MRPT  1.9.9
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mrpt::nav::CAbstractPTGBasedReactive Class Referenceabstract

Detailed Description

Base class for reactive navigator systems based on TP-Space, with an arbitrary holonomic reactive method running on it and any number of PTGs for transforming the navigation space.

Both, the holonomic method and the PTGs can be customized by the apropriate user derived classes.

How to use:

For working examples, refer to the source code of the apps:

Publications:

Available "variables" or "score names" for each motion candidate (these can be used in runtime-compiled expressions in the configuration files of motion deciders):

See also
CReactiveNavigationSystem, CReactiveNavigationSystem3D

Definition at line 92 of file CAbstractPTGBasedReactive.h.

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

Inheritance diagram for mrpt::nav::CAbstractPTGBasedReactive:

Classes

struct  PTGTarget
 
struct  TAbstractPTGNavigatorParams
 
struct  TInfoPerPTG
 
struct  TNavigationParamsPTG
 The struct for configuring navigation requests to CAbstractPTGBasedReactive and derived classes. More...
 
struct  TSentVelCmd
 

Public Member Functions

 CAbstractPTGBasedReactive (CRobot2NavInterface &react_iterf_impl, bool enableConsoleOutput=true, bool enableLogFile=false, const std::string &logFileDirectory=std::string("./reactivenav.logs"))
 Constructor. More...
 
 ~CAbstractPTGBasedReactive () override
 
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::config::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 loadConfigFile (const mrpt::config::CConfigFileBase &c) override
 Loads all params from a file. More...
 
void saveConfigFile (mrpt::config::CConfigFileBase &c) const override
 Saves all current options to a config file. More...
 
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::system::CTimeLoggergetTimeLogger () const
 Gives access to a const-ref to the internal time logger. More...
 
virtual size_t getPTG_count () const =0
 Returns the number of different PTGs that have been setup. More...
 
virtual CParameterizedTrajectoryGeneratorgetPTG (size_t i)=0
 Gets the i'th PTG. More...
 
virtual const CParameterizedTrajectoryGeneratorgetPTG (size_t i) const =0
 Gets the i'th PTG. More...
 
const mrpt::kinematics::CVehicleVelCmd::TVelCmdParamsgetCurrentRobotSpeedLimits () const
 Get the current, global (honored for all PTGs) robot speed limits. More...
 
mrpt::kinematics::CVehicleVelCmd::TVelCmdParamschangeCurrentRobotSpeedLimits ()
 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...
 
void navigationStep () override
 This method must be called periodically in order to effectively run the navigation. More...
 
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::system::CTimeLoggergetDelaysTimeLogger () 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...
 

Static Public Member Functions

static std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > & logging_levels_to_colors ()
 Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor. More...
 
static std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > & logging_levels_to_names ()
 Map from VerbosityLevels to their corresponding names. More...
 

Public Attributes

TAbstractPTGNavigatorParams params_abstract_ptg_navigator
 
TWaypointsNavigatorParams params_waypoints_navigator
 
TAbstractNavigatorParams params_abstract_navigator
 
mrpt::system::CTimeLogger m_navProfiler
 Publicly available time profiling object. More...
 

Protected Member Functions

void performNavigationStep () override
 The main method for the navigator. More...
 
virtual CAbstractHolonomicReactiveMethodgetHoloMethod (int idx)
 
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...
 
virtual void STEP1_InitPTGs ()=0
 
virtual bool implementSenseObstacles (mrpt::system::TTimeStamp &obs_timestamp)=0
 Return false on any fatal error. More...
 
bool STEP2_SenseObstacles ()
 
virtual 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)=0
 Builds TP-Obstacles from Workspace obstacles for the given PTG. More...
 
virtual void loggingGetWSObstaclesAndShape (CLogFileRecord &out_log)=0
 Generates a pointcloud of obstacles, and the robot shape, to be saved in the logging record for the current timestep. More...
 
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, const mrpt::nav::CHolonomicLogFileRecord::Ptr &hlfr)
 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...
 
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::math::TPose2D(0, 0, 0))
 
void onNavigateCommandReceived () override
 Called after each call to CAbstractNavigator::navigate() More...
 
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 ()
 
virtual 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...
 
virtual void processNavigateCommand (const TNavigationParams *params)
 Does the job of navigate(), except the call to onNavigateCommandReceived() More...
 
virtual void doEmergencyStop (const std::string &msg)
 Stops the robot and set navigation state to error. More...
 
virtual bool changeSpeeds (const mrpt::kinematics::CVehicleVelCmd &vel_cmd)
 Default: forward call to m_robot.changeSpeed(). More...
 
virtual bool changeSpeedsNOP ()
 Default: forward call to m_robot.changeSpeedsNOP(). More...
 
virtual bool stop (bool isEmergencyStop)
 Default: forward call to m_robot.stop(). More...
 
virtual bool checkCollisionWithLatestObstacles (const mrpt::math::TPose2D &relative_robot_pose) const
 Checks whether the robot shape, when placed at the given pose (relative to the current pose), is colliding with any of the latest known obstacles. More...
 

Protected Attributes

std::vector< CAbstractHolonomicReactiveMethod::Ptrm_holonomicMethod
 The holonomic navigation algorithm (one object per PTG, so internal states are maintained) More...
 
std::unique_ptr< mrpt::io::CStreamm_logFile
 
mrpt::io::CStreamm_prev_logfile {nullptr}
 The current log file stream, or nullptr if not being used. More...
 
bool m_enableKeepLogRecords {false}
 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 {false}
 Whether loadConfigFile() has been called or not. More...
 
mrpt::system::CTicTac timerForExecutionPeriod
 
mrpt::system::CTimeLogger m_timelogger {false}
 A complete time logger. More...
 
bool m_PTGsMustBeReInitialized {true}
 
bool m_closing_navigator {false}
 Signal that the destructor has been called, so no more calls are accepted from other threads. More...
 
mrpt::system::TTimeStamp m_WS_Obstacles_timestamp {INVALID_TIMESTAMP}
 
mrpt::maps::CPointCloudFilterBase::Ptr m_WS_filter
 Default: none. More...
 
mrpt::nav::CMultiObjectiveMotionOptimizerBase::Ptr m_multiobjopt
 
std::vector< TInfoPerPTGm_infoPerPTG
 Temporary buffers for working with each PTG during a navigationStep() More...
 
mrpt::system::TTimeStamp m_infoPerPTG_timestamp {INVALID_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
 
bool m_was_aligning {false}
 Whether the last timestep was "is_aligning" in a waypoint with heading. More...
 
bool m_is_aligning {false}
 
mrpt::system::TTimeStamp m_last_alignment_cmd
 
std::list< 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 {IDLE}
 Current internal state of navigator: More...
 
std::unique_ptr< TNavigationParamsm_navigationParams
 Current navigation parameters. More...
 
CRobot2NavInterfacem_robot
 The navigator-robot interface. More...
 
std::weak_ptr< 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 {-1e9}
 
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::system::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
 
VerbosityLevel m_min_verbosity_level {LVL_INFO}
 Provided messages with VerbosityLevel smaller than this value shall be ignored. More...
 
Variables for CReactiveNavigationSystem::performNavigationStep
mrpt::system::CTicTac totalExecutionTime
 
mrpt::system::CTicTac executionTime
 
mrpt::system::CTicTac tictac
 
mrpt::math::LowPassFilter_IIR1 meanExecutionTime {0.7, 1}
 
mrpt::math::LowPassFilter_IIR1 meanTotalExecutionTime {0.7, 1}
 
mrpt::math::LowPassFilter_IIR1 meanExecutionPeriod {0.7, 1}
 Runtime estimation of execution period of the method. More...
 
mrpt::math::LowPassFilter_IIR1 tim_changeSpeed_avr {0.7}
 
mrpt::math::LowPassFilter_IIR1 timoff_obstacles_avr {0.7}
 
mrpt::math::LowPassFilter_IIR1 timoff_curPoseAndSpeed_avr {0.7}
 
mrpt::math::LowPassFilter_IIR1 timoff_sendVelCmd_avr {0.7}
 

Private Member Functions

void deleteHolonomicObjects ()
 Delete m_holonomicMethod. More...
 

