Detailed Description

CRobot2NavInterface implemented for a simulator object based on mrpt::kinematics::CVehicleSimul_DiffDriven Only senseObstacles() remains virtual for the user to implement it.

See also: CReactiveNavigationSystem, CAbstractNavigator, mrpt::kinematics::CVehicleSimulVirtualBase

Definition at line 114 of file CRobot2NavInterfaceForSimulator.h.

#include <mrpt/nav/reactive/CRobot2NavInterfaceForSimulator.h>

Inheritance diagram for mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven:

Public Member Functions
	CRobot2NavInterfaceForSimulator_DiffDriven (mrpt::kinematics::CVehicleSimul_DiffDriven &simul)

bool	getCurrentPoseAndSpeeds (mrpt::math::TPose2D &curPose, mrpt::math::TTwist2D &curVel, mrpt::system::TTimeStamp &timestamp, mrpt::math::TPose2D &curOdometry, std::string &frame_id) override
	Get the current pose and velocity of the robot. More...

bool	changeSpeeds (const mrpt::kinematics::CVehicleVelCmd &vel_cmd) override
	Sends a velocity command to the robot. More...

bool	stop (bool isEmergencyStop) override
	Stop the robot right now. More...

mrpt::kinematics::CVehicleVelCmd::Ptr	getStopCmd () override
	Gets the emergency stop command for the current robot. More...

mrpt::kinematics::CVehicleVelCmd::Ptr	getEmergencyStopCmd () override
	Gets the emergency stop command for the current robot. More...

double	getNavigationTime () override
	See CRobot2NavInterface::getNavigationTime(). More...

void	resetNavigationTimer () override
	See CRobot2NavInterface::resetNavigationTimer() More...

virtual bool	changeSpeedsNOP ()
	Just like changeSpeeds(), but will be called when the last velocity command is still the preferred solution, so there is no need to change that past command. More...

virtual mrpt::kinematics::CVehicleVelCmd::Ptr	getAlignCmd (const double relative_heading_radians)
	Gets a motion command to make the robot to align with a given relative heading, without translating. More...

virtual bool	startWatchdog (float T_ms)
	Start the watchdog timer of the robot platform, if any, for maximum expected delay between consecutive calls to changeSpeeds(). More...

virtual bool	stopWatchdog ()
	Stop the watchdog timer. More...

virtual bool	senseObstacles (mrpt::maps::CSimplePointsMap &obstacles, mrpt::system::TTimeStamp &timestamp)=0
	Return the current set of obstacle points, as seen from the local coordinate frame of the robot. More...

Navigation event callbacks
virtual void	sendNavigationStartEvent ()
	Callback: Start of navigation command. More...

virtual void	sendNavigationEndEvent ()
	Callback: End of navigation command (reach of single goal, or final waypoint of waypoint list) More...

virtual void	sendWaypointReachedEvent (int waypoint_index, bool reached_nSkipped)
	Callback: Reached an intermediary waypoint in waypoint list navigation. More...

virtual void	sendNewWaypointTargetEvent (int waypoint_index)
	Callback: Heading towards a new intermediary/final waypoint in waypoint list navigation. More...

virtual void	sendNavigationEndDueToErrorEvent ()
	Callback: Error asking sensory data from robot or sending motor commands. More...

virtual void	sendWaySeemsBlockedEvent ()
	Callback: No progression made towards target for a predefined period of time. More...

virtual void	sendApparentCollisionEvent ()
	Callback: Apparent collision event (i.e. More...

virtual void	sendCannotGetCloserToBlockedTargetEvent ()
	Callback: Target seems to be blocked by an obstacle. More...

Private Attributes
mrpt::kinematics::CVehicleSimul_DiffDriven &	m_simul

double	m_simul_time_start
	for getNavigationTime More...

Constructor & Destructor Documentation

◆ CRobot2NavInterfaceForSimulator_DiffDriven()

mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven::CRobot2NavInterfaceForSimulator_DiffDriven ( mrpt::kinematics::CVehicleSimul_DiffDriven & simul )

inline

Definition at line 122 of file CRobot2NavInterfaceForSimulator.h.

