ramp function that scales the holonomic navigator output velocity.
use_delays_model                                  = false                // Whether to use robot pose inter/extrapolation to improve accuracy (Default:false)
max_distance_predicted_actual_path                = 0.150000             // Max distance [meters] to discard current PTG and issue a new vel cmd (default= 0.05)
min_normalized_free_space_for_ptg_continuation    = 0.200000             // Min normalized dist [0,1] after current pose in a PTG continuation to allow it.

enable_obstacle_filtering                         = true                 // Enabled obstacle filtering (params in its own section)
evaluate_clearance                                = true


[CPointCloudFilterByDistance]
min_dist                                          = 0.100000            
angle_tolerance                                   = 5.000000            
too_old_seconds                                   = 1.000000            
previous_keyframes                                = 1                    // (Default: 1) How many previous keyframes will be compared with the latest pointcloud.
max_deletion_ratio                                = 0.400000             // (Default: 0.4) If the ratio [0,1] of points considered invalid (`deletion` ) is larger than this ratio, no point will be deleted since it'd be too suspicious and may indicate a failure of this filter.


[CHolonomicFullEval]
# [0]=Free space
# [1]=Dist. in sectors
# [2]=Closer to target (Euclidean)
# [3]=Hysteresis
# [4]=clearance along path
factorWeights                    = [0.25 , 0.1 , 1  , 0.05 , 0.5 ] 
factorNormalizeOrNot             = [0    , 0   , 0  , 0    , 1 ]

TOO_CLOSE_OBSTACLE                                = 0.150000             // Directions with collision-free distances below this threshold are not elegible.
TARGET_SLOW_APPROACHING_DISTANCE                  = 0.100000             // Start to reduce speed when closer than this to target.
OBSTACLE_SLOW_DOWN_DISTANCE                       = 0.150000             // Start to reduce speed when clearance is below this value ([0,1] ratio wrt obstacle reference/max distance)
HYSTERESIS_SECTOR_COUNT                           = 5.000000             // Range of `sectors` (directions) for hysteresis over successive timesteps
LOG_SCORE_MATRIX                                  = false                // Save the entire score matrix in log files

clearance_threshold_ratio                         = 0.10                 // Ratio [0,1], times path_count, gives the minimum number of paths at each side of a target direction to be accepted as desired direction
gap_width_ratio_threshold                         = 0.20                 // Ratio [0,1], times path_count, gives the minimum gap width to accept a direct motion towards target.

PHASE_COUNT                                       = 3                    // Number of evaluation phases to run (params for each phase below)
PHASE1_FACTORS                                    = [1 2]                // Indices of the factors above to be considered in this phase
PHASE1_THRESHOLD                                  = 0.5                  // Phase scores must be above this relative range threshold [0,1] to be considered in next phase (Default:`0.75`)
PHASE2_FACTORS                                    = [4 0]                  // Indices of the factors above to be considered in this phase
PHASE2_THRESHOLD                                  = 0.6                  // Phase scores must be above this relative range threshold [0,1] to be considered in next phase (Default:`0.75`)
PHASE3_FACTORS                                    = [0 2]                // Indices of the factors above to be considered in this phase
PHASE3_THRESHOLD                                  = 0.7                  // Phase scores must be above this relative range threshold [0,1] to be considered in next phase (Default:`0.75`)


[CHolonomicND]
WIDE_GAP_SIZE_PERCENT                             = 0.250000            
MAX_SECTOR_DIST_FOR_D2_PERCENT                    = 0.250000            
RISK_EVALUATION_SECTORS_PERCENT                   = 0.100000            
RISK_EVALUATION_DISTANCE                          = 0.400000             // In normalized ps-meters [0,1]
TOO_CLOSE_OBSTACLE                                = 0.150000             // For stopping gradually
TARGET_SLOW_APPROACHING_DISTANCE                  = 0.600000             // In normalized ps-meters
factorWeights                                     = 1.00 0.50 2.00 0.40  // [0]=Free space, [1]=Dist. in sectors, [2]=Closer to target (Euclidean), [3]=Hysteresis


[CHolonomicVFF]
TARGET_SLOW_APPROACHING_DISTANCE                  = 0.100000             // For stopping gradually
TARGET_ATTRACTIVE_FORCE                           = 20.000000            // Dimension-less (may have to be tuned depending on the density of obstacle sampling)

[CMultiObjectiveMotionOptimizerBase]
# Next follows a list of `score%i_{name,formula}` pairs for i=1,...,N
# Each one defines an exprtk formula for one of the scores that will be evaluated for each candidate movement.
# Multiobjective optimizers will then use those scores to select the best candidate, 
# possibly using more parameters that follow below.
# See list of all available variables in documentation of mrpt::nav::CAbstractPTGBasedReactive at http://reference.mrpt.org/devel/classmrpt_1_1nav_1_1_c_abstract_p_t_g_based_reactive.html

score1_name     = target_distance
score1_formula  = \
	var effective_trg_d_norm := max(0,target_d_norm-move_cur_d); \
	if(collision_free_distance>effective_trg_d_norm, \
		1/(1+effective_trg_d_norm^2), \
		0)

score2_name     = collision_free_distance_score
score2_formula  = \
	var effective_trg_d_norm := max(0,target_d_norm-move_cur_d); \
	if (collision_free_distance>(effective_trg_d_norm+0.05), \
		1.0, \
		collision_free_distance)

score3_name     = euclidean_nearness
score3_formula  = 1/(1+dist_eucl_min^2)

score4_name     = hysteresis_score
score4_formula  = hysteresis

score5_name     = path_index_near_target
score5_formula  = \
	var dif:=abs(target_k-move_k); \
	if (dif>(num_paths/2)) \
	{ \
		dif:=num_paths-dif; \
	}; \
	exp(-abs(dif / (num_paths/10.0)));
	
score6_name        = ptg_priority_score
score6_formula     = ptg_priority


# Next follows a list of `movement_assert%i` exprtk expressions for i=1,...,N
# defining expressions for conditions that any candidate movement must fulfill
# in order to get through the evaluation process. *All* assert conditions must be satisfied.
#movement_assert1 = XXX

# Comma-separated list of scores to normalize so the highest is 1.0.
scores_to_normalize  =  
#target_distance

[CMultiObjMotionOpt_Scalarization]
# A formula that takes all/a subset of scores and generates a scalar global score.
scalar_score_formula  = ptg_priority_score*( \
	0.3*target_distance + \
	0.5*collision_free_distance_score + \
	8.0*euclidean_nearness + \
	0.1 * hysteresis_score + \
	0.2*path_index_near_target \
	)




[CReactiveNavigationSystem]
min_obstacles_height                              = 0.000000             // Minimum `z` coordinate of obstacles to be considered fo collision checking
max_obstacles_height                              = 10.000000            // Maximum `z` coordinate of obstacles to be considered fo collision checking

# PTGs: See classes derived from mrpt::nav::CParameterizedTrajectoryGenerator ( http://reference.mrpt.org/svn/classmrpt_1_1nav_1_1_c_parameterized_trajectory_generator.html)
# refer to papers for details.
#------------------------------------------------------------------------------
PTG_COUNT = 3

PTG0_Type = CPTG_DiffDrive_C
PTG0_resolution = 0.05 # Look-up-table cell size or resolution (in meters)
PTG0_refDistance= ${NAV_MAX_REF_DIST} # Maximum distance to build PTGs (in meters), i.e. the visibility "range" of tentative paths
PTG0_num_paths= 121
PTG0_v_max_mps = ${ROBOT_MAX_V}
PTG0_w_max_dps = ${ROBOT_MAX_W}
PTG0_K = 1.0
PTG0_score_priority = 1.0

PTG1_Type = CPTG_DiffDrive_alpha
PTG1_resolution = 0.05 # Look-up-table cell size or resolution (in meters)
PTG1_refDistance= ${NAV_MAX_REF_DIST} # Maximum distance to build PTGs (in meters), i.e. the visibility "range" of tentative paths
PTG1_num_paths = 121
PTG1_v_max_mps = ${ROBOT_MAX_V}
PTG1_w_max_dps = ${ROBOT_MAX_W}
PTG1_cte_a0v_deg = 57
PTG1_cte_a0w_deg = 57
PTG1_score_priority = 1.0

PTG2_Type = CPTG_DiffDrive_C
PTG2_resolution = 0.05 # Look-up-table cell size or resolution (in meters)
PTG2_refDistance= ${NAV_MAX_REF_DIST} # Maximum distance to build PTGs (in meters), i.e. the visibility "range" of tentative paths
PTG2_num_paths = 121
PTG2_v_max_mps = ${ROBOT_MAX_V}
PTG2_w_max_dps = ${ROBOT_MAX_W}
PTG2_K = -1.0
PTG2_score_priority = 0.5


# Default 2D robot shape for collision checks: (ignored in ROS, superseded by node parameters)
# Each PTG will use only one of either (a) polygonal 2D shape or, (b) radius of a circular shape
RobotModel_shape2D_xs=-0.2 0.1 0.1 -0.2
RobotModel_shape2D_ys=0.1 0.1 -0.1 -0.1
RobotModel_circular_shape_radius = 0.5

See also: CAbstractNavigator, CParameterizedTrajectoryGenerator, CAbstractHolonomicReactiveMethod

Definition at line 62 of file CReactiveNavigationSystem.h.

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

Inheritance diagram for mrpt::nav::CReactiveNavigationSystem:

Classes
struct	TReactiveNavigatorParams

Public Member Functions
	CReactiveNavigationSystem (CRobot2NavInterface &react_iterf_impl, bool enableConsoleOutput=true, bool enableLogFile=false, const std::string &logFileDirectory=std::string("./reactivenav.logs"))
	See docs in ctor of base class. More...

virtual	~CReactiveNavigationSystem ()
	Destructor. More...

void	changeRobotShape (const mrpt::math::CPolygon &shape)
	Defines the 2D polygonal robot shape, used for some PTGs for collision checking. More...

void	changeRobotCircularShapeRadius (const double R)
	Defines the 2D circular robot shape radius, used for some PTGs for collision checking. More...

virtual size_t	getPTG_count () const override
	Returns the number of different PTGs that have been setup. More...

virtual CParameterizedTrajectoryGenerator *	getPTG (size_t i) override
	Gets the i'th PTG. More...

virtual const CParameterizedTrajectoryGenerator *	getPTG (size_t i) const override
	Gets the i'th PTG. More...

virtual bool	checkCollisionWithLatestObstacles (const mrpt::math::TPose2D &relative_robot_pose) const override
	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...

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

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

void	initialize () override
	Must be called for loading collision grids, or the first navigation command may last a long time to be executed. More...

void	setHolonomicMethod (const std::string &method, const mrpt::utils::CConfigFileBase &cfgBase)
	Selects which one from the set of available holonomic methods will be used into transformed TP-Space, and sets its configuration from a configuration file. More...

void	getLastLogRecord (CLogFileRecord &o)
	Provides a copy of the last log record with information about execution. More...

void	enableKeepLogRecords (bool enable=true)
	Enables keeping an internal registry of navigation logs that can be queried with getLastLogRecord() More...

void	enableLogFile (bool enable)
	Enables/disables saving log files. More...

void	setLogFileDirectory (const std::string &sDir)
	Changes the prefix for new log files. More...

std::string	getLogFileDirectory () const

void	enableTimeLog (bool enable=true)
	Enables/disables the detailed time logger (default:disabled upon construction) When enabled, a report will be dumped to std::cout upon destruction. More...

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

const mrpt::kinematics::CVehicleVelCmd::TVelCmdParams &	getCurrentRobotSpeedLimits () const
	Get the current, global (honored for all PTGs) robot speed limits. More...

mrpt::kinematics::CVehicleVelCmd::TVelCmdParams &	changeCurrentRobotSpeedLimits ()
	Changes the current, global (honored for all PTGs) robot speed limits, via returning a reference to a structure that holds those limits. More...

void	setTargetApproachSlowDownDistance (const double dist)
	Changes this parameter in all inner holonomic navigator instances [m]. More...

double	getTargetApproachSlowDownDistance () const
	Returns this parameter for the first inner holonomic navigator instances [m] (should be the same in all of them?) More...

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

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

bool	isRelativePointReachable (const mrpt::math::TPoint2D &wp_local_wrt_robot) const
	Returns `true` if, according to the information gathered at the last navigation step, there is a free path to the given point; `false` otherwise: if way is blocked or there is missing information, the point is out of range for the existing PTGs, etc. More...

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

Waypoint navigation control API
virtual void	navigateWaypoints (const TWaypointSequence &nav_request)
	Waypoint navigation request. More...

virtual void	getWaypointNavStatus (TWaypointStatusSequence &out_nav_status) const
	Get a copy of the control structure which describes the progress status of the waypoint navigation. More...

TWaypointStatusSequence	getWaypointNavStatus () const
	Get a copy of the control structure which describes the progress status of the waypoint navigation. More...

Public Attributes
TReactiveNavigatorParams	params_reactive_nav

TAbstractPTGNavigatorParams	params_abstract_ptg_navigator

TWaypointsNavigatorParams	params_waypoints_navigator

TAbstractNavigatorParams	params_abstract_navigator

Protected Member Functions
virtual void	loggingGetWSObstaclesAndShape (CLogFileRecord &out_log) override
	Generates a pointcloud of obstacles, and the robot shape, to be saved in the logging record for the current timestep. More...

void	STEP3_WSpaceToTPSpace (const size_t ptg_idx, std::vector< double > &out_TPObstacles, mrpt::nav::ClearanceDiagram &out_clearance, const mrpt::math::TPose2D &rel_pose_PTG_origin_wrt_sense, const bool eval_clearance) override
	Builds TP-Obstacles from Workspace obstacles for the given PTG. More...

virtual void	performNavigationStep () override
	The main method for the navigator. More...

virtual bool	impl_waypoint_is_reachable (const mrpt::math::TPoint2D &wp_local_wrt_robot) const override
	Implements the way to waypoint is free function in children classes: `true` must be returned if, according to the information gathered at the last navigation step, there is a free path to the given point; `false` otherwise: if way is blocked or there is missing information, the point is out of range, etc. More...

bool	STEP2_SenseObstacles ()

void	calc_move_candidate_scores (TCandidateMovementPTG &holonomicMovement, const std::vector< double > &in_TPObstacles, const mrpt::nav::ClearanceDiagram &in_clearance, const std::vector< mrpt::math::TPose2D > &WS_Targets, const std::vector< PTGTarget > &TP_Targets, CLogFileRecord::TInfoPerPTG &log, CLogFileRecord &newLogRec, const bool this_is_PTG_continuation, const mrpt::math::TPose2D &relPoseVelCmd_NOP, const unsigned int ptg_idx4weights, const mrpt::system::TTimeStamp tim_start_iteration)
	Scores holonomicMovement. More...

virtual double	generate_vel_cmd (const TCandidateMovementPTG &in_movement, mrpt::kinematics::CVehicleVelCmd::Ptr &new_vel_cmd)
	Return the [0,1] velocity scale of raw PTG cmd_vel. More...

void	STEP8_GenerateLogRecord (CLogFileRecord &newLogRec, const std::vector< mrpt::math::TPose2D > &relTargets, int nSelectedPTG, const mrpt::kinematics::CVehicleVelCmd::Ptr &new_vel_cmd, int nPTGs, const bool best_is_NOP_cmdvel, const math::TPose2D &rel_cur_pose_wrt_last_vel_cmd_NOP, const math::TPose2D &rel_pose_PTG_origin_wrt_sense_NOP, const double executionTimeValue, const double tim_changeSpeed, const mrpt::system::TTimeStamp &tim_start_iteration)

void	preDestructor ()
	To be called during children destructors to assure thread-safe destruction, and free of shared objects. More...

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

void	build_movement_candidate (CParameterizedTrajectoryGenerator *ptg, const size_t indexPTG, const std::vector< mrpt::math::TPose2D > &relTargets, const mrpt::math::TPose2D &rel_pose_PTG_origin_wrt_sense, TInfoPerPTG &ipf, TCandidateMovementPTG &holonomicMovement, CLogFileRecord &newLogRec, const bool this_is_PTG_continuation, mrpt::nav::CAbstractHolonomicReactiveMethod &holoMethod, const mrpt::system::TTimeStamp tim_start_iteration, const TNavigationParams &navp=TNavigationParams(), const mrpt::math::TPose2D &relPoseVelCmd_NOP=mrpt::poses::CPose2D())

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

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

virtual void	waypoints_navigationStep ()
	The waypoints-specific part of navigationStep() More...

bool	waypoints_isAligning () const

void	dispatchPendingNavEvents ()

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...

Protected Attributes
mrpt::math::CPolygon	m_robotShape
	The robot 2D shape model. More...

double	m_robotShapeCircularRadius
	Radius of the robot if approximated as a circle. More...

mrpt::maps::CSimplePointsMap	m_WS_Obstacles
	The obstacle points, as seen from the local robot frame. More...

mrpt::maps::CSimplePointsMap	m_WS_Obstacles_original
	Obstacle points, before filtering (if filtering is enabled). More...

std::vector< CAbstractHolonomicReactiveMethod::Ptr >	m_holonomicMethod
	The holonomic navigation algorithm (one object per PTG, so internal states are maintained) More...

std::unique_ptr< mrpt::utils::CStream >	m_logFile

mrpt::utils::CStream *	m_prev_logfile
	The current log file stream, or nullptr if not being used. More...

bool	m_enableKeepLogRecords
	See enableKeepLogRecords. More...

CLogFileRecord	lastLogRecord
	The last log. More...

mrpt::kinematics::CVehicleVelCmd::Ptr	m_last_vel_cmd
	Last velocity commands. More...

std::recursive_mutex	m_critZoneLastLog
	Critical zones. More...

bool	m_enableConsoleOutput
	Enables / disables the console debug output. More...

bool	m_init_done
	Whether loadConfigFile() has been called or not. More...

mrpt::utils::CTicTac	timerForExecutionPeriod

mrpt::utils::CTimeLogger	m_timelogger
	A complete time logger. More...

bool	m_PTGsMustBeReInitialized

bool	m_closing_navigator
	Signal that the destructor has been called, so no more calls are accepted from other threads. More...

mrpt::system::TTimeStamp	m_WS_Obstacles_timestamp

mrpt::maps::CPointCloudFilterBase::Ptr	m_WS_filter
	Default: none. More...

mrpt::nav::CMultiObjectiveMotionOptimizerBase::Ptr	m_multiobjopt

std::vector< TInfoPerPTG >	m_infoPerPTG
	Temporary buffers for working with each PTG during a navigationStep() More...

mrpt::system::TTimeStamp	m_infoPerPTG_timestamp

TSentVelCmd	m_lastSentVelCmd

TWaypointStatusSequence	m_waypoint_nav_status
	The latest waypoints navigation command and the up-to-date control status. More...

std::recursive_mutex	m_nav_waypoints_cs

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

Variables for CReactiveNavigationSystem::performNavigationStep
mrpt::utils::CTicTac	totalExecutionTime

mrpt::utils::CTicTac	executionTime

mrpt::utils::CTicTac	tictac

mrpt::math::LowPassFilter_IIR1	meanExecutionTime

mrpt::math::LowPassFilter_IIR1	meanTotalExecutionTime

mrpt::math::LowPassFilter_IIR1	meanExecutionPeriod
	Runtime estimation of execution period of the method. More...

mrpt::math::LowPassFilter_IIR1	tim_changeSpeed_avr

mrpt::math::LowPassFilter_IIR1	timoff_obstacles_avr

mrpt::math::LowPassFilter_IIR1	timoff_curPoseAndSpeed_avr

mrpt::math::LowPassFilter_IIR1	timoff_sendVelCmd_avr

Private Member Functions
virtual void	STEP1_InitPTGs () override

bool	implementSenseObstacles (mrpt::system::TTimeStamp &obs_timestamp) override
	Return false on any fatal error. More...

Private Attributes
std::vector< CParameterizedTrajectoryGenerator * >	PTGs
	The list of PTGs to use for navigation. More...

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

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

Member Enumeration Documentation

◆ TState

enum mrpt::nav::CAbstractNavigator::TState

inherited

The different states for the navigation system.

Enumerator
IDLE
NAVIGATING
SUSPENDED
NAV_ERROR

Definition at line 172 of file CAbstractNavigator.h.

Constructor & Destructor Documentation

◆ CReactiveNavigationSystem()

CReactiveNavigationSystem::CReactiveNavigationSystem	(	CRobot2NavInterface &	react_iterf_impl,
		bool	enableConsoleOutput = `true`,
		bool	enableLogFile = `false`,
		const std::string &	logFileDirectory = `std::string("./reactivenav.logs")`
	)

See docs in ctor of base class.

Definition at line 26 of file CReactiveNavigationSystem.cpp.

◆ ~CReactiveNavigationSystem()

CReactiveNavigationSystem::~CReactiveNavigationSystem ( )

virtual

Destructor.

Definition at line 36 of file CReactiveNavigationSystem.cpp.

References mrpt::nav::CAbstractPTGBasedReactive::preDestructor(), and PTGs.

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Member Function Documentation

◆ build_movement_candidate()

void CAbstractPTGBasedReactive::build_movement_candidate	(	CParameterizedTrajectoryGenerator *	ptg,
		const size_t	indexPTG,
		const std::vector< mrpt::math::TPose2D > &	relTargets,
		const mrpt::math::TPose2D &	rel_pose_PTG_origin_wrt_sense,
		TInfoPerPTG &	ipf,
		TCandidateMovementPTG &	holonomicMovement,
		CLogFileRecord &	newLogRec,
		const bool	this_is_PTG_continuation,
		mrpt::nav::CAbstractHolonomicReactiveMethod &	holoMethod,
		const mrpt::system::TTimeStamp	tim_start_iteration,
		const TNavigationParams &	navp = `TNavigationParams()`,
		const mrpt::math::TPose2D &	relPoseVelCmd_NOP = `mrpt::poses::CPose2D()`
	)

protectedinherited

Definition at line 1509 of file CAbstractPTGBasedReactive.cpp.

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

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◆ calc_move_candidate_scores()

void CAbstractPTGBasedReactive::calc_move_candidate_scores	(	TCandidateMovementPTG &	holonomicMovement,
		const std::vector< double > &	in_TPObstacles,
		const mrpt::nav::ClearanceDiagram &	in_clearance,
		const std::vector< mrpt::math::TPose2D > &	WS_Targets,
		const std::vector< PTGTarget > &	TP_Targets,
		CLogFileRecord::TInfoPerPTG &	log,
		CLogFileRecord &	newLogRec,
		const bool	this_is_PTG_continuation,
		const mrpt::math::TPose2D &	relPoseVelCmd_NOP,
		const unsigned int	ptg_idx4weights,
		const mrpt::system::TTimeStamp	tim_start_iteration
	)

protectedinherited

Scores holonomicMovement.

Definition at line 987 of file CAbstractPTGBasedReactive.cpp.

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

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◆ cancel()

void CWaypointsNavigator::cancel ( )

overridevirtualinherited

Cancel current navegation.

Reimplemented from mrpt::nav::CAbstractNavigator.

Definition at line 105 of file CWaypointsNavigator.cpp.

References mrpt::nav::CAbstractNavigator::cancel(), mrpt::nav::CWaypointsNavigator::m_nav_waypoints_cs, and mrpt::nav::CWaypointsNavigator::m_waypoint_nav_status.

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◆ changeCurrentRobotSpeedLimits()

mrpt::kinematics::CVehicleVelCmd::TVelCmdParams& mrpt::nav::CAbstractPTGBasedReactive::changeCurrentRobotSpeedLimits ( )

inlineinherited

Changes the current, global (honored for all PTGs) robot speed limits, via returning a reference to a structure that holds those limits.

Definition at line 272 of file CAbstractPTGBasedReactive.h.

References mrpt::nav::CAbstractPTGBasedReactive::params_abstract_ptg_navigator, and mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::robot_absolute_speed_limits.

◆ changeRobotCircularShapeRadius()

void CReactiveNavigationSystem::changeRobotCircularShapeRadius ( const double R )

Defines the 2D circular robot shape radius, used for some PTGs for collision checking.

Definition at line 57 of file CReactiveNavigationSystem.cpp.

References ASSERT_, mrpt::nav::CAbstractPTGBasedReactive::m_PTGsMustBeReInitialized, m_robotShapeCircularRadius, and R.

Referenced by loadConfigFile().

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◆ changeRobotShape()

void CReactiveNavigationSystem::changeRobotShape ( const mrpt::math::CPolygon & shape )

Defines the 2D polygonal robot shape, used for some PTGs for collision checking.

Definition at line 48 of file CReactiveNavigationSystem.cpp.

References mrpt::nav::CAbstractPTGBasedReactive::m_PTGsMustBeReInitialized, m_robotShape, THROW_EXCEPTION, and mrpt::math::CPolygon::verticesCount().

Referenced by loadConfigFile().

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◆ changeSpeeds()

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

protectedvirtualinherited

Default: forward call to m_robot.changeSpeed().

Can be overriden.

Definition at line 414 of file CAbstractNavigator.cpp.

References mrpt::nav::CRobot2NavInterface::changeSpeeds(), and mrpt::nav::CAbstractNavigator::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 ( )

protectedvirtualinherited

Default: forward call to m_robot.changeSpeedsNOP().

Can be overriden.

Definition at line 420 of file CAbstractNavigator.cpp.

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

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

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◆ checkCollisionWithLatestObstacles()

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

overridevirtual

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 from mrpt::nav::CAbstractNavigator.

Definition at line 307 of file CReactiveNavigationSystem.cpp.

References ASSERT_, mrpt::maps::CPointsMap::getPointsBuffer(), mrpt::math::TPose2D::inverseComposePoint(), m_WS_Obstacles, mrpt::nav::CReactiveNavigationSystem::TReactiveNavigatorParams::max_obstacles_height, mrpt::nav::CReactiveNavigationSystem::TReactiveNavigatorParams::min_obstacles_height, params_reactive_nav, PTGs, R, mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

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◆ checkHasReachedTarget()

bool CWaypointsNavigator::checkHasReachedTarget ( const double targetDist ) const

overrideprotectedvirtualinherited

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 from mrpt::nav::CAbstractNavigator.

Definition at line 547 of file CWaypointsNavigator.cpp.

References mrpt::system::dateTimeLocalToString(), mrpt::nav::TWaypointStatus::getAsText(), INVALID_TIMESTAMP, mrpt::nav::CAbstractNavigator::m_navigationParams, mrpt::nav::CWaypointsNavigator::m_waypoint_nav_status, MRPT_LOG_DEBUG_STREAM, and mrpt::nav::TWaypointStatus::reached.

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◆ dispatchPendingNavEvents()

void CAbstractNavigator::dispatchPendingNavEvents ( )

protectedinherited

Definition at line 251 of file CAbstractNavigator.cpp.

References mrpt::nav::CAbstractNavigator::m_pending_events.

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

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◆ doEmergencyStop()

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

protectedinherited

Stops the robot and set navigation state to error.

Definition at line 262 of file CAbstractNavigator.cpp.

References mrpt::nav::CAbstractNavigator::m_navigationState, MRPT_LOG_ERROR, mrpt::nav::CAbstractNavigator::NAV_ERROR, and mrpt::nav::CAbstractNavigator::stop().

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

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◆ enableKeepLogRecords()

void mrpt::nav::CAbstractPTGBasedReactive::enableKeepLogRecords ( bool enable = true )

inlineinherited

Enables keeping an internal registry of navigation logs that can be queried with getLastLogRecord()

Definition at line 159 of file CAbstractPTGBasedReactive.h.

References mrpt::nav::CAbstractPTGBasedReactive::m_enableKeepLogRecords.

◆ enableLogFile()

void CAbstractPTGBasedReactive::enableLogFile ( bool enable )

inherited

Enables/disables saving log files.

Definition at line 129 of file CAbstractPTGBasedReactive.cpp.

References CFileGZOutputStream, mrpt::system::createDirectory(), mrpt::system::directoryExists(), mrpt::system::fileExists(), mrpt::mrpt::format(), mrpt::nav::CAbstractPTGBasedReactive::m_logFile, mrpt::nav::CAbstractNavigator::m_nav_cs, mrpt::nav::CAbstractPTGBasedReactive::m_navlogfiles_dir, MRPT_LOG_DEBUG, MRPT_LOG_ERROR_FMT, mrpt::system::os::sprintf(), and THROW_EXCEPTION_FMT.

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

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◆ enableTimeLog()

void mrpt::nav::CAbstractPTGBasedReactive::enableTimeLog ( bool enable = true )

inlineinherited

Enables/disables the detailed time logger (default:disabled upon construction) When enabled, a report will be dumped to std::cout upon destruction.

See also: getTimeLogger

Definition at line 247 of file CAbstractPTGBasedReactive.h.

References mrpt::utils::CTimeLogger::enable(), and mrpt::nav::CAbstractPTGBasedReactive::m_timelogger.

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◆ generate_vel_cmd()

double CAbstractPTGBasedReactive::generate_vel_cmd	(	const TCandidateMovementPTG &	in_movement,
		mrpt::kinematics::CVehicleVelCmd::Ptr &	new_vel_cmd
	)

protectedvirtualinherited

Return the [0,1] velocity scale of raw PTG cmd_vel.

Definition at line 1386 of file CAbstractPTGBasedReactive.cpp.

References mrpt::nav::CParameterizedTrajectoryGenerator::alpha2index(), mrpt::nav::TCandidateMovementPTG::direction, mrpt::nav::CParameterizedTrajectoryGenerator::directionToMotionCommand(), mrpt::math::LowPassFilter_IIR1::getLastOutput(), mrpt::nav::CParameterizedTrajectoryGenerator::getSupportedKinematicVelocityCommand(), mrpt::nav::CAbstractPTGBasedReactive::m_last_vel_cmd, mrpt::nav::CAbstractPTGBasedReactive::m_timelogger, mrpt::nav::CAbstractPTGBasedReactive::meanExecutionPeriod, MRPT_LOG_ERROR_STREAM, mrpt::nav::CAbstractPTGBasedReactive::params_abstract_ptg_navigator, mrpt::nav::TCandidateMovementPTG::PTG, mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::robot_absolute_speed_limits, mrpt::nav::TCandidateMovementPTG::speed, and mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::speedfilter_tau.

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

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◆ getCurrentRobotSpeedLimits()

const mrpt::kinematics::CVehicleVelCmd::TVelCmdParams& mrpt::nav::CAbstractPTGBasedReactive::getCurrentRobotSpeedLimits ( ) const

inlineinherited

Get the current, global (honored for all PTGs) robot speed limits.

Definition at line 264 of file CAbstractPTGBasedReactive.h.

References mrpt::nav::CAbstractPTGBasedReactive::params_abstract_ptg_navigator, and mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::robot_absolute_speed_limits.

◆ getCurrentState()

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

inlineinherited

Returns the current navigator state.

Definition at line 181 of file CAbstractNavigator.h.

References mrpt::nav::CAbstractNavigator::m_navigationState.

◆ getDelaysTimeLogger()

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

inlineinherited

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 mrpt::nav::CAbstractNavigator::m_timlog_delays.

◆ getFrameTF()

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

inlineinherited

Get the current frame tf object (defaults to nullptr)

See also: setFrameTF

Definition at line 195 of file CAbstractNavigator.h.

References mrpt::nav::CAbstractNavigator::m_frame_tf.

◆ getLastLogRecord()

void CAbstractPTGBasedReactive::getLastLogRecord ( CLogFileRecord & o )

inherited

Provides a copy of the last log record with information about execution.

Parameters

o	An object where the log will be stored into.

Note: Log records are not prepared unless either "enableLogFile" is enabled in the constructor or "enableLogFile()" has been called.

Definition at line 206 of file CAbstractPTGBasedReactive.cpp.

References mrpt::nav::CAbstractPTGBasedReactive::lastLogRecord, and mrpt::nav::CAbstractPTGBasedReactive::m_critZoneLastLog.

◆ getLogFileDirectory()

std::string mrpt::nav::CAbstractPTGBasedReactive::getLogFileDirectory ( ) const

inlineinherited

Definition at line 172 of file CAbstractPTGBasedReactive.h.

References mrpt::nav::CAbstractPTGBasedReactive::m_navlogfiles_dir.

◆ getPTG() [1/2]

virtual CParameterizedTrajectoryGenerator* mrpt::nav::CReactiveNavigationSystem::getPTG ( size_t i )

inlineoverridevirtual

Gets the i'th PTG.

Implements mrpt::nav::CAbstractPTGBasedReactive.

Definition at line 86 of file CReactiveNavigationSystem.h.

References ASSERT_, and PTGs.

Referenced by STEP3_WSpaceToTPSpace().

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◆ getPTG() [2/2]

virtual const CParameterizedTrajectoryGenerator* mrpt::nav::CReactiveNavigationSystem::getPTG ( size_t i ) const

inlineoverridevirtual

Gets the i'th PTG.

Implements mrpt::nav::CAbstractPTGBasedReactive.

Definition at line 91 of file CReactiveNavigationSystem.h.

References ASSERT_, and PTGs.

◆ getPTG_count()

virtual size_t mrpt::nav::CReactiveNavigationSystem::getPTG_count ( ) const

inlineoverridevirtual

Returns the number of different PTGs that have been setup.

Implements mrpt::nav::CAbstractPTGBasedReactive.

Definition at line 85 of file CReactiveNavigationSystem.h.

References PTGs.

◆ getTargetApproachSlowDownDistance()

double CAbstractPTGBasedReactive::getTargetApproachSlowDownDistance ( ) const

inherited

Returns this parameter for the first inner holonomic navigator instances [m] (should be the same in all of them?)

Definition at line 1988 of file CAbstractPTGBasedReactive.cpp.

References ASSERT_, and mrpt::nav::CAbstractPTGBasedReactive::m_holonomicMethod.

◆ getTimeLogger()

const mrpt::utils::CTimeLogger& mrpt::nav::CAbstractPTGBasedReactive::getTimeLogger ( ) const

inlineinherited

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

See also: enableTimeLog

Definition at line 250 of file CAbstractPTGBasedReactive.h.

References mrpt::nav::CAbstractPTGBasedReactive::m_timelogger.

◆ getWaypointNavStatus() [1/2]

void CWaypointsNavigator::getWaypointNavStatus ( TWaypointStatusSequence & out_nav_status ) const

virtualinherited

Get a copy of the control structure which describes the progress status of the waypoint navigation.

Definition at line 97 of file CWaypointsNavigator.cpp.

References mrpt::nav::CWaypointsNavigator::m_waypoint_nav_status.

◆ getWaypointNavStatus() [2/2]

TWaypointStatusSequence mrpt::nav::CWaypointsNavigator::getWaypointNavStatus ( ) const

inlineinherited

Get a copy of the control structure which describes the progress status of the waypoint navigation.

Definition at line 95 of file CWaypointsNavigator.h.

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

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◆ impl_waypoint_is_reachable()

bool CAbstractPTGBasedReactive::impl_waypoint_is_reachable ( const mrpt::math::TPoint2D & wp_local_wrt_robot ) const

overrideprotectedvirtualinherited

Implements the way to waypoint is free function in children classes: true must be returned if, according to the information gathered at the last navigation step, there is a free path to the given point; false otherwise: if way is blocked or there is missing information, the point is out of range, etc.

Implements mrpt::nav::CWaypointsNavigator.

Definition at line 1436 of file CAbstractPTGBasedReactive.cpp.

References ASSERT_, mrpt::nav::CParameterizedTrajectoryGenerator::getPathCount(), mrpt::nav::CAbstractPTGBasedReactive::getPTG(), mrpt::nav::CAbstractPTGBasedReactive::getPTG_count(), INVALID_TIMESTAMP, mrpt::nav::CParameterizedTrajectoryGenerator::inverseMap_WS2TP(), mrpt::nav::CAbstractPTGBasedReactive::m_infoPerPTG, mrpt::nav::CAbstractPTGBasedReactive::m_infoPerPTG_timestamp, MRPT_END, MRPT_START, mrpt::system::now(), mrpt::system::timeDifference(), mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

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◆ implementSenseObstacles()

bool CReactiveNavigationSystem::implementSenseObstacles ( mrpt::system::TTimeStamp & obs_timestamp )

overrideprivatevirtual

Return false on any fatal error.

Implements mrpt::nav::CAbstractPTGBasedReactive.

Definition at line 184 of file CReactiveNavigationSystem.cpp.

References mrpt::nav::CAbstractNavigator::m_curPoseVel, mrpt::nav::CAbstractNavigator::m_robot, mrpt::nav::CAbstractPTGBasedReactive::m_timelogger, mrpt::nav::CAbstractNavigator::m_timlog_delays, mrpt::nav::CAbstractPTGBasedReactive::m_WS_filter, m_WS_Obstacles, m_WS_Obstacles_original, MRPT_LOG_ERROR_STREAM, mrpt::nav::CAbstractNavigator::TRobotPoseVel::pose, and mrpt::nav::CRobot2NavInterface::senseObstacles().

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◆ initialize()

void CAbstractPTGBasedReactive::initialize ( void )

overridevirtualinherited

Must be called for loading collision grids, or the first navigation command may last a long time to be executed.

Internally, it just calls STEP1_CollisionGridsBuilder().

Implements mrpt::nav::CAbstractNavigator.

Definition at line 113 of file CAbstractPTGBasedReactive.cpp.

References ASSERT_, INVALID_TIMESTAMP, mrpt::nav::CAbstractPTGBasedReactive::m_infoPerPTG_timestamp, mrpt::nav::CAbstractPTGBasedReactive::m_multiobjopt, mrpt::nav::CAbstractNavigator::m_nav_cs, and mrpt::nav::CAbstractPTGBasedReactive::STEP1_InitPTGs().

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◆ isRelativePointReachable()

bool CWaypointsNavigator::isRelativePointReachable ( const mrpt::math::TPoint2D & wp_local_wrt_robot ) const

inherited

Returns true if, according to the information gathered at the last navigation step, there is a free path to the given point; false otherwise: if way is blocked or there is missing information, the point is out of range for the existing PTGs, etc.

Definition at line 478 of file CWaypointsNavigator.cpp.

References mrpt::nav::CWaypointsNavigator::impl_waypoint_is_reachable().

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◆ loadConfigFile()

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

overridevirtual

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 from mrpt::nav::CAbstractPTGBasedReactive.

Definition at line 76 of file CReactiveNavigationSystem.cpp.

References mrpt::math::CPolygon::AddVertex(), ASSERT_, ASSERTMSG_, changeRobotCircularShapeRadius(), changeRobotShape(), mrpt::nav::CParameterizedTrajectoryGenerator::CreatePTG(), mrpt::format(), mrpt::nav::CAbstractPTGBasedReactive::loadConfigFile(), mrpt::nav::CReactiveNavigationSystem::TReactiveNavigatorParams::loadFromConfigFile(), MRPT_END, MRPT_START, params_reactive_nav, and PTGs.

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◆ loggingGetWSObstaclesAndShape()

void CReactiveNavigationSystem::loggingGetWSObstaclesAndShape ( CLogFileRecord & out_log )

overrideprotectedvirtual

Generates a pointcloud of obstacles, and the robot shape, to be saved in the logging record for the current timestep.

Implements mrpt::nav::CAbstractPTGBasedReactive.

Definition at line 264 of file CReactiveNavigationSystem.cpp.

References mrpt::math::CPolygon::GetVertex_x(), mrpt::math::CPolygon::GetVertex_y(), m_robotShape, m_robotShapeCircularRadius, m_WS_Obstacles, m_WS_Obstacles_original, mrpt::nav::CLogFileRecord::robotShape_radius, mrpt::nav::CLogFileRecord::robotShape_x, mrpt::nav::CLogFileRecord::robotShape_y, mrpt::nav::CLogFileRecord::WS_Obstacles, and mrpt::nav::CLogFileRecord::WS_Obstacles_original.

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◆ navigate()

void CAbstractNavigator::navigate ( const TNavigationParams * params )

virtualinherited

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, mrpt::nav::CAbstractNavigator::onNavigateCommandReceived(), and mrpt::nav::CAbstractNavigator::processNavigateCommand().

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◆ navigateWaypoints()

void CWaypointsNavigator::navigateWaypoints ( const TWaypointSequence & nav_request )

virtualinherited

Waypoint navigation request.

This immediately cancels any other previous on-going navigation.

See also: CAbstractNavigator::navigate() for single waypoint navigation requests.

Definition at line 67 of file CWaypointsNavigator.cpp.

References ASSERT_, ASSERTMSG_, mrpt::nav::CWaypointsNavigator::m_nav_waypoints_cs, mrpt::nav::CAbstractNavigator::m_pending_events, mrpt::nav::CWaypointsNavigator::m_waypoint_nav_status, MRPT_END, MRPT_START, mrpt::system::now(), mrpt::nav::CWaypointsNavigator::onNavigateCommandReceived(), mrpt::nav::TWaypointStatusSequence::timestamp_nav_started, mrpt::nav::TWaypointStatusSequence::waypoint_index_current_goal, mrpt::nav::TWaypointSequence::waypoints, and mrpt::nav::TWaypointStatusSequence::waypoints.

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◆ navigationStep()

void CWaypointsNavigator::navigationStep ( )

overridevirtualinherited

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

Reimplemented from mrpt::nav::CAbstractNavigator.

Definition at line 448 of file CWaypointsNavigator.cpp.

References mrpt::nav::CAbstractNavigator::dispatchPendingNavEvents(), mrpt::nav::CWaypointsNavigator::m_is_aligning, mrpt::nav::CAbstractNavigator::m_navigationState, MRPT_END, MRPT_START, mrpt::nav::CAbstractNavigator::navigationStep(), mrpt::nav::CAbstractNavigator::SUSPENDED, and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

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◆ onNavigateCommandReceived()

void CWaypointsNavigator::onNavigateCommandReceived ( )

overrideprotectedvirtualinherited

Called after each call to CAbstractNavigator::navigate()

Reimplemented from mrpt::nav::CAbstractNavigator.

Definition at line 55 of file CWaypointsNavigator.cpp.

References INVALID_TIMESTAMP, mrpt::nav::CWaypointsNavigator::m_nav_waypoints_cs, mrpt::nav::CWaypointsNavigator::m_was_aligning, mrpt::nav::CWaypointsNavigator::m_waypoint_nav_status, mrpt::nav::CAbstractNavigator::onNavigateCommandReceived(), mrpt::nav::TWaypointStatusSequence::timestamp_nav_started, and mrpt::nav::TWaypointStatusSequence::waypoint_index_current_goal.

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

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◆ onStartNewNavigation()

void CAbstractPTGBasedReactive::onStartNewNavigation ( )

overrideprotectedvirtualinherited

Called whenever a new navigation has been started.

Can be used to reset state variables, etc.

Reimplemented from mrpt::nav::CWaypointsNavigator.

Definition at line 1482 of file CAbstractPTGBasedReactive.cpp.

References mrpt::nav::CAbstractNavigator::m_last_curPoseVelUpdate_robot_time, mrpt::nav::CAbstractPTGBasedReactive::m_lastSentVelCmd, mrpt::nav::CWaypointsNavigator::onStartNewNavigation(), and mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::reset().

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◆ performNavigationStep()

void CAbstractPTGBasedReactive::performNavigationStep ( )

overrideprotectedvirtualinherited

The main method for the navigator.

The main method: executes one time-iteration of the reactive navigation algorithm.

Allow PTGs to be responsive to target location, dynamics, etc.

Implements mrpt::nav::CAbstractNavigator.

Definition at line 244 of file CAbstractPTGBasedReactive.cpp.

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◆ performNavigationStepNavigating()

void CAbstractNavigator::performNavigationStepNavigating ( bool call_virtual_nav_method = true )

protectedvirtualinherited

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.

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

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◆ preDestructor()

void CAbstractPTGBasedReactive::preDestructor ( )

protectedinherited

To be called during children destructors to assure thread-safe destruction, and free of shared objects.

Definition at line 84 of file CAbstractPTGBasedReactive.cpp.

References mrpt::nav::CAbstractPTGBasedReactive::deleteHolonomicObjects(), mrpt::nav::CAbstractPTGBasedReactive::m_closing_navigator, mrpt::nav::CAbstractPTGBasedReactive::m_logFile, mrpt::nav::CAbstractNavigator::m_nav_cs, and mrpt::nav::CAbstractNavigator::stop().

Referenced by mrpt::nav::CAbstractPTGBasedReactive::~CAbstractPTGBasedReactive(), ~CReactiveNavigationSystem(), and mrpt::nav::CReactiveNavigationSystem3D::~CReactiveNavigationSystem3D().

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◆ processNavigateCommand()

void CAbstractNavigator::processNavigateCommand ( const TNavigationParams * params )

protectedinherited

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

Definition at line 283 of file CAbstractNavigator.cpp.

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

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◆ resetNavError()

void CAbstractNavigator::resetNavError ( )

virtualinherited

Resets a NAV_ERROR state back to IDLE

Definition at line 146 of file CAbstractNavigator.cpp.

References mrpt::nav::CAbstractNavigator::IDLE, mrpt::nav::CAbstractNavigator::m_nav_cs, mrpt::nav::CAbstractNavigator::m_navigationState, MRPT_LOG_DEBUG, and mrpt::nav::CAbstractNavigator::NAV_ERROR.

◆ resume()

void CAbstractNavigator::resume ( )

virtualinherited

Continues with suspended navigation.

See also: suspend

Definition at line 123 of file CAbstractNavigator.cpp.

References mrpt::nav::CAbstractNavigator::m_nav_cs, mrpt::nav::CAbstractNavigator::m_navigationState, MRPT_LOG_DEBUG, mrpt::nav::CAbstractNavigator::NAVIGATING, and mrpt::nav::CAbstractNavigator::SUSPENDED.

◆ saveConfigFile()

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

overridevirtual

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 from mrpt::nav::CAbstractPTGBasedReactive.

Definition at line 64 of file CReactiveNavigationSystem.cpp.

References MRPT_SAVE_CONFIG_VAR_COMMENT, params_reactive_nav, PTGs, mrpt::nav::CAbstractPTGBasedReactive::saveConfigFile(), and mrpt::nav::CReactiveNavigationSystem::TReactiveNavigatorParams::saveToConfigFile().

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◆ setFrameTF()

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

inherited

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.

Todo:: [MRPT 2.0: Make this a weak_ptr]

Definition at line 154 of file CAbstractNavigator.cpp.

References mrpt::nav::CAbstractNavigator::m_frame_tf.

◆ setHolonomicMethod()

void CAbstractPTGBasedReactive::setHolonomicMethod	(	const std::string &	method,
		const mrpt::utils::CConfigFileBase &	cfgBase
	)

inherited

Selects which one from the set of available holonomic methods will be used into transformed TP-Space, and sets its configuration from a configuration file.

Available methods: class names of those derived from CAbstractHolonomicReactiveMethod

Definition at line 217 of file CAbstractPTGBasedReactive.cpp.

References ASSERT_, mrpt::nav::CAbstractPTGBasedReactive::deleteHolonomicObjects(), mrpt::nav::CAbstractHolonomicReactiveMethod::Factory(), mrpt::nav::CAbstractPTGBasedReactive::getPTG(), mrpt::nav::CAbstractPTGBasedReactive::getPTG_count(), mrpt::nav::CAbstractPTGBasedReactive::m_holonomicMethod, mrpt::nav::CAbstractNavigator::m_nav_cs, and THROW_EXCEPTION_FMT.

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

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◆ setLogFileDirectory()

void mrpt::nav::CAbstractPTGBasedReactive::setLogFileDirectory ( const std::string & sDir )

inlineinherited

Changes the prefix for new log files.

Definition at line 168 of file CAbstractPTGBasedReactive.h.

References mrpt::nav::CAbstractPTGBasedReactive::m_navlogfiles_dir.

◆ setTargetApproachSlowDownDistance()

void CAbstractPTGBasedReactive::setTargetApproachSlowDownDistance ( const double dist )

inherited

Changes this parameter in all inner holonomic navigator instances [m].

Definition at line 1979 of file CAbstractPTGBasedReactive.cpp.

References mrpt::nav::CAbstractPTGBasedReactive::m_holonomicMethod.

◆ STEP1_InitPTGs()

void CReactiveNavigationSystem::STEP1_InitPTGs ( )

overrideprivatevirtual

Implements mrpt::nav::CAbstractPTGBasedReactive.

Definition at line 137 of file CReactiveNavigationSystem.cpp.

References mrpt::format(), mrpt::nav::CAbstractPTGBasedReactive::m_enableConsoleOutput, mrpt::nav::CAbstractPTGBasedReactive::m_PTGsMustBeReInitialized, m_robotShape, m_robotShapeCircularRadius, mrpt::nav::CAbstractPTGBasedReactive::m_timelogger, mrpt::nav::CAbstractPTGBasedReactive::params_abstract_ptg_navigator, mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::ptg_cache_files_directory, PTGs, mrpt::nav::CPTG_RobotShape_Polygonal::setRobotShape(), and mrpt::nav::CPTG_RobotShape_Circular::setRobotShapeRadius().

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◆ STEP2_SenseObstacles()

bool CAbstractPTGBasedReactive::STEP2_SenseObstacles ( )

protectedinherited

Definition at line 1476 of file CAbstractPTGBasedReactive.cpp.

References mrpt::nav::CAbstractPTGBasedReactive::implementSenseObstacles(), and mrpt::nav::CAbstractPTGBasedReactive::m_WS_Obstacles_timestamp.

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

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◆ STEP3_WSpaceToTPSpace()

void CReactiveNavigationSystem::STEP3_WSpaceToTPSpace	(	const size_t	ptg_idx,
		std::vector< double > &	out_TPObstacles,
		mrpt::nav::ClearanceDiagram &	out_clearance,
		const mrpt::math::TPose2D &	rel_pose_PTG_origin_wrt_sense,
		const bool	eval_clearance
	)

overrideprotectedvirtual

Builds TP-Obstacles from Workspace obstacles for the given PTG.

"out_TPObstacles" is already initialized to the proper length and maximum collision-free distance for each "k" trajectory index. Distances are in "pseudo-meters". They will be normalized automatically to [0,1] upon return.

Implements mrpt::nav::CAbstractPTGBasedReactive.

Definition at line 224 of file CReactiveNavigationSystem.cpp.

References mrpt::poses::CPose2D::composePoint(), mrpt::maps::CPointsMap::getPointsBuffer(), getPTG(), m_WS_Obstacles, mrpt::nav::CReactiveNavigationSystem::TReactiveNavigatorParams::max_obstacles_height, mrpt::nav::CReactiveNavigationSystem::TReactiveNavigatorParams::min_obstacles_height, mrpt::nav::CAbstractPTGBasedReactive::params_abstract_ptg_navigator, params_reactive_nav, mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::ref_distance, mrpt::nav::CParameterizedTrajectoryGenerator::updateClearance(), and mrpt::nav::CParameterizedTrajectoryGenerator::updateTPObstacle().

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◆ STEP8_GenerateLogRecord()

void CAbstractPTGBasedReactive::STEP8_GenerateLogRecord	(	CLogFileRecord &	newLogRec,
		const std::vector< mrpt::math::TPose2D > &	relTargets,
		int	nSelectedPTG,
		const mrpt::kinematics::CVehicleVelCmd::Ptr &	new_vel_cmd,
		int	nPTGs,
		const bool	best_is_NOP_cmdvel,
		const math::TPose2D &	rel_cur_pose_wrt_last_vel_cmd_NOP,
		const math::TPose2D &	rel_pose_PTG_origin_wrt_sense_NOP,
		const double	executionTimeValue,
		const double	tim_changeSpeed,
		const mrpt::system::TTimeStamp &	tim_start_iteration
	)

protectedinherited

Definition at line 921 of file CAbstractPTGBasedReactive.cpp.

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

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◆ stop()

bool CAbstractNavigator::stop ( bool isEmergencyStop )

protectedvirtualinherited

Default: forward call to m_robot.stop().

Can be overriden.

Definition at line 422 of file CAbstractNavigator.cpp.

References mrpt::nav::CAbstractNavigator::m_robot, and mrpt::nav::CRobot2NavInterface::stop().

Referenced by mrpt::nav::CAbstractNavigator::cancel(), mrpt::nav::CAbstractNavigator::doEmergencyStop(), mrpt::nav::CNavigatorManualSequence::navigationStep(), mrpt::nav::CAbstractNavigator::navigationStep(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), mrpt::nav::CAbstractPTGBasedReactive::preDestructor(), mrpt::nav::CAbstractNavigator::suspend(), mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

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◆ suspend()

void CAbstractNavigator::suspend ( )

virtualinherited

Suspend current navegation.

See also: resume

Definition at line 132 of file CAbstractNavigator.cpp.

References mrpt::nav::CAbstractNavigator::m_nav_cs, mrpt::nav::CAbstractNavigator::m_navigationState, MRPT_LOG_DEBUG, mrpt::nav::CAbstractNavigator::NAVIGATING, mrpt::nav::CAbstractNavigator::stop(), and mrpt::nav::CAbstractNavigator::SUSPENDED.

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◆ updateCurrentPoseAndSpeeds()

void CAbstractNavigator::updateCurrentPoseAndSpeeds ( )

protectedinherited

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

If an error is returned by the user callback, first, it calls robot.stop() ,then throws an std::runtime_error exception.

Definition at line 325 of file CAbstractNavigator.cpp.

Referenced by mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), mrpt::nav::CAbstractNavigator::processNavigateCommand(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

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◆ waypoints_isAligning()

bool mrpt::nav::CWaypointsNavigator::waypoints_isAligning ( ) const

inlineprotectedinherited

Definition at line 168 of file CWaypointsNavigator.h.

References mrpt::nav::CWaypointsNavigator::m_is_aligning.

◆ waypoints_navigationStep()

void CWaypointsNavigator::waypoints_navigationStep ( )

protectedvirtualinherited

The waypoints-specific part of navigationStep()

Definition at line 115 of file CWaypointsNavigator.cpp.

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

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Member Data Documentation

◆ executionTime

mrpt::utils::CTicTac mrpt::nav::CAbstractPTGBasedReactive::executionTime

protectedinherited

Definition at line 316 of file CAbstractPTGBasedReactive.h.

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

◆ lastLogRecord

CLogFileRecord mrpt::nav::CAbstractPTGBasedReactive::lastLogRecord

protectedinherited

The last log.

Definition at line 297 of file CAbstractPTGBasedReactive.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::getLastLogRecord(), and mrpt::nav::CAbstractPTGBasedReactive::STEP8_GenerateLogRecord().

◆ m_badNavAlarm_lastMinDistTime

mrpt::system::TTimeStamp mrpt::nav::CAbstractNavigator::m_badNavAlarm_lastMinDistTime

protectedinherited

Definition at line 349 of file CAbstractNavigator.h.

Referenced by mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), and mrpt::nav::CAbstractNavigator::processNavigateCommand().

◆ m_badNavAlarm_minDistTarget

double mrpt::nav::CAbstractNavigator::m_badNavAlarm_minDistTarget

protectedinherited

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

Definition at line 348 of file CAbstractNavigator.h.

Referenced by mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), and mrpt::nav::CAbstractNavigator::processNavigateCommand().

◆ m_closing_navigator

bool mrpt::nav::CAbstractPTGBasedReactive::m_closing_navigator

protectedinherited

Signal that the destructor has been called, so no more calls are accepted from other threads.

Definition at line 401 of file CAbstractPTGBasedReactive.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), and mrpt::nav::CAbstractPTGBasedReactive::preDestructor().

◆ m_critZoneLastLog

std::recursive_mutex mrpt::nav::CAbstractPTGBasedReactive::m_critZoneLastLog

protectedinherited

Critical zones.

Definition at line 302 of file CAbstractPTGBasedReactive.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::getLastLogRecord(), and mrpt::nav::CAbstractPTGBasedReactive::STEP8_GenerateLogRecord().

◆ m_curPoseVel

TRobotPoseVel mrpt::nav::CAbstractNavigator::m_curPoseVel

protectedinherited

Current robot pose (updated in CAbstractNavigator::navigationStep() )

Definition at line 337 of file CAbstractNavigator.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), implementSenseObstacles(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), mrpt::nav::CAbstractNavigator::processNavigateCommand(), mrpt::nav::CAbstractPTGBasedReactive::STEP8_GenerateLogRecord(), mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

◆ m_enableConsoleOutput

bool mrpt::nav::CAbstractPTGBasedReactive::m_enableConsoleOutput

protectedinherited

Enables / disables the console debug output.

Definition at line 305 of file CAbstractPTGBasedReactive.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), STEP1_InitPTGs(), and mrpt::nav::CReactiveNavigationSystem3D::STEP1_InitPTGs().

◆ m_enableKeepLogRecords

bool mrpt::nav::CAbstractPTGBasedReactive::m_enableKeepLogRecords

protectedinherited

See enableKeepLogRecords.

Definition at line 295 of file CAbstractPTGBasedReactive.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CAbstractPTGBasedReactive::enableKeepLogRecords(), and mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep().

◆ m_frame_tf

mrpt::poses::FrameTransformer<2>* mrpt::nav::CAbstractNavigator::m_frame_tf

protectedinherited

Optional, user-provided frame transformer.

Note: We dont have ownership of the pointee object!

Definition at line 318 of file CAbstractNavigator.h.

Referenced by mrpt::nav::CAbstractNavigator::getFrameTF(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), and mrpt::nav::CAbstractNavigator::setFrameTF().

◆ m_holonomicMethod

std::vector<CAbstractHolonomicReactiveMethod::Ptr> mrpt::nav::CAbstractPTGBasedReactive::m_holonomicMethod

protectedinherited

The holonomic navigation algorithm (one object per PTG, so internal states are maintained)

Definition at line 290 of file CAbstractPTGBasedReactive.h.

◆ m_infoPerPTG

std::vector<TInfoPerPTG> mrpt::nav::CAbstractPTGBasedReactive::m_infoPerPTG

protectedinherited

Temporary buffers for working with each PTG during a navigationStep()

Definition at line 420 of file CAbstractPTGBasedReactive.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::impl_waypoint_is_reachable(), and mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep().

◆ m_infoPerPTG_timestamp

mrpt::system::TTimeStamp mrpt::nav::CAbstractPTGBasedReactive::m_infoPerPTG_timestamp

protectedinherited

Definition at line 421 of file CAbstractPTGBasedReactive.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::impl_waypoint_is_reachable(), mrpt::nav::CAbstractPTGBasedReactive::initialize(), and mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep().

◆ m_init_done

bool mrpt::nav::CAbstractPTGBasedReactive::m_init_done

protectedinherited

Whether loadConfigFile() has been called or not.

Definition at line 307 of file CAbstractPTGBasedReactive.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::loadConfigFile(), and mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep().

◆ m_last_curPoseVelUpdate_pose_frame_id

std::string mrpt::nav::CAbstractNavigator::m_last_curPoseVelUpdate_pose_frame_id

protectedinherited

Definition at line 339 of file CAbstractNavigator.h.

Referenced by mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds().

◆ m_last_curPoseVelUpdate_robot_time

double mrpt::nav::CAbstractNavigator::m_last_curPoseVelUpdate_robot_time

protectedinherited

Definition at line 338 of file CAbstractNavigator.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::onStartNewNavigation(), and mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds().

◆ m_last_vel_cmd

mrpt::kinematics::CVehicleVelCmd::Ptr mrpt::nav::CAbstractPTGBasedReactive::m_last_vel_cmd

protectedinherited

Last velocity commands.

Definition at line 299 of file CAbstractPTGBasedReactive.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), and mrpt::nav::CAbstractPTGBasedReactive::generate_vel_cmd().

◆ m_lastSentVelCmd

TSentVelCmd mrpt::nav::CAbstractPTGBasedReactive::m_lastSentVelCmd

protectedinherited

Definition at line 457 of file CAbstractPTGBasedReactive.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), mrpt::nav::CAbstractPTGBasedReactive::onStartNewNavigation(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), and mrpt::nav::CAbstractPTGBasedReactive::STEP8_GenerateLogRecord().

◆ m_latestOdomPoses

mrpt::poses::CPose2DInterpolator mrpt::nav::CAbstractNavigator::m_latestOdomPoses

protectedinherited

Definition at line 341 of file CAbstractNavigator.h.

Referenced by mrpt::nav::CAbstractNavigator::CAbstractNavigator(), mrpt::nav::CAbstractNavigator::internal_onStartNewNavigation(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), and mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds().

◆ m_latestPoses

mrpt::poses::CPose2DInterpolator mrpt::nav::CAbstractNavigator::m_latestPoses

protectedinherited

Latest robot poses (updated in CAbstractNavigator::navigationStep() )

Definition at line 341 of file CAbstractNavigator.h.

Referenced by mrpt::nav::CAbstractNavigator::CAbstractNavigator(), mrpt::nav::CAbstractNavigator::internal_onStartNewNavigation(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), and mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds().

◆ m_logFile

std::unique_ptr<mrpt::utils::CStream> mrpt::nav::CAbstractPTGBasedReactive::m_logFile

protectedinherited

Definition at line 291 of file CAbstractPTGBasedReactive.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CAbstractPTGBasedReactive::enableLogFile(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::nav::CAbstractPTGBasedReactive::preDestructor(), and mrpt::nav::CAbstractPTGBasedReactive::STEP8_GenerateLogRecord().

◆ m_multiobjopt

mrpt::nav::CMultiObjectiveMotionOptimizerBase::Ptr mrpt::nav::CAbstractPTGBasedReactive::m_multiobjopt

protectedinherited

Definition at line 407 of file CAbstractPTGBasedReactive.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::initialize(), mrpt::nav::CAbstractPTGBasedReactive::loadConfigFile(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), and mrpt::nav::CAbstractPTGBasedReactive::saveConfigFile().

◆ m_nav_cs

std::recursive_mutex mrpt::nav::CAbstractNavigator::m_nav_cs

protectedinherited

mutex for all navigation methods

Definition at line 321 of file CAbstractNavigator.h.

◆ m_nav_waypoints_cs

std::recursive_mutex mrpt::nav::CWaypointsNavigator::m_nav_waypoints_cs

protectedinherited

Definition at line 149 of file CWaypointsNavigator.h.

Referenced by mrpt::nav::CWaypointsNavigator::cancel(), mrpt::nav::CWaypointsNavigator::navigateWaypoints(), mrpt::nav::CWaypointsNavigator::onNavigateCommandReceived(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

◆ m_navigationParams

std::unique_ptr<TNavigationParams> mrpt::nav::CAbstractNavigator::m_navigationParams

protectedinherited

Current navigation parameters.

Definition at line 311 of file CAbstractNavigator.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), mrpt::nav::CWaypointsNavigator::checkHasReachedTarget(), mrpt::nav::CAbstractNavigator::onNavigateCommandReceived(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), and mrpt::nav::CAbstractNavigator::processNavigateCommand().

◆ m_navigationState

TState mrpt::nav::CAbstractNavigator::m_navigationState

protectedinherited

Current internal state of navigator:

Definition at line 309 of file CAbstractNavigator.h.

◆ m_pending_events

std::vector<std::function<void(void)> > mrpt::nav::CAbstractNavigator::m_pending_events

protectedinherited

Events generated during navigationStep(), enqueued to be called at the end of the method execution to avoid user code to change the navigator state.

Definition at line 250 of file CAbstractNavigator.h.

Referenced by mrpt::nav::CAbstractNavigator::dispatchPendingNavEvents(), mrpt::nav::CWaypointsNavigator::navigateWaypoints(), mrpt::nav::CAbstractNavigator::navigationStep(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

◆ m_prev_logfile

mrpt::utils::CStream* mrpt::nav::CAbstractPTGBasedReactive::m_prev_logfile

protectedinherited

The current log file stream, or nullptr if not being used.

Definition at line 293 of file CAbstractPTGBasedReactive.h.

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

◆ m_PTGsMustBeReInitialized

bool mrpt::nav::CAbstractPTGBasedReactive::m_PTGsMustBeReInitialized

protectedinherited

Definition at line 312 of file CAbstractPTGBasedReactive.h.

Referenced by changeRobotCircularShapeRadius(), changeRobotShape(), mrpt::nav::CReactiveNavigationSystem3D::changeRobotShape(), mrpt::nav::CReactiveNavigationSystem3D::loadConfigFile(), mrpt::nav::CAbstractPTGBasedReactive::loadConfigFile(), STEP1_InitPTGs(), and mrpt::nav::CReactiveNavigationSystem3D::STEP1_InitPTGs().

◆ m_robot

CRobot2NavInterface& mrpt::nav::CAbstractNavigator::m_robot

protectedinherited

The navigator-robot interface.

Definition at line 314 of file CAbstractNavigator.h.

◆ m_robotShape

mrpt::math::CPolygon mrpt::nav::CReactiveNavigationSystem::m_robotShape

protected

The robot 2D shape model.

Only one of robot_shape or robot_shape_circular_radius will be used in each PTG

Definition at line 137 of file CReactiveNavigationSystem.h.

Referenced by changeRobotShape(), loggingGetWSObstaclesAndShape(), and STEP1_InitPTGs().

◆ m_robotShapeCircularRadius

double mrpt::nav::CReactiveNavigationSystem::m_robotShapeCircularRadius

protected

Radius of the robot if approximated as a circle.

Only one of robot_shape or robot_shape_circular_radius will be used in each PTG

Definition at line 141 of file CReactiveNavigationSystem.h.

Referenced by changeRobotCircularShapeRadius(), loggingGetWSObstaclesAndShape(), and STEP1_InitPTGs().

◆ m_timelogger

mrpt::utils::CTimeLogger mrpt::nav::CAbstractPTGBasedReactive::m_timelogger

protectedinherited

A complete time logger.

See also: enableTimeLog()

Definition at line 311 of file CAbstractPTGBasedReactive.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CAbstractPTGBasedReactive::enableTimeLog(), mrpt::nav::CAbstractPTGBasedReactive::generate_vel_cmd(), mrpt::nav::CAbstractPTGBasedReactive::getTimeLogger(), implementSenseObstacles(), mrpt::nav::CReactiveNavigationSystem3D::implementSenseObstacles(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), STEP1_InitPTGs(), mrpt::nav::CReactiveNavigationSystem3D::STEP1_InitPTGs(), and mrpt::nav::CAbstractPTGBasedReactive::STEP8_GenerateLogRecord().

◆ m_timlog_delays

mrpt::utils::CTimeLogger mrpt::nav::CAbstractNavigator::m_timlog_delays

protectedinherited

Time logger to collect delay-related stats.

Definition at line 344 of file CAbstractNavigator.h.

Referenced by mrpt::nav::CAbstractNavigator::getDelaysTimeLogger(), implementSenseObstacles(), mrpt::nav::CReactiveNavigationSystem3D::implementSenseObstacles(), mrpt::nav::CAbstractNavigator::navigationStep(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::nav::CAbstractPTGBasedReactive::STEP8_GenerateLogRecord(), mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

◆ m_waypoint_nav_status

TWaypointStatusSequence mrpt::nav::CWaypointsNavigator::m_waypoint_nav_status

protectedinherited

The latest waypoints navigation command and the up-to-date control status.

Definition at line 148 of file CWaypointsNavigator.h.

Referenced by mrpt::nav::CWaypointsNavigator::cancel(), mrpt::nav::CWaypointsNavigator::checkHasReachedTarget(), mrpt::nav::CWaypointsNavigator::getWaypointNavStatus(), mrpt::nav::CWaypointsNavigator::navigateWaypoints(), mrpt::nav::CWaypointsNavigator::onNavigateCommandReceived(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

◆ m_WS_filter

mrpt::maps::CPointCloudFilterBase::Ptr mrpt::nav::CAbstractPTGBasedReactive::m_WS_filter

protectedinherited

Default: none.

Definition at line 405 of file CAbstractPTGBasedReactive.h.

Referenced by implementSenseObstacles(), and mrpt::nav::CAbstractPTGBasedReactive::loadConfigFile().

◆ m_WS_Obstacles

mrpt::maps::CSimplePointsMap mrpt::nav::CReactiveNavigationSystem::m_WS_Obstacles

protected

The obstacle points, as seen from the local robot frame.

Definition at line 149 of file CReactiveNavigationSystem.h.

Referenced by checkCollisionWithLatestObstacles(), implementSenseObstacles(), loggingGetWSObstaclesAndShape(), and STEP3_WSpaceToTPSpace().

◆ m_WS_Obstacles_original

mrpt::maps::CSimplePointsMap mrpt::nav::CReactiveNavigationSystem::m_WS_Obstacles_original

protected

Obstacle points, before filtering (if filtering is enabled).

Definition at line 151 of file CReactiveNavigationSystem.h.

Referenced by implementSenseObstacles(), and loggingGetWSObstaclesAndShape().

◆ m_WS_Obstacles_timestamp

mrpt::system::TTimeStamp mrpt::nav::CAbstractPTGBasedReactive::m_WS_Obstacles_timestamp

protectedinherited

Definition at line 403 of file CAbstractPTGBasedReactive.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), and mrpt::nav::CAbstractPTGBasedReactive::STEP2_SenseObstacles().

◆ meanExecutionPeriod

mrpt::math::LowPassFilter_IIR1 mrpt::nav::CAbstractPTGBasedReactive::meanExecutionPeriod

protectedinherited

Runtime estimation of execution period of the method.

Definition at line 320 of file CAbstractPTGBasedReactive.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::generate_vel_cmd(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), and mrpt::nav::CAbstractPTGBasedReactive::STEP8_GenerateLogRecord().

◆ meanExecutionTime

mrpt::math::LowPassFilter_IIR1 mrpt::nav::CAbstractPTGBasedReactive::meanExecutionTime

protectedinherited

Definition at line 317 of file CAbstractPTGBasedReactive.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), and mrpt::nav::CAbstractPTGBasedReactive::STEP8_GenerateLogRecord().

◆ meanTotalExecutionTime

mrpt::math::LowPassFilter_IIR1 mrpt::nav::CAbstractPTGBasedReactive::meanTotalExecutionTime

protectedinherited

Definition at line 318 of file CAbstractPTGBasedReactive.h.

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

◆ params_abstract_navigator

TAbstractNavigatorParams mrpt::nav::CAbstractNavigator::params_abstract_navigator

inherited

Definition at line 225 of file CAbstractNavigator.h.

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

◆ params_abstract_ptg_navigator

TAbstractPTGNavigatorParams mrpt::nav::CAbstractPTGBasedReactive::params_abstract_ptg_navigator

inherited

Definition at line 235 of file CAbstractPTGBasedReactive.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), mrpt::nav::CAbstractPTGBasedReactive::changeCurrentRobotSpeedLimits(), mrpt::nav::CAbstractPTGBasedReactive::generate_vel_cmd(), mrpt::nav::CAbstractPTGBasedReactive::getCurrentRobotSpeedLimits(), mrpt::nav::CReactiveNavigationSystem3D::implementSenseObstacles(), mrpt::nav::CAbstractPTGBasedReactive::loadConfigFile(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::nav::CAbstractPTGBasedReactive::saveConfigFile(), STEP1_InitPTGs(), mrpt::nav::CReactiveNavigationSystem3D::STEP1_InitPTGs(), and STEP3_WSpaceToTPSpace().

◆ params_reactive_nav

TReactiveNavigatorParams mrpt::nav::CReactiveNavigationSystem::params_reactive_nav

Definition at line 115 of file CReactiveNavigationSystem.h.

Referenced by checkCollisionWithLatestObstacles(), loadConfigFile(), saveConfigFile(), and STEP3_WSpaceToTPSpace().

◆ params_waypoints_navigator

TWaypointsNavigatorParams mrpt::nav::CWaypointsNavigator::params_waypoints_navigator

inherited

Definition at line 138 of file CWaypointsNavigator.h.

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

◆ PTGs

std::vector<CParameterizedTrajectoryGenerator*> mrpt::nav::CReactiveNavigationSystem::PTGs

private

The list of PTGs to use for navigation.

Definition at line 124 of file CReactiveNavigationSystem.h.

Referenced by checkCollisionWithLatestObstacles(), getPTG(), getPTG_count(), loadConfigFile(), saveConfigFile(), STEP1_InitPTGs(), and ~CReactiveNavigationSystem().

◆ tictac

mrpt::utils::CTicTac mrpt::nav::CAbstractPTGBasedReactive::tictac

protectedinherited

Definition at line 316 of file CAbstractPTGBasedReactive.h.

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

◆ tim_changeSpeed_avr

mrpt::math::LowPassFilter_IIR1 mrpt::nav::CAbstractPTGBasedReactive::tim_changeSpeed_avr

protectedinherited

Definition at line 321 of file CAbstractPTGBasedReactive.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), and mrpt::nav::CAbstractPTGBasedReactive::STEP8_GenerateLogRecord().

◆ timerForExecutionPeriod

mrpt::utils::CTicTac mrpt::nav::CAbstractPTGBasedReactive::timerForExecutionPeriod

protectedinherited

Definition at line 308 of file CAbstractPTGBasedReactive.h.

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

◆ timoff_curPoseAndSpeed_avr

mrpt::math::LowPassFilter_IIR1 mrpt::nav::CAbstractPTGBasedReactive::timoff_curPoseAndSpeed_avr

protectedinherited

Definition at line 321 of file CAbstractPTGBasedReactive.h.

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

◆ timoff_obstacles_avr

mrpt::math::LowPassFilter_IIR1 mrpt::nav::CAbstractPTGBasedReactive::timoff_obstacles_avr

protectedinherited

Definition at line 321 of file CAbstractPTGBasedReactive.h.

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

◆ timoff_sendVelCmd_avr

mrpt::math::LowPassFilter_IIR1 mrpt::nav::CAbstractPTGBasedReactive::timoff_sendVelCmd_avr

protectedinherited

Definition at line 321 of file CAbstractPTGBasedReactive.h.

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

◆ totalExecutionTime

mrpt::utils::CTicTac mrpt::nav::CAbstractPTGBasedReactive::totalExecutionTime

protectedinherited

Definition at line 316 of file CAbstractPTGBasedReactive.h.

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

Detailed Description

Classes

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Navigation control API

Member Enumeration Documentation

◆ TState

Constructor & Destructor Documentation

◆ CReactiveNavigationSystem()

◆ ~CReactiveNavigationSystem()

Member Function Documentation

◆ build_movement_candidate()

◆ calc_move_candidate_scores()

◆ cancel()

◆ changeCurrentRobotSpeedLimits()

◆ changeRobotCircularShapeRadius()

◆ changeRobotShape()

◆ changeSpeeds()

◆ changeSpeedsNOP()

◆ checkCollisionWithLatestObstacles()

◆ checkHasReachedTarget()

◆ dispatchPendingNavEvents()

◆ doEmergencyStop()

◆ enableKeepLogRecords()

◆ enableLogFile()

◆ enableTimeLog()

◆ generate_vel_cmd()

◆ getCurrentRobotSpeedLimits()

◆ getCurrentState()

◆ getDelaysTimeLogger()

◆ getFrameTF()

◆ getLastLogRecord()

◆ getLogFileDirectory()

◆ getPTG() [1/2]

◆ getPTG() [2/2]

◆ getPTG_count()

◆ getTargetApproachSlowDownDistance()

◆ getTimeLogger()

◆ getWaypointNavStatus() [1/2]

◆ getWaypointNavStatus() [2/2]

◆ impl_waypoint_is_reachable()

◆ implementSenseObstacles()

◆ initialize()

◆ isRelativePointReachable()

◆ loadConfigFile()

◆ loggingGetWSObstaclesAndShape()

◆ navigate()

◆ navigateWaypoints()

◆ navigationStep()

◆ onNavigateCommandReceived()

◆ onStartNewNavigation()

◆ performNavigationStep()

◆ performNavigationStepNavigating()

◆ preDestructor()

◆ processNavigateCommand()

◆ resetNavError()

◆ resume()

◆ saveConfigFile()

◆ setFrameTF()

◆ setHolonomicMethod()

◆ setLogFileDirectory()

◆ setTargetApproachSlowDownDistance()

◆ STEP1_InitPTGs()

◆ STEP2_SenseObstacles()

◆ STEP3_WSpaceToTPSpace()

◆ STEP8_GenerateLogRecord()

◆ stop()

◆ suspend()

◆ updateCurrentPoseAndSpeeds()

◆ waypoints_isAligning()

◆ waypoints_navigationStep()

Member Data Documentation

◆ executionTime

◆ lastLogRecord

◆ m_badNavAlarm_lastMinDistTime

◆ m_badNavAlarm_minDistTarget