Private Attributes

std::string m_navlogfiles_dir
 Default: "./reactivenav.logs". More...
 
double m_expr_var_k
 
double m_expr_var_k_target
 
double m_expr_var_num_paths
 
std::unique_ptr< TNavigationParamsm_copy_prev_navParams
 A copy of last-iteration navparams, used to detect changes. 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...
 
const TErrorReasongetErrorReason () const
 In case of state=NAV_ERROR, this returns the reason for the error. More...
 
void setFrameTF (const std::weak_ptr< 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...
 
std::weak_ptr< mrpt::poses::FrameTransformer< 2 > > getFrameTF () const
 Get the current frame tf object (defaults to nullptr) More...
 
void enableRethrowNavExceptions (const bool enable)
 By default, error exceptions on navigationStep() will dump an error message to the output logger interface. More...
 
bool isRethrowNavExceptionsEnabled () const
 
enum  TState { IDLE = 0, NAVIGATING, SUSPENDED, NAV_ERROR }
 The different states for the navigation system. More...
 
enum  TErrorCode { ERR_NONE = 0, ERR_EMERGENCY_STOP, ERR_CANNOT_REACH_TARGET, ERR_OTHER }
 Explains the reason for the navigation error. More...
 

Logging methods

bool logging_enable_console_output {true}
 [Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically. More...
 
bool logging_enable_keep_record {false}
 [Default=false] Enables storing all messages into an internal list. More...
 
void logStr (const VerbosityLevel level, std::string_view msg_str) const
 Main method to add the specified message string to the logger. More...
 
void logFmt (const VerbosityLevel level, const char *fmt,...) const MRPT_printf_format_check(3
 Alternative logging method, which mimics the printf behavior. More...
 
void void logCond (const VerbosityLevel level, bool cond, const std::string &msg_str) const
 Log the given message only if the condition is satisfied. More...
 
void setLoggerName (const std::string &name)
 Set the name of the COutputLogger instance. More...
 
std::string getLoggerName () const
 Return the name of the COutputLogger instance. More...
 
void setMinLoggingLevel (const VerbosityLevel level)
 Set the minimum logging level for which the incoming logs are going to be taken into account. More...
 
void setVerbosityLevel (const VerbosityLevel level)
 alias of setMinLoggingLevel() More...
 
VerbosityLevel getMinLoggingLevel () const
 
bool isLoggingLevelVisible (VerbosityLevel level) const
 
void getLogAsString (std::string &log_contents) const
 Fill the provided string with the contents of the logger's history in std::string representation. More...
 
std::string getLogAsString () const
 Get the history of COutputLogger instance in a string representation. More...
 
void writeLogToFile (const std::string *fname_in=nullptr) const
 Write the contents of the COutputLogger instance to an external file. More...
 
void dumpLogToConsole () const
 Dump the current contents of the COutputLogger instance in the terminal window. More...
 
std::string getLoggerLastMsg () const
 Return the last Tmsg instance registered in the logger history. More...
 
void getLoggerLastMsg (std::string &msg_str) const
 Fill inputtted string with the contents of the last message in history. More...
 
void loggerReset ()
 Reset the contents of the logger instance. More...
 
void logRegisterCallback (output_logger_callback_t userFunc)
 
bool logDeregisterCallback (output_logger_callback_t userFunc)
 

Member Enumeration Documentation

◆ TErrorCode

Explains the reason for the navigation error.

Enumerator
ERR_NONE 
ERR_EMERGENCY_STOP 
ERR_CANNOT_REACH_TARGET 
ERR_OTHER 

Definition at line 184 of file CAbstractNavigator.h.

◆ TState

The different states for the navigation system.

Enumerator
IDLE 
NAVIGATING 
SUSPENDED 
NAV_ERROR 

Definition at line 172 of file CAbstractNavigator.h.

Constructor & Destructor Documentation

◆ CAbstractPTGBasedReactive()

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

Constructor.

Parameters
[in]react_iterf_implAn instance of an object that implement all the required interfaces to read from and control a robot.
[in]enableConsoleOutputCan be set to false to reduce verbosity.
[in]enableLogFileSet to true to enable creation of navigation log files, useful for inspection and debugging.

Definition at line 59 of file CAbstractPTGBasedReactive.cpp.

References enableLogFile().

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◆ ~CAbstractPTGBasedReactive()

CAbstractPTGBasedReactive::~CAbstractPTGBasedReactive ( )
override

Definition at line 95 of file CAbstractPTGBasedReactive.cpp.

References preDestructor().

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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::math::TPose2D(0, 0, 0) 
)
protected

Definition at line 1538 of file CAbstractPTGBasedReactive.cpp.

References mrpt::nav::CLogFileRecord::additional_debug_msgs, mrpt::nav::CParameterizedTrajectoryGenerator::alpha2index(), ASSERT_, calc_move_candidate_scores(), mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::clearance, mrpt::nav::CLogFileRecord::TInfoPerPTG::clearance, mrpt::nav::CAbstractPTGBasedReactive::TInfoPerPTG::clearance, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::colfreedist_move_k, mrpt::containers::copy_container_typecasting(), mrpt::nav::CLogFileRecord::TInfoPerPTG::desiredDirection, mrpt::nav::CAbstractHolonomicReactiveMethod::NavOutput::desiredDirection, mrpt::nav::CLogFileRecord::TInfoPerPTG::desiredSpeed, mrpt::nav::CAbstractHolonomicReactiveMethod::NavOutput::desiredSpeed, mrpt::nav::TCandidateMovementPTG::direction, mrpt::nav::CAbstractHolonomicReactiveMethod::enableApproachTargetSlowDown(), mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::evaluate_clearance, mrpt::format(), mrpt::nav::CParameterizedTrajectoryGenerator::getAlphaValuesCount(), mrpt::nav::CParameterizedTrajectoryGenerator::getDescription(), getPTG_count(), mrpt::nav::CParameterizedTrajectoryGenerator::getRefDistance(), mrpt::nav::CLogFileRecord::TInfoPerPTG::HLFR, mrpt::hypot_fast(), mrpt::nav::CParameterizedTrajectoryGenerator::index2alpha(), mrpt::nav::CLogFileRecord::infoPerPTG, mrpt::nav::CParameterizedTrajectoryGenerator::initClearanceDiagram(), mrpt::nav::CParameterizedTrajectoryGenerator::initTPObstacles(), mrpt::nav::CParameterizedTrajectoryGenerator::inverseMap_WS2TP(), mrpt::system::CTimeLogger::isEnabled(), mrpt::nav::CAbstractHolonomicReactiveMethod::NavOutput::logRecord, mrpt::nav::CAbstractNavigator::m_curPoseVel, m_enableKeepLogRecords, m_lastSentVelCmd, m_logFile, mrpt::nav::CAbstractNavigator::m_navProfiler, m_timelogger, mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::maxObstacleDist, mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::maxRobotSpeed, mrpt::nav::CParameterizedTrajectoryGenerator::maxTimeInVelCmdNOP(), mrpt::nav::CAbstractHolonomicReactiveMethod::navigate(), mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::obstacles, params_abstract_ptg_navigator, mrpt::nav::TCandidateMovementPTG::props, mrpt::nav::TCandidateMovementPTG::PTG, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::ptg_alpha_index, mrpt::nav::CLogFileRecord::TInfoPerPTG::PTG_desc, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::ptg_index, mrpt::system::CTimeLogger::registerUserMeasure(), mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::secure_distance_end, mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::secure_distance_start, mrpt::nav::TCandidateMovementPTG::speed, STEP3_WSpaceToTPSpace(), mrpt::nav::CParameterizedTrajectoryGenerator::supportVelCmdNOP(), mrpt::system::CTicTac::Tac(), mrpt::nav::CAbstractNavigator::TNavigationParams::target, mrpt::nav::CAbstractPTGBasedReactive::PTGTarget::target_alpha, mrpt::nav::CAbstractPTGBasedReactive::PTGTarget::target_dist, mrpt::nav::CAbstractPTGBasedReactive::PTGTarget::target_k, mrpt::nav::CAbstractNavigator::TargetInfo::targetDesiredRelSpeed, mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::targets, mrpt::nav::CAbstractPTGBasedReactive::TInfoPerPTG::targets, mrpt::system::CTicTac::Tic(), tictac, mrpt::nav::CLogFileRecord::TInfoPerPTG::timeForHolonomicMethod, mrpt::nav::CLogFileRecord::TInfoPerPTG::timeForTPObsTransformation, mrpt::nav::CLogFileRecord::TInfoPerPTG::TP_Obstacles, mrpt::nav::CAbstractPTGBasedReactive::TInfoPerPTG::TP_Obstacles, mrpt::nav::CAbstractPTGBasedReactive::PTGTarget::TP_Target, mrpt::nav::CLogFileRecord::TInfoPerPTG::TP_Targets, mrpt::nav::CParameterizedTrajectoryGenerator::updateClearancePost(), mrpt::nav::CAbstractPTGBasedReactive::PTGTarget::valid_TP, mrpt::nav::CAbstractNavigator::TRobotPoseVel::velLocal, mrpt::math::TTwist2D::vx, mrpt::math::TTwist2D::vy, mrpt::math::TPoint2D_data::x, and mrpt::math::TPoint2D_data::y.

Referenced by 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,
const mrpt::nav::CHolonomicLogFileRecord::Ptr hlfr 
)
protected

Scores holonomicMovement.

Definition at line 1006 of file CAbstractPTGBasedReactive.cpp.

References mrpt::nav::CLogFileRecord::additional_debug_msgs, mrpt::nav::CParameterizedTrajectoryGenerator::alpha2index(), mrpt::math::angDistance(), ASSERT_, ASSERT_EQUAL_, mrpt::math::TPose2D::asString(), mrpt::nav::TCandidateMovementPTG::direction, mrpt::nav::CParameterizedTrajectoryGenerator::directionToMotionCommand(), mrpt::nav::CParameterizedTrajectoryGenerator::evalClearanceSingleObstacle(), mrpt::nav::CParameterizedTrajectoryGenerator::evalPathRelativePriority(), mrpt::format(), mrpt::nav::ClearanceDiagram::getClearance(), getHoloMethod(), mrpt::nav::CParameterizedTrajectoryGenerator::getPathDist(), mrpt::nav::CParameterizedTrajectoryGenerator::getPathPose(), mrpt::nav::CParameterizedTrajectoryGenerator::getPathStepDuration(), mrpt::nav::CParameterizedTrajectoryGenerator::getPathStepForDist(), mrpt::nav::CParameterizedTrajectoryGenerator::getRefDistance(), mrpt::nav::CParameterizedTrajectoryGenerator::getScorePriority(), mrpt::nav::CAbstractHolonomicReactiveMethod::getTargetApproachSlowDownDistance(), mrpt::hypot_fast(), mrpt::nav::CParameterizedTrajectoryGenerator::index2alpha(), mrpt::nav::CParameterizedTrajectoryGenerator::inverseMap_WS2TP(), mrpt::nav::CParameterizedTrajectoryGenerator::isBijectiveAt(), mrpt::keep_min(), mrpt::nav::CAbstractNavigator::m_curPoseVel, m_holonomicMethod, m_last_vel_cmd, m_lastSentVelCmd, mrpt::nav::CAbstractNavigator::m_navigationParams, mrpt::nav::CAbstractNavigator::m_navProfiler, mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::max_dist_for_timebased_path_prediction, MRPT_END, MRPT_START, mrpt::system::now(), mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::original_holo_eval, params_abstract_ptg_navigator, mrpt::math::TPose2D::phi, mrpt::nav::CAbstractNavigator::TRobotPoseVel::pose, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::poseVel, mrpt::nav::TCandidateMovementPTG::props, mrpt::nav::TCandidateMovementPTG::PTG, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::ptg_alpha_index, mrpt::nav::CAbstractNavigator::TRobotPoseVel::rawOdometry, mrpt::round(), mrpt::nav::TCandidateMovementPTG::speed, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::speed_scale, mrpt::nav::TCandidateMovementPTG::starting_robot_dir, mrpt::nav::TCandidateMovementPTG::starting_robot_dist, mrpt::nav::CParameterizedTrajectoryGenerator::supportSpeedAtTarget(), mrpt::nav::CParameterizedTrajectoryGenerator::supportVelCmdNOP(), mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::tim_send_cmd_vel, mrpt::system::timeDifference(), mrpt::nav::CLogFileRecord::TInfoPerPTG::TP_Robot, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::was_slowdown, mrpt::math::TPoint2D_data::x, mrpt::math::TPose2D::x, mrpt::math::TPoint2D_data::y, and mrpt::math::TPose2D::y.

Referenced by build_movement_candidate().

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◆ cancel()

void CWaypointsNavigator::cancel ( )
overridevirtualinherited

Cancel current navegation.

Reimplemented from mrpt::nav::CAbstractNavigator.

Definition at line 102 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 ( )
inline

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 271 of file CAbstractPTGBasedReactive.h.

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

◆ changeSpeeds()

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

Default: forward call to m_robot.changeSpeed().

Can be overriden.

Definition at line 418 of file CAbstractNavigator.cpp.

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

Referenced by mrpt::nav::CNavigatorManualSequence::navigationStep(), 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 424 of file CAbstractNavigator.cpp.

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

Referenced by performNavigationStep().

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◆ checkCollisionWithLatestObstacles()

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

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

Default implementation: always returns false.

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

Definition at line 685 of file CAbstractNavigator.cpp.

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

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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 537 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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◆ deleteHolonomicObjects()

void CAbstractPTGBasedReactive::deleteHolonomicObjects ( )
private

Delete m_holonomicMethod.

Definition at line 200 of file CAbstractPTGBasedReactive.cpp.

References m_holonomicMethod.

Referenced by preDestructor(), and setHolonomicMethod().

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◆ dispatchPendingNavEvents()

void CAbstractNavigator::dispatchPendingNavEvents ( )
protectedinherited

Definition at line 243 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)
protectedvirtualinherited

Stops the robot and set navigation state to error.

Definition at line 254 of file CAbstractNavigator.cpp.

References mrpt::nav::CAbstractNavigator::ERR_EMERGENCY_STOP, mrpt::nav::CAbstractNavigator::ERR_NONE, mrpt::nav::CAbstractNavigator::TErrorReason::error_code, mrpt::nav::CAbstractNavigator::TErrorReason::error_msg, mrpt::nav::CAbstractNavigator::m_navErrorReason, mrpt::nav::CAbstractNavigator::m_navigationState, MRPT_LOG_ERROR, mrpt::nav::CAbstractNavigator::NAV_ERROR, and mrpt::nav::CAbstractNavigator::stop().

Referenced by performNavigationStep().

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◆ dumpLogToConsole()

void COutputLogger::dumpLogToConsole ( ) const
inherited

Dump the current contents of the COutputLogger instance in the terminal window.

See also
writeToFile

Definition at line 190 of file COutputLogger.cpp.

◆ enableKeepLogRecords()

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

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

Definition at line 158 of file CAbstractPTGBasedReactive.h.

References m_enableKeepLogRecords.

◆ enableLogFile()

void CAbstractPTGBasedReactive::enableLogFile ( bool  enable)

Enables/disables saving log files.

Definition at line 117 of file CAbstractPTGBasedReactive.cpp.

References mrpt::system::createDirectory(), mrpt::system::directoryExists(), mrpt::system::fileExists(), mrpt::format(), m_logFile, mrpt::nav::CAbstractNavigator::m_nav_cs, m_navlogfiles_dir, MRPT_LOG_DEBUG, MRPT_LOG_DEBUG_FMT, MRPT_LOG_ERROR_FMT, ok, mrpt::io::CFileGZOutputStream::open(), and THROW_EXCEPTION_FMT.

Referenced by CAbstractPTGBasedReactive().

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◆ enableRethrowNavExceptions()

void mrpt::nav::CAbstractNavigator::enableRethrowNavExceptions ( const bool  enable)
inlineinherited

By default, error exceptions on navigationStep() will dump an error message to the output logger interface.

If rethrow is enabled (default=false), the error message will be reported as well, but exceptions will be re-thrown.

Definition at line 228 of file CAbstractNavigator.h.

References mrpt::nav::CAbstractNavigator::m_rethrow_exceptions.

◆ enableTimeLog()

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

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 246 of file CAbstractPTGBasedReactive.h.

References mrpt::system::CTimeLogger::enable(), and 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 
)
protectedvirtual

◆ getCurrentRobotSpeedLimits()

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

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

Definition at line 263 of file CAbstractPTGBasedReactive.h.

References 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::system::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 262 of file CAbstractNavigator.h.

References mrpt::nav::CAbstractNavigator::m_timlog_delays.

◆ getErrorReason()

const TErrorReason& mrpt::nav::CAbstractNavigator::getErrorReason ( ) const
inlineinherited

In case of state=NAV_ERROR, this returns the reason for the error.

Error state is reseted everytime a new navigation starts with a call to navigate(), or when resetNavError() is called.

Definition at line 204 of file CAbstractNavigator.h.

References mrpt::nav::CAbstractNavigator::m_navErrorReason.

◆ getFrameTF()

std::weak_ptr<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 218 of file CAbstractNavigator.h.

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

◆ getHoloMethod()

CAbstractHolonomicReactiveMethod * CAbstractPTGBasedReactive::getHoloMethod ( int  idx)
protectedvirtual

Definition at line 2011 of file CAbstractPTGBasedReactive.cpp.

References m_holonomicMethod.

Referenced by calc_move_candidate_scores(), and performNavigationStep().

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◆ getLastLogRecord()

void CAbstractPTGBasedReactive::getLastLogRecord ( CLogFileRecord o)

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

Parameters
oAn 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 194 of file CAbstractPTGBasedReactive.cpp.

References lastLogRecord, and m_critZoneLastLog.

◆ getLogAsString() [1/2]

void COutputLogger::getLogAsString ( std::string &  log_contents) const
inherited

Fill the provided string with the contents of the logger's history in std::string representation.

Definition at line 154 of file COutputLogger.cpp.

◆ getLogAsString() [2/2]

std::string COutputLogger::getLogAsString ( ) const
inherited

Get the history of COutputLogger instance in a string representation.

Definition at line 159 of file COutputLogger.cpp.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::getDescriptiveReport().

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◆ getLogFileDirectory()

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

Definition at line 171 of file CAbstractPTGBasedReactive.h.

References m_navlogfiles_dir.

◆ getLoggerLastMsg() [1/2]

std::string COutputLogger::getLoggerLastMsg ( ) const
inherited

Return the last Tmsg instance registered in the logger history.

Definition at line 195 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::getAsString().

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◆ getLoggerLastMsg() [2/2]

void COutputLogger::getLoggerLastMsg ( std::string &  msg_str) const
inherited

Fill inputtted string with the contents of the last message in history.

Definition at line 201 of file COutputLogger.cpp.

◆ getLoggerName()

std::string COutputLogger::getLoggerName ( ) const
inherited

Return the name of the COutputLogger instance.

See also
setLoggerName

Definition at line 143 of file COutputLogger.cpp.

◆ getMinLoggingLevel()

VerbosityLevel mrpt::system::COutputLogger::getMinLoggingLevel ( ) const
inlineinherited

◆ getPTG() [1/2]

virtual CParameterizedTrajectoryGenerator* mrpt::nav::CAbstractPTGBasedReactive::getPTG ( size_t  i)
pure virtual

Gets the i'th PTG.

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

Referenced by impl_waypoint_is_reachable(), performNavigationStep(), and setHolonomicMethod().

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◆ getPTG() [2/2]

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

◆ getPTG_count()

virtual size_t mrpt::nav::CAbstractPTGBasedReactive::getPTG_count ( ) const
pure virtual

Returns the number of different PTGs that have been setup.

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

Referenced by build_movement_candidate(), impl_waypoint_is_reachable(), performNavigationStep(), and setHolonomicMethod().

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◆ getTargetApproachSlowDownDistance()

double CAbstractPTGBasedReactive::getTargetApproachSlowDownDistance ( ) const

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

Definition at line 2005 of file CAbstractPTGBasedReactive.cpp.

References ASSERT_, and m_holonomicMethod.

◆ getTimeLogger()

const mrpt::system::CTimeLogger& mrpt::nav::CAbstractPTGBasedReactive::getTimeLogger ( ) const
inline

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

See also
enableTimeLog

Definition at line 249 of file CAbstractPTGBasedReactive.h.

References 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 94 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 93 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
overrideprotectedvirtual

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 1464 of file CAbstractPTGBasedReactive.cpp.

References ASSERT_, mrpt::nav::CParameterizedTrajectoryGenerator::getPathCount(), getPTG(), getPTG_count(), INVALID_TIMESTAMP, mrpt::nav::CParameterizedTrajectoryGenerator::inverseMap_WS2TP(), m_infoPerPTG, m_infoPerPTG_timestamp, MRPT_END, MRPT_START, mrpt::system::now(), mrpt::system::timeDifference(), mrpt::math::TPoint2D_data::x, and mrpt::math::TPoint2D_data::y.

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◆ implementSenseObstacles()

virtual bool mrpt::nav::CAbstractPTGBasedReactive::implementSenseObstacles ( mrpt::system::TTimeStamp obs_timestamp)
protectedpure virtual

Return false on any fatal error.

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

Referenced by STEP2_SenseObstacles().

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◆ initialize()

void CAbstractPTGBasedReactive::initialize ( )
overridevirtual

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 101 of file CAbstractPTGBasedReactive.cpp.

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

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◆ isLoggingLevelVisible()

bool mrpt::system::COutputLogger::isLoggingLevelVisible ( VerbosityLevel  level) const
inlineinherited

Definition at line 202 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper().

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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 476 of file CWaypointsNavigator.cpp.

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

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◆ isRethrowNavExceptionsEnabled()

bool mrpt::nav::CAbstractNavigator::isRethrowNavExceptionsEnabled ( ) const
inlineinherited

◆ loadConfigFile()

void CAbstractPTGBasedReactive::loadConfigFile ( const mrpt::config::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::CAbstractNavigator.

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

Definition at line 1891 of file CAbstractPTGBasedReactive.cpp.

References ASSERT_, mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::enable_obstacle_filtering, mrpt::nav::CMultiObjectiveMotionOptimizerBase::Factory(), mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::holonomic_method, mrpt::nav::CWaypointsNavigator::loadConfigFile(), mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::loadFromConfigFile(), m_holonomicMethod, m_init_done, m_multiobjopt, m_PTGsMustBeReInitialized, m_WS_filter, mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::motion_decider_method, MRPT_END, MRPT_START, params_abstract_ptg_navigator, setHolonomicMethod(), and THROW_EXCEPTION_FMT.

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

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◆ logCond()

void COutputLogger::logCond ( const VerbosityLevel  level,
bool  cond,
const std::string &  msg_str 
) const
inherited

Log the given message only if the condition is satisfied.

See also
log, logFmt

Definition at line 131 of file COutputLogger.cpp.

◆ logDeregisterCallback()

bool COutputLogger::logDeregisterCallback ( output_logger_callback_t  userFunc)
inherited
Returns
true if an entry was found and deleted.

Definition at line 291 of file COutputLogger.cpp.

References getAddress(), and mrpt::system::COutputLogger::m_listCallbacks.

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◆ logFmt()

void COutputLogger::logFmt ( const VerbosityLevel  level,
const char *  fmt,
  ... 
) const
inherited

◆ loggerReset()

void COutputLogger::loggerReset ( )
inherited

Reset the contents of the logger instance.

Called upon construction.

Definition at line 206 of file COutputLogger.cpp.

References mrpt::system::LVL_INFO.

◆ logging_levels_to_colors()

std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_colors ( )
staticinherited

Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor.

Handy for coloring the input based on the verbosity of the message

Definition at line 47 of file COutputLogger.cpp.

References logging_levels_to_colors.

Referenced by mrpt::system::COutputLogger::TMsg::dumpToConsole().

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◆ logging_levels_to_names()

std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_names ( )
staticinherited

Map from VerbosityLevels to their corresponding names.

Handy for printing the current message VerbosityLevel along with the actual content

Definition at line 60 of file COutputLogger.cpp.

References logging_levels_to_names.

Referenced by mrpt::system::COutputLogger::TMsg::getAsString().

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◆ loggingGetWSObstaclesAndShape()

virtual void mrpt::nav::CAbstractPTGBasedReactive::loggingGetWSObstaclesAndShape ( CLogFileRecord out_log)
protectedpure virtual

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

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

Referenced by STEP8_GenerateLogRecord().

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◆ logRegisterCallback()

void COutputLogger::logRegisterCallback ( output_logger_callback_t  userFunc)
inherited

Definition at line 278 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::m_listCallbacks.

◆ logStr()

void COutputLogger::logStr ( const VerbosityLevel  level,
std::string_view  msg_str 
) const
inherited

Main method to add the specified message string to the logger.

See also
logCond, logFmt

Definition at line 72 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::body, mrpt::system::COutputLogger::TMsg::dumpToConsole(), mrpt::system::COutputLogger::TMsg::level, mrpt::system::COutputLogger::TMsg::name, and mrpt::system::COutputLogger::TMsg::timestamp.

Referenced by mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper(), and mrpt::system::CTimeLoggerSaveAtDtor::~CTimeLoggerSaveAtDtor().

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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]paramsPointer 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 66 of file CWaypointsNavigator.cpp.

References ASSERT_, ASSERTMSG_, mrpt::nav::CWaypointsNavigator::m_nav_waypoints_cs, 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 443 of file CWaypointsNavigator.cpp.

References mrpt::nav::CAbstractNavigator::dispatchPendingNavEvents(), mrpt::nav::CWaypointsNavigator::m_is_aligning, mrpt::nav::CAbstractNavigator::m_navigationState, mrpt::nav::CAbstractNavigator::m_navProfiler, 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 54 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 ( )
overrideprotectedvirtual

Called whenever a new navigation has been started.

Can be used to reset state variables, etc.

Implements mrpt::nav::CAbstractNavigator.

Definition at line 1510 of file CAbstractPTGBasedReactive.cpp.

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

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◆ performNavigationStep()

void CAbstractPTGBasedReactive::performNavigationStep ( )
overrideprotectedvirtual

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 232 of file CAbstractPTGBasedReactive.cpp.

References mrpt::nav::CLogFileRecord::additional_debug_msgs, mrpt::nav::CParameterizedTrajectoryGenerator::alpha2index(), mrpt::serialization::archiveFrom(), ASSERT_, ASSERT_EQUAL_, mrpt::math::TPose2D::asString(), mrpt::poses::CPose2D::asTPose(), build_movement_candidate(), mrpt::nav::CAbstractNavigator::changeSpeeds(), mrpt::nav::CAbstractNavigator::changeSpeedsNOP(), mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::colfreedist_move_k, mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::curVelLocal, mrpt::nav::TCandidateMovementPTG::direction, mrpt::nav::CAbstractNavigator::doEmergencyStop(), executionTime, mrpt::math::LowPassFilter_IIR1::filter(), mrpt::nav::CMultiObjectiveMotionOptimizerBase::TResultInfo::final_evaluation, mrpt::format(), generate_vel_cmd(), mrpt::nav::CRobot2NavInterface::getEmergencyStopCmd(), getHoloMethod(), mrpt::math::LowPassFilter_IIR1::getLastOutput(), mrpt::system::CTimeLogger::getLastTime(), getPTG(), getPTG_count(), mrpt::nav::CLogFileRecord::infoPerPTG, mrpt::poses::CPoseInterpolatorBase< DIM >::interpolate(), mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::isValid(), mrpt::nav::CMultiObjectiveMotionOptimizerBase::TResultInfo::log_entries, m_closing_navigator, m_copy_prev_navParams, mrpt::nav::CAbstractNavigator::m_curPoseVel, m_enableConsoleOutput, m_enableKeepLogRecords, mrpt::nav::CAbstractNavigator::m_frame_tf, m_holonomicMethod, m_infoPerPTG, m_infoPerPTG_timestamp, m_init_done, m_lastSentVelCmd, mrpt::nav::CAbstractNavigator::m_latestOdomPoses, mrpt::nav::CAbstractNavigator::m_latestPoses, m_logFile, m_multiobjopt, mrpt::nav::CAbstractNavigator::m_navigationParams, mrpt::nav::CAbstractNavigator::m_navProfiler, mrpt::nav::CAbstractNavigator::m_pending_events, m_prev_logfile, mrpt::nav::CAbstractNavigator::m_robot, m_timelogger, mrpt::nav::CAbstractNavigator::m_timlog_delays, m_WS_Obstacles_timestamp, mrpt::nav::CParameterizedTrajectoryGenerator::maxTimeInVelCmdNOP(), meanExecutionPeriod, meanExecutionTime, meanTotalExecutionTime, MRPT_LOG_DEBUG, MRPT_LOG_DEBUG_FMT, MRPT_LOG_WARN_FMT, mrpt::nav::CLogFileRecord::navDynState, mrpt::system::now(), mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::original_holo_eval, params_abstract_ptg_navigator, mrpt::nav::CAbstractNavigator::TRobotPoseVel::pose, mrpt::nav::CAbstractNavigator::TRobotPoseVel::pose_frame_id, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::poseVel, mrpt::nav::TCandidateMovementPTG::props, mrpt::nav::TCandidateMovementPTG::PTG, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::ptg_alpha_index, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::ptg_dynState, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::ptg_index, mrpt::nav::CAbstractNavigator::TRobotPoseVel::rawOdometry, mrpt::nav::CLogFileRecord::relPoseSense, mrpt::nav::CLogFileRecord::relPoseVelCmd, mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::relTarget, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::reset(), mrpt::io::CMemoryStream::Seek(), mrpt::nav::CRobot2NavInterface::sendApparentCollisionEvent(), mrpt::nav::TCandidateMovementPTG::speed, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::speed_scale, STEP1_InitPTGs(), STEP2_SenseObstacles(), STEP8_GenerateLogRecord(), mrpt::nav::CAbstractNavigator::stop(), mrpt::nav::CParameterizedTrajectoryGenerator::supportSpeedAtTarget(), mrpt::nav::CParameterizedTrajectoryGenerator::supportVelCmdNOP(), mrpt::system::CTicTac::Tac(), mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::targetRelSpeed, THROW_EXCEPTION, THROW_EXCEPTION_FMT, mrpt::system::CTicTac::Tic(), tim_changeSpeed_avr, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::tim_send_cmd_vel, mrpt::system::timeDifference(), timerForExecutionPeriod, mrpt::nav::CAbstractNavigator::TRobotPoseVel::timestamp, mrpt::system::timestampAdd(), mrpt::nav::CLogFileRecord::timestamps, timoff_curPoseAndSpeed_avr, timoff_obstacles_avr, timoff_sendVelCmd_avr, totalExecutionTime, mrpt::nav::CParameterizedTrajectoryGenerator::updateNavDynamicState(), mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::use_delays_model, mrpt::nav::CLogFileRecord::values, mrpt::nav::CAbstractNavigator::TRobotPoseVel::velLocal, and mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::was_slowdown.

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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.

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

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

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◆ preDestructor()

void CAbstractPTGBasedReactive::preDestructor ( )
protected

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

Definition at line 69 of file CAbstractPTGBasedReactive.cpp.

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

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

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◆ processNavigateCommand()

void CAbstractNavigator::processNavigateCommand ( const TNavigationParams params)
protectedvirtualinherited

◆ resetNavError()

void CAbstractNavigator::resetNavError ( )
virtualinherited

◆ resume()

void CAbstractNavigator::resume ( )
virtualinherited

◆ saveConfigFile()

void CAbstractPTGBasedReactive::saveConfigFile ( mrpt::config::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::CAbstractNavigator.

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

Definition at line 1936 of file CAbstractPTGBasedReactive.cpp.

References CLASS_ID, mrpt::rtti::getAllRegisteredClassesChildrenOf(), m_holonomicMethod, m_multiobjopt, mrpt::maps::CPointCloudFilterByDistance::options, params_abstract_ptg_navigator, mrpt::nav::CMultiObjectiveMotionOptimizerBase::saveConfigFile(), mrpt::nav::CAbstractHolonomicReactiveMethod::saveConfigFile(), mrpt::nav::CWaypointsNavigator::saveConfigFile(), mrpt::maps::CPointCloudFilterByDistance::TOptions::saveToConfigFile(), and mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::saveToConfigFile().

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

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◆ setFrameTF()

void CAbstractNavigator::setFrameTF ( const std::weak_ptr< 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").

Definition at line 143 of file CAbstractNavigator.cpp.

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

◆ setHolonomicMethod()

void CAbstractPTGBasedReactive::setHolonomicMethod ( const std::string &  method,
const mrpt::config::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.

Available methods: class names of those derived from CAbstractHolonomicReactiveMethod

Definition at line 205 of file CAbstractPTGBasedReactive.cpp.

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

Referenced by loadConfigFile().

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◆ setLogFileDirectory()

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

Changes the prefix for new log files.

Definition at line 167 of file CAbstractPTGBasedReactive.h.

References m_navlogfiles_dir.

◆ setLoggerName()

void COutputLogger::setLoggerName ( const std::string &  name)
inherited

◆ setMinLoggingLevel()

void COutputLogger::setMinLoggingLevel ( const VerbosityLevel  level)
inherited

Set the minimum logging level for which the incoming logs are going to be taken into account.

String messages with specified VerbosityLevel smaller than the min, will not be outputted to the screen and neither will a record of them be stored in by the COutputLogger instance

Definition at line 144 of file COutputLogger.cpp.

Referenced by mrpt::maps::CRandomFieldGridMap2D::enableVerbose(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), generic_kf_slam_test(), generic_pf_test(), generic_rbpf_slam_test(), mrpt::apps::RawlogGrabberApp::initialize(), mrpt::hwdrivers::CHokuyoURG::initialize(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams(), and mrpt::apps::CGridMapAlignerApp::run().

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◆ setTargetApproachSlowDownDistance()

void CAbstractPTGBasedReactive::setTargetApproachSlowDownDistance ( const double  dist)

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

Definition at line 1996 of file CAbstractPTGBasedReactive.cpp.

References m_holonomicMethod.

◆ setVerbosityLevel()

void COutputLogger::setVerbosityLevel ( const VerbosityLevel  level)
inherited

◆ STEP1_InitPTGs()

virtual void mrpt::nav::CAbstractPTGBasedReactive::STEP1_InitPTGs ( )
protectedpure virtual

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

Referenced by initialize(), and performNavigationStep().

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◆ STEP2_SenseObstacles()

bool CAbstractPTGBasedReactive::STEP2_SenseObstacles ( )
protected

Definition at line 1504 of file CAbstractPTGBasedReactive.cpp.

References implementSenseObstacles(), and m_WS_Obstacles_timestamp.

Referenced by performNavigationStep().

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◆ STEP3_WSpaceToTPSpace()

virtual void mrpt::nav::CAbstractPTGBasedReactive::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 
)
protectedpure virtual

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.

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

Referenced by build_movement_candidate().

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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 
)
protected

Definition at line 937 of file CAbstractPTGBasedReactive.cpp.

References mrpt::serialization::archiveFrom(), mrpt::nav::CLogFileRecord::cmd_vel, mrpt::nav::CLogFileRecord::cur_vel, mrpt::nav::CLogFileRecord::cur_vel_local, mrpt::system::CTimeLogger::enter(), mrpt::math::LowPassFilter_IIR1::getLastOutput(), mrpt::system::CTimeLogger::getLastTime(), lastLogRecord, mrpt::system::CTimeLogger::leave(), loggingGetWSObstaclesAndShape(), m_critZoneLastLog, mrpt::nav::CAbstractNavigator::m_curPoseVel, m_lastSentVelCmd, m_logFile, mrpt::nav::CAbstractNavigator::m_navProfiler, m_timelogger, mrpt::nav::CAbstractNavigator::m_timlog_delays, meanExecutionPeriod, meanExecutionTime, mrpt::nav::CLogFileRecord::nPTGs, mrpt::nav::CLogFileRecord::nSelectedPTG, mrpt::nav::CAbstractNavigator::TRobotPoseVel::pose, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::ptg_alpha_index, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::ptg_dynState, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::ptg_index, mrpt::nav::CLogFileRecord::ptg_index_NOP, mrpt::nav::CLogFileRecord::ptg_last_k_NOP, mrpt::nav::CLogFileRecord::ptg_last_navDynState, mrpt::nav::CAbstractNavigator::TRobotPoseVel::rawOdometry, mrpt::nav::CLogFileRecord::rel_cur_pose_wrt_last_vel_cmd_NOP, mrpt::nav::CLogFileRecord::rel_pose_PTG_origin_wrt_sense_NOP, mrpt::nav::CLogFileRecord::robotPoseLocalization, mrpt::nav::CLogFileRecord::robotPoseOdometry, tim_changeSpeed_avr, mrpt::nav::CAbstractNavigator::TRobotPoseVel::timestamp, mrpt::nav::CLogFileRecord::timestamps, mrpt::nav::CLogFileRecord::values, mrpt::nav::CAbstractNavigator::TRobotPoseVel::velGlobal, mrpt::nav::CAbstractNavigator::TRobotPoseVel::velLocal, and mrpt::nav::CLogFileRecord::WS_targets_relative.

Referenced by 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 426 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(), performNavigationStep(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), 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 117 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 ( )
protectedvirtualinherited

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.

References mrpt::poses::CPoseInterpolatorBase< DIM >::begin(), mrpt::poses::CPoseInterpolatorBase< DIM >::clear(), mrpt::poses::CPoseInterpolatorBase< DIM >::erase(), mrpt::nav::CAbstractNavigator::ERR_EMERGENCY_STOP, mrpt::nav::CAbstractNavigator::TErrorReason::error_code, mrpt::nav::CAbstractNavigator::TErrorReason::error_msg, mrpt::nav::CRobot2NavInterface::getCurrentPoseAndSpeeds(), mrpt::nav::CRobot2NavInterface::getNavigationTime(), mrpt::poses::CPoseInterpolatorBase< DIM >::insert(), mrpt::nav::CAbstractNavigator::m_curPoseVel, mrpt::nav::CAbstractNavigator::m_last_curPoseVelUpdate_pose_frame_id, mrpt::nav::CAbstractNavigator::m_last_curPoseVelUpdate_robot_time, mrpt::nav::CAbstractNavigator::m_latestOdomPoses, mrpt::nav::CAbstractNavigator::m_latestPoses, mrpt::nav::CAbstractNavigator::m_navErrorReason, mrpt::nav::CAbstractNavigator::m_navigationState, mrpt::nav::CAbstractNavigator::m_navProfiler, mrpt::nav::CAbstractNavigator::m_robot, MRPT_LOG_ERROR, MRPT_LOG_THROTTLE_DEBUG_FMT, mrpt::nav::CAbstractNavigator::NAV_ERROR, mrpt::math::TPose2D::phi, mrpt::nav::CAbstractNavigator::TRobotPoseVel::pose, mrpt::nav::CAbstractNavigator::TRobotPoseVel::pose_frame_id, PREVIOUS_POSES_MAX_AGE, mrpt::nav::CAbstractNavigator::TRobotPoseVel::rawOdometry, mrpt::poses::CPoseInterpolatorBase< DIM >::rbegin(), mrpt::math::TTwist2D::rotate(), mrpt::poses::CPoseInterpolatorBase< DIM >::size(), mrpt::nav::CAbstractNavigator::stop(), mrpt::system::timeDifference(), mrpt::nav::CAbstractNavigator::TRobotPoseVel::timestamp, mrpt::nav::CAbstractNavigator::TRobotPoseVel::velGlobal, and mrpt::nav::CAbstractNavigator::TRobotPoseVel::velLocal.

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

◆ waypoints_navigationStep()

void CWaypointsNavigator::waypoints_navigationStep ( )
protectedvirtualinherited

The waypoints-specific part of navigationStep()

Definition at line 112 of file CWaypointsNavigator.cpp.

References mrpt::nav::TWaypoint::allowed_distance, mrpt::math::angDistance(), ASSERT_, mrpt::nav::CAbstractNavigator::changeSpeeds(), mrpt::math::TSegment2D::distance(), mrpt::nav::TWaypointStatusSequence::final_goal_reached, mrpt::nav::CRobot2NavInterface::getAlignCmd(), mrpt::nav::CWaypointsNavigator::getWaypointNavStatus(), mrpt::nav::CWaypointsNavigator::impl_waypoint_is_reachable(), mrpt::nav::TWaypoint::INVALID_NUM, mrpt::poses::CPose2D::inverseComposePoint(), mrpt::nav::TWaypointStatusSequence::last_robot_pose, mrpt::nav::CAbstractNavigator::m_curPoseVel, mrpt::nav::CWaypointsNavigator::m_is_aligning, mrpt::nav::CWaypointsNavigator::m_last_alignment_cmd, mrpt::nav::CWaypointsNavigator::m_nav_waypoints_cs, mrpt::nav::CAbstractNavigator::m_pending_events, mrpt::nav::CAbstractNavigator::m_robot, mrpt::nav::CAbstractNavigator::m_timlog_delays, mrpt::nav::CWaypointsNavigator::m_was_aligning, mrpt::nav::CWaypointsNavigator::m_waypoint_nav_status, mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams::max_distance_to_allow_skip_waypoint, mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams::min_timesteps_confirm_skip_waypoints, MRPT_END, MRPT_LOG_DEBUG_STREAM, MRPT_LOG_INFO_FMT, MRPT_LOG_THROTTLE_INFO_FMT, MRPT_START, mrpt::nav::CWaypointsNavigator::TNavigationParamsWaypoints::multiple_targets, mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams::multitarget_look_ahead, mrpt::math::TPoint2D::norm(), mrpt::system::now(), mrpt::nav::CWaypointsNavigator::params_waypoints_navigator, mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), mrpt::math::TPose2D::phi, mrpt::math::TSegment2D::point1, mrpt::math::TSegment2D::point2, mrpt::nav::CAbstractNavigator::TRobotPoseVel::pose, mrpt::nav::CAbstractNavigator::processNavigateCommand(), mrpt::RAD2DEG(), mrpt::nav::CRobot2NavInterface::sendNewWaypointTargetEvent(), mrpt::nav::CRobot2NavInterface::sendWaypointReachedEvent(), mrpt::nav::TWaypoint::speed_ratio, mrpt::square(), mrpt::nav::CAbstractNavigator::stop(), mrpt::nav::TWaypoint::target, mrpt::nav::CAbstractNavigator::TNavigationParams::target, mrpt::nav::CAbstractNavigator::TargetInfo::target_coords, mrpt::nav::TWaypoint::target_frame_id, mrpt::nav::CAbstractNavigator::TargetInfo::target_frame_id, mrpt::nav::TWaypoint::target_heading, mrpt::nav::CAbstractNavigator::TargetInfo::targetAllowedDistance, mrpt::nav::CAbstractNavigator::TargetInfo::targetDesiredRelSpeed, mrpt::nav::CAbstractNavigator::TargetInfo::targetIsIntermediaryWaypoint, mrpt::nav::CAbstractNavigator::TargetInfo::targetIsRelative, mrpt::system::timeDifference(), mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds(), mrpt::nav::TWaypointStatusSequence::waypoint_index_current_goal, mrpt::nav::TWaypointStatusSequence::waypoints, mrpt::math::TPoint2D_data::x, mrpt::math::TPose2D::x, mrpt::math::TPoint2D_data::y, and mrpt::math::TPose2D::y.

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

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◆ writeLogToFile()

void COutputLogger::writeLogToFile ( const std::string *  fname_in = nullptr) const
inherited

Write the contents of the COutputLogger instance to an external file.

Upon call to this method, COutputLogger dumps the contents of all the logged commands so far to the specified external file. By default the filename is set to ${LOGGERNAME}.log except if the fname parameter is provided

See also
dumpToConsole, getAsString

Definition at line 165 of file COutputLogger.cpp.

References ASSERTMSG_, and mrpt::format().

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Member Data Documentation

◆ executionTime

mrpt::system::CTicTac mrpt::nav::CAbstractPTGBasedReactive::executionTime
protected

Definition at line 317 of file CAbstractPTGBasedReactive.h.

Referenced by performNavigationStep().

◆ lastLogRecord

CLogFileRecord mrpt::nav::CAbstractPTGBasedReactive::lastLogRecord
protected

The last log.

Definition at line 298 of file CAbstractPTGBasedReactive.h.

Referenced by getLastLogRecord(), and STEP8_GenerateLogRecord().

◆ logging_enable_console_output

bool mrpt::system::COutputLogger::logging_enable_console_output {true}
inherited

[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically.

Definition at line 240 of file system/COutputLogger.h.

◆ logging_enable_keep_record

bool mrpt::system::COutputLogger::logging_enable_keep_record {false}
inherited

[Default=false] Enables storing all messages into an internal list.

See also
writeLogToFile, getLogAsString

Definition at line 243 of file system/COutputLogger.h.

◆ m_badNavAlarm_lastMinDistTime

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

◆ 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 387 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 {false}
protected

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

Definition at line 404 of file CAbstractPTGBasedReactive.h.

Referenced by performNavigationStep(), and preDestructor().

◆ m_copy_prev_navParams

std::unique_ptr<TNavigationParams> mrpt::nav::CAbstractPTGBasedReactive::m_copy_prev_navParams
private

A copy of last-iteration navparams, used to detect changes.

Definition at line 473 of file CAbstractPTGBasedReactive.h.

Referenced by performNavigationStep().

◆ m_critZoneLastLog

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

Critical zones.

Definition at line 303 of file CAbstractPTGBasedReactive.h.

Referenced by getLastLogRecord(), and STEP8_GenerateLogRecord().

◆ m_curPoseVel

TRobotPoseVel mrpt::nav::CAbstractNavigator::m_curPoseVel
protectedinherited

◆ m_enableConsoleOutput

bool mrpt::nav::CAbstractPTGBasedReactive::m_enableConsoleOutput
protected

◆ m_enableKeepLogRecords

bool mrpt::nav::CAbstractPTGBasedReactive::m_enableKeepLogRecords {false}
protected

See enableKeepLogRecords.

Definition at line 296 of file CAbstractPTGBasedReactive.h.

Referenced by build_movement_candidate(), enableKeepLogRecords(), and performNavigationStep().

◆ m_expr_var_k

double mrpt::nav::CAbstractPTGBasedReactive::m_expr_var_k
private

Definition at line 471 of file CAbstractPTGBasedReactive.h.

◆ m_expr_var_k_target

double mrpt::nav::CAbstractPTGBasedReactive::m_expr_var_k_target
private

Definition at line 471 of file CAbstractPTGBasedReactive.h.

◆ m_expr_var_num_paths

double mrpt::nav::CAbstractPTGBasedReactive::m_expr_var_num_paths
private

Definition at line 471 of file CAbstractPTGBasedReactive.h.

◆ m_frame_tf

std::weak_ptr<mrpt::poses::FrameTransformer<2> > mrpt::nav::CAbstractNavigator::m_frame_tf
protectedinherited

Optional, user-provided frame transformer.

Definition at line 356 of file CAbstractNavigator.h.

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

◆ m_holonomicMethod

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

◆ m_infoPerPTG

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

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

Definition at line 423 of file CAbstractPTGBasedReactive.h.

Referenced by impl_waypoint_is_reachable(), and performNavigationStep().

◆ m_infoPerPTG_timestamp

mrpt::system::TTimeStamp mrpt::nav::CAbstractPTGBasedReactive::m_infoPerPTG_timestamp {INVALID_TIMESTAMP}
protected

◆ m_init_done

bool mrpt::nav::CAbstractPTGBasedReactive::m_init_done {false}
protected

Whether loadConfigFile() has been called or not.

Definition at line 308 of file CAbstractPTGBasedReactive.h.

Referenced by loadConfigFile(), and performNavigationStep().

◆ m_is_aligning

bool mrpt::nav::CWaypointsNavigator::m_is_aligning {false}
protectedinherited

◆ m_last_alignment_cmd

mrpt::system::TTimeStamp mrpt::nav::CWaypointsNavigator::m_last_alignment_cmd
protectedinherited

◆ m_last_curPoseVelUpdate_pose_frame_id

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

◆ m_last_curPoseVelUpdate_robot_time

double mrpt::nav::CAbstractNavigator::m_last_curPoseVelUpdate_robot_time {-1e9}
protectedinherited

◆ m_last_vel_cmd

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

Last velocity commands.

Definition at line 300 of file CAbstractPTGBasedReactive.h.

Referenced by calc_move_candidate_scores(), and generate_vel_cmd().

◆ m_lastSentVelCmd

TSentVelCmd mrpt::nav::CAbstractPTGBasedReactive::m_lastSentVelCmd
protected

◆ m_latestOdomPoses

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

◆ m_latestPoses

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

◆ m_logFile

std::unique_ptr<mrpt::io::CStream> mrpt::nav::CAbstractPTGBasedReactive::m_logFile
protected

◆ m_min_verbosity_level

VerbosityLevel mrpt::system::COutputLogger::m_min_verbosity_level {LVL_INFO}
protectedinherited

Provided messages with VerbosityLevel smaller than this value shall be ignored.

Definition at line 253 of file system/COutputLogger.h.

Referenced by mrpt::system::COutputLogger::getMinLoggingLevel(), and mrpt::system::COutputLogger::isLoggingLevelVisible().

◆ m_multiobjopt

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

◆ m_nav_cs

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

◆ m_nav_waypoints_cs

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

◆ m_navigationParams

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

◆ m_navigationState

TState mrpt::nav::CAbstractNavigator::m_navigationState {IDLE}
protectedinherited

◆ m_navlogfiles_dir

std::string mrpt::nav::CAbstractPTGBasedReactive::m_navlogfiles_dir
private

Default: "./reactivenav.logs".

Definition at line 469 of file CAbstractPTGBasedReactive.h.

Referenced by enableLogFile(), getLogFileDirectory(), and setLogFileDirectory().

◆ m_navProfiler

mrpt::system::CTimeLogger mrpt::nav::CAbstractNavigator::m_navProfiler
inherited

◆ m_pending_events

std::list<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 289 of file CAbstractNavigator.h.

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

◆ m_prev_logfile

mrpt::io::CStream* mrpt::nav::CAbstractPTGBasedReactive::m_prev_logfile {nullptr}
protected

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

Definition at line 294 of file CAbstractPTGBasedReactive.h.

Referenced by performNavigationStep().

◆ m_PTGsMustBeReInitialized

bool mrpt::nav::CAbstractPTGBasedReactive::m_PTGsMustBeReInitialized {true}
protected

◆ m_robot

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

◆ m_timelogger

mrpt::system::CTimeLogger mrpt::nav::CAbstractPTGBasedReactive::m_timelogger {false}
protected

◆ m_timlog_delays

mrpt::system::CTimeLogger mrpt::nav::CAbstractNavigator::m_timlog_delays
protectedinherited

◆ m_was_aligning

bool mrpt::nav::CWaypointsNavigator::m_was_aligning {false}
protectedinherited

Whether the last timestep was "is_aligning" in a waypoint with heading.

Definition at line 166 of file CWaypointsNavigator.h.

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

◆ m_waypoint_nav_status

TWaypointStatusSequence mrpt::nav::CWaypointsNavigator::m_waypoint_nav_status
protectedinherited

◆ m_WS_filter

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

◆ m_WS_Obstacles_timestamp

mrpt::system::TTimeStamp mrpt::nav::CAbstractPTGBasedReactive::m_WS_Obstacles_timestamp {INVALID_TIMESTAMP}
protected

Definition at line 406 of file CAbstractPTGBasedReactive.h.

Referenced by performNavigationStep(), and STEP2_SenseObstacles().

◆ meanExecutionPeriod

mrpt::math::LowPassFilter_IIR1 mrpt::nav::CAbstractPTGBasedReactive::meanExecutionPeriod {0.7, 1}
protected

Runtime estimation of execution period of the method.

Definition at line 321 of file CAbstractPTGBasedReactive.h.

Referenced by generate_vel_cmd(), performNavigationStep(), and STEP8_GenerateLogRecord().

◆ meanExecutionTime

mrpt::math::LowPassFilter_IIR1 mrpt::nav::CAbstractPTGBasedReactive::meanExecutionTime {0.7, 1}
protected

Definition at line 318 of file CAbstractPTGBasedReactive.h.

Referenced by performNavigationStep(), and STEP8_GenerateLogRecord().

◆ meanTotalExecutionTime

mrpt::math::LowPassFilter_IIR1 mrpt::nav::CAbstractPTGBasedReactive::meanTotalExecutionTime {0.7, 1}
protected

Definition at line 319 of file CAbstractPTGBasedReactive.h.

Referenced by performNavigationStep().

◆ params_abstract_navigator

TAbstractNavigatorParams mrpt::nav::CAbstractNavigator::params_abstract_navigator
inherited

◆ params_abstract_ptg_navigator

TAbstractPTGNavigatorParams mrpt::nav::CAbstractPTGBasedReactive::params_abstract_ptg_navigator

◆ params_waypoints_navigator

TWaypointsNavigatorParams mrpt::nav::CWaypointsNavigator::params_waypoints_navigator
inherited

◆ tictac

mrpt::system::CTicTac mrpt::nav::CAbstractPTGBasedReactive::tictac
protected

Definition at line 317 of file CAbstractPTGBasedReactive.h.

Referenced by build_movement_candidate().

◆ tim_changeSpeed_avr

mrpt::math::LowPassFilter_IIR1 mrpt::nav::CAbstractPTGBasedReactive::tim_changeSpeed_avr {0.7}
protected

Definition at line 322 of file CAbstractPTGBasedReactive.h.

Referenced by performNavigationStep(), and STEP8_GenerateLogRecord().

◆ timerForExecutionPeriod

mrpt::system::CTicTac mrpt::nav::CAbstractPTGBasedReactive::timerForExecutionPeriod
protected

Definition at line 309 of file CAbstractPTGBasedReactive.h.

Referenced by performNavigationStep().

◆ timoff_curPoseAndSpeed_avr

mrpt::math::LowPassFilter_IIR1 mrpt::nav::CAbstractPTGBasedReactive::timoff_curPoseAndSpeed_avr {0.7}
protected

Definition at line 323 of file CAbstractPTGBasedReactive.h.

Referenced by performNavigationStep().

◆ timoff_obstacles_avr

mrpt::math::LowPassFilter_IIR1 mrpt::nav::CAbstractPTGBasedReactive::timoff_obstacles_avr {0.7}
protected

Definition at line 323 of file CAbstractPTGBasedReactive.h.

Referenced by performNavigationStep().

◆ timoff_sendVelCmd_avr

mrpt::math::LowPassFilter_IIR1 mrpt::nav::CAbstractPTGBasedReactive::timoff_sendVelCmd_avr {0.7}
protected

Definition at line 324 of file CAbstractPTGBasedReactive.h.

Referenced by performNavigationStep().

◆ totalExecutionTime

mrpt::system::CTicTac mrpt::nav::CAbstractPTGBasedReactive::totalExecutionTime
protected

Definition at line 317 of file CAbstractPTGBasedReactive.h.

Referenced by performNavigationStep().




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