Member Function Documentation

◆ changeSpeeds()

bool mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven::changeSpeeds ( const mrpt::kinematics::CVehicleVelCmd & vel_cmd )

inlineoverridevirtual

Sends a velocity command to the robot.

The number components in each command depends on children classes of mrpt::kinematics::CVehicleVelCmd. One robot may accept one or more different CVehicleVelCmd classes. This method resets the watchdog timer (that may be or may be not implemented in a particular robotic platform) started with startWatchdog()

Returns: false on any error.

See also: startWatchdog

Implements mrpt::nav::CRobot2NavInterface.

Definition at line 140 of file CRobot2NavInterfaceForSimulator.h.

References m_simul, and mrpt::kinematics::CVehicleSimul_DiffDriven::sendVelCmd().

Here is the call graph for this function:

◆ changeSpeedsNOP()

bool CRobot2NavInterface::changeSpeedsNOP ( )

virtualinherited

Just like changeSpeeds(), but will be called when the last velocity command is still the preferred solution, so there is no need to change that past command.

The unique effect of this callback would be resetting the watchdog timer.

Returns: false on any error.

See also: changeSpeeds(), startWatchdog()

Definition at line 21 of file CRobot2NavInterface.cpp.

References MRPT_LOG_THROTTLE_INFO.

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

Here is the caller graph for this function:

◆ getAlignCmd()

mrpt::kinematics::CVehicleVelCmd::Ptr CRobot2NavInterface::getAlignCmd ( const double relative_heading_radians )

virtualinherited

Gets a motion command to make the robot to align with a given relative heading, without translating.

Only for circular robots that can rotate in place; otherwise, return an empty smart pointer to indicate that the operation is not possible (this is what the default implementation does).

Reimplemented in mrpt::nav::CRobot2NavInterfaceForSimulator_Holo.

Definition at line 30 of file CRobot2NavInterface.cpp.

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

Here is the caller graph for this function:

◆ getCurrentPoseAndSpeeds()

bool mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven::getCurrentPoseAndSpeeds	(	mrpt::math::TPose2D &	curPose,
		mrpt::math::TTwist2D &	curVelGlobal,
		mrpt::system::TTimeStamp &	timestamp,
		mrpt::math::TPose2D &	curOdometry,
		std::string &	frame_id
	)

inlineoverridevirtual

Get the current pose and velocity of the robot.

The implementation should not take too much time to return, so if it might take more than ~10ms to ask the robot for the instantaneous data, it may be good enough to return the latest values from a cache which is updated in a parallel thread.

Returns: false on any error retrieving these values from the robot.

Implements mrpt::nav::CRobot2NavInterface.

Definition at line 128 of file CRobot2NavInterfaceForSimulator.h.

References mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentGTPose(), mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentGTVel(), mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentOdometricPose(), m_simul, and mrpt::system::now().

Here is the call graph for this function:

◆ getEmergencyStopCmd()

mrpt::kinematics::CVehicleVelCmd::Ptr mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven::getEmergencyStopCmd ( )

inlineoverridevirtual

Gets the emergency stop command for the current robot.

Returns: the emergency stop command

Implements mrpt::nav::CRobot2NavInterface.

Definition at line 161 of file CRobot2NavInterfaceForSimulator.h.

References getStopCmd().

Here is the call graph for this function:

◆ getNavigationTime()

double mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven::getNavigationTime ( )

inlineoverridevirtual

See CRobot2NavInterface::getNavigationTime().

In this class, simulation time is returned instead of wall-clock time.

Reimplemented from mrpt::nav::CRobot2NavInterface.

Definition at line 168 of file CRobot2NavInterfaceForSimulator.h.

References mrpt::kinematics::CVehicleSimulVirtualBase::getTime(), m_simul, and m_simul_time_start.

Here is the call graph for this function:

◆ getStopCmd()

mrpt::kinematics::CVehicleVelCmd::Ptr mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven::getStopCmd ( )

inlineoverridevirtual

Gets the emergency stop command for the current robot.

Returns: the emergency stop command

Implements mrpt::nav::CRobot2NavInterface.

Definition at line 154 of file CRobot2NavInterfaceForSimulator.h.

Referenced by getEmergencyStopCmd().

Here is the caller graph for this function:

◆ resetNavigationTimer()

void mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven::resetNavigationTimer ( )

inlineoverridevirtual

See CRobot2NavInterface::resetNavigationTimer()

Reimplemented from mrpt::nav::CRobot2NavInterface.

Definition at line 173 of file CRobot2NavInterfaceForSimulator.h.

References mrpt::kinematics::CVehicleSimulVirtualBase::getTime(), m_simul, and m_simul_time_start.

Here is the call graph for this function:

◆ sendApparentCollisionEvent()

void CRobot2NavInterface::sendApparentCollisionEvent ( )

virtualinherited

Callback: Apparent collision event (i.e.

there is at least one obstacle point inside the robot shape)

Definition at line 102 of file CRobot2NavInterface.cpp.

References MRPT_LOG_THROTTLE_INFO.

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

Here is the caller graph for this function:

◆ sendCannotGetCloserToBlockedTargetEvent()

void CRobot2NavInterface::sendCannotGetCloserToBlockedTargetEvent ( )

virtualinherited

Callback: Target seems to be blocked by an obstacle.

Definition at line 110 of file CRobot2NavInterface.cpp.

References MRPT_LOG_THROTTLE_INFO.

◆ sendNavigationEndDueToErrorEvent()

void CRobot2NavInterface::sendNavigationEndDueToErrorEvent ( )

virtualinherited

Callback: Error asking sensory data from robot or sending motor commands.

Definition at line 86 of file CRobot2NavInterface.cpp.

References MRPT_LOG_THROTTLE_INFO.

◆ sendNavigationEndEvent()

void CRobot2NavInterface::sendNavigationEndEvent ( )

virtualinherited

Callback: End of navigation command (reach of single goal, or final waypoint of waypoint list)

Definition at line 63 of file CRobot2NavInterface.cpp.

References MRPT_LOG_INFO.

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

Here is the caller graph for this function:

◆ sendNavigationStartEvent()

void CRobot2NavInterface::sendNavigationStartEvent ( )

virtualinherited

Callback: Start of navigation command.

Definition at line 56 of file CRobot2NavInterface.cpp.

References MRPT_LOG_INFO.

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

Here is the caller graph for this function:

◆ sendNewWaypointTargetEvent()

void CRobot2NavInterface::sendNewWaypointTargetEvent ( int waypoint_index )

virtualinherited

Callback: Heading towards a new intermediary/final waypoint in waypoint list navigation.

Definition at line 79 of file CRobot2NavInterface.cpp.

References MRPT_LOG_INFO_STREAM.

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

Here is the caller graph for this function:

◆ sendWaypointReachedEvent()

void CRobot2NavInterface::sendWaypointReachedEvent	(	int	waypoint_index,
		bool	reached_nSkipped
	)

virtualinherited

Callback: Reached an intermediary waypoint in waypoint list navigation.

reached_nSkipped will be true if the waypoint was physically reached; false if it was actually "skipped".

Definition at line 70 of file CRobot2NavInterface.cpp.

References MRPT_LOG_INFO_STREAM.

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

Here is the caller graph for this function:

◆ sendWaySeemsBlockedEvent()

void CRobot2NavInterface::sendWaySeemsBlockedEvent ( )

virtualinherited

Callback: No progression made towards target for a predefined period of time.

Definition at line 94 of file CRobot2NavInterface.cpp.

References MRPT_LOG_THROTTLE_INFO.

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

Here is the caller graph for this function:

◆ senseObstacles()

virtual bool mrpt::nav::CRobot2NavInterface::senseObstacles	(	mrpt::maps::CSimplePointsMap &	obstacles,
		mrpt::system::TTimeStamp &	timestamp
	)

pure virtualinherited

Return the current set of obstacle points, as seen from the local coordinate frame of the robot.

Returns: false on any error.

Parameters

[out]	obstacles	A representation of obstacles in robot-centric coordinates.
[out]	timestamp	The timestamp for the read obstacles. Use mrpt::system::now() unless you have something more accurate.

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

Here is the caller graph for this function: