MRPT  1.9.9
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mrpt::nav::CWaypointsNavigator Class Referenceabstract

Detailed Description

This class extends CAbstractNavigator with the capability of following a list of waypoints.

By default, waypoints are followed one by one, but, if they are tagged with allow_skip=true and the derived navigator class supports it, the navigator may choose to skip some to make a smoother, safer and shorter navigation.

Waypoints have an optional target_heading field, which will be honored only for waypoints that are skipped, and if the underlying robot interface supports the pure-rotation methods.

Notes on navigation status and event dispatchment:

See also
Base class CAbstractNavigator, CWaypointsNavigator::navigateWaypoints(), and derived classes.

Definition at line 38 of file CWaypointsNavigator.h.

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

Inheritance diagram for mrpt::nav::CWaypointsNavigator:

Classes

struct  TNavigationParamsWaypoints
 The struct for configuring navigation requests to CWaypointsNavigator and derived classes. More...
 
struct  TWaypointsNavigatorParams
 

Public Member Functions

 CWaypointsNavigator (CRobot2NavInterface &robot_interface_impl)
 ctor More...
 
 ~CWaypointsNavigator () override
 dtor 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...
 
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...
 
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

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

Protected Member Functions

virtual bool impl_waypoint_is_reachable (const mrpt::math::TPoint2D &wp_local_wrt_robot) const =0
 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...
 
void onStartNewNavigation () override
 Called whenever a new navigation has been started. More...
 
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 performNavigationStep ()=0
 To be implemented in derived classes. More...
 
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

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...
 

Navigation control API

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

◆ CWaypointsNavigator()

CWaypointsNavigator::CWaypointsNavigator ( CRobot2NavInterface robot_interface_impl)

ctor

Definition at line 47 of file CWaypointsNavigator.cpp.

References m_last_alignment_cmd, and mrpt::system::now().

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◆ ~CWaypointsNavigator()

CWaypointsNavigator::~CWaypointsNavigator ( )
overridedefault

dtor

Member Function Documentation

◆ cancel()

void CWaypointsNavigator::cancel ( )
overridevirtual

Cancel current navegation.

Reimplemented from mrpt::nav::CAbstractNavigator.

Definition at line 102 of file CWaypointsNavigator.cpp.

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

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◆ changeSpeeds()

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

Default: forward call to m_robot.changeSpeed().

Can be overriden.

Definition at line 418 of file CAbstractNavigator.cpp.

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

Referenced by mrpt::nav::CNavigatorManualSequence::navigationStep(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), and 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 mrpt::nav::CAbstractPTGBasedReactive::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
overrideprotectedvirtual

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, m_waypoint_nav_status, MRPT_LOG_DEBUG_STREAM, and mrpt::nav::TWaypointStatus::reached.

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◆ dispatchPendingNavEvents()

void CAbstractNavigator::dispatchPendingNavEvents ( )
protectedinherited

Definition at line 243 of file CAbstractNavigator.cpp.

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

Referenced by 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 mrpt::nav::CAbstractPTGBasedReactive::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.

◆ 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.

◆ 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.

◆ 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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◆ 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

◆ getWaypointNavStatus() [1/2]

void CWaypointsNavigator::getWaypointNavStatus ( TWaypointStatusSequence out_nav_status) const
virtual

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 m_waypoint_nav_status.

◆ getWaypointNavStatus() [2/2]

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

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 waypoints_navigationStep().

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◆ impl_waypoint_is_reachable()

virtual bool mrpt::nav::CWaypointsNavigator::impl_waypoint_is_reachable ( const mrpt::math::TPoint2D wp_local_wrt_robot) const
protectedpure virtual

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.

Implemented in mrpt::nav::CAbstractPTGBasedReactive.

Referenced by isRelativePointReachable(), and waypoints_navigationStep().

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◆ initialize()

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

Must be called before any other navigation command.

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

◆ 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

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 impl_waypoint_is_reachable().

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◆ isRethrowNavExceptionsEnabled()

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

◆ loadConfigFile()

void CWaypointsNavigator::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.

Definition at line 482 of file CWaypointsNavigator.cpp.

References mrpt::nav::CAbstractNavigator::loadConfigFile(), mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams::loadFromConfigFile(), MRPT_END, MRPT_START, and params_waypoints_navigator.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::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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◆ 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)
virtual

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_, m_nav_waypoints_cs, m_waypoint_nav_status, MRPT_END, MRPT_START, mrpt::system::now(), 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 ( )
overridevirtual

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(), 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 waypoints_navigationStep().

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◆ onNavigateCommandReceived()

void CWaypointsNavigator::onNavigateCommandReceived ( )
overrideprotectedvirtual

Called after each call to CAbstractNavigator::navigate()

Reimplemented from mrpt::nav::CAbstractNavigator.

Definition at line 54 of file CWaypointsNavigator.cpp.

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

Referenced by navigateWaypoints().

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◆ onStartNewNavigation()

void CWaypointsNavigator::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 474 of file CWaypointsNavigator.cpp.

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

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◆ performNavigationStep()

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

To be implemented in derived classes.

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

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

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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 waypoints_navigationStep().

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◆ processNavigateCommand()

void CAbstractNavigator::processNavigateCommand ( const TNavigationParams params)
protectedvirtualinherited

◆ resetNavError()

void CAbstractNavigator::resetNavError ( )
virtualinherited

◆ resume()

void CAbstractNavigator::resume ( )
virtualinherited

◆ saveConfigFile()

void CWaypointsNavigator::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.

Definition at line 492 of file CWaypointsNavigator.cpp.

References params_waypoints_navigator, mrpt::nav::CAbstractNavigator::saveConfigFile(), and mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams::saveToConfigFile().

Referenced by mrpt::nav::CAbstractPTGBasedReactive::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.

◆ 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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◆ setVerbosityLevel()

void COutputLogger::setVerbosityLevel ( const VerbosityLevel  level)
inherited

◆ 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(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), mrpt::nav::CAbstractPTGBasedReactive::preDestructor(), mrpt::nav::CAbstractNavigator::suspend(), mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds(), and 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 waypoints_navigationStep().

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◆ waypoints_isAligning()

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

Definition at line 163 of file CWaypointsNavigator.h.

References m_is_aligning.

◆ waypoints_navigationStep()

void CWaypointsNavigator::waypoints_navigationStep ( )
protectedvirtual

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(), getWaypointNavStatus(), impl_waypoint_is_reachable(), mrpt::nav::TWaypoint::INVALID_NUM, mrpt::poses::CPose2D::inverseComposePoint(), mrpt::nav::TWaypointStatusSequence::last_robot_pose, mrpt::nav::CAbstractNavigator::m_curPoseVel, m_is_aligning, m_last_alignment_cmd, m_nav_waypoints_cs, mrpt::nav::CAbstractNavigator::m_pending_events, mrpt::nav::CAbstractNavigator::m_robot, mrpt::nav::CAbstractNavigator::m_timlog_delays, m_was_aligning, 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(), 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 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

◆ 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_curPoseVel

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

◆ m_frame_tf

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

◆ m_is_aligning

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

◆ m_last_alignment_cmd

mrpt::system::TTimeStamp mrpt::nav::CWaypointsNavigator::m_last_alignment_cmd
protected

Definition at line 168 of file CWaypointsNavigator.h.

Referenced by CWaypointsNavigator(), and waypoints_navigationStep().

◆ 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_latestOdomPoses

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

◆ m_latestPoses

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

◆ 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_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
protected

◆ m_navigationParams

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

◆ m_navigationState

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

◆ 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

◆ m_robot

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

◆ m_timlog_delays

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

◆ m_was_aligning

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

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

Definition at line 166 of file CWaypointsNavigator.h.

Referenced by onNavigateCommandReceived(), and waypoints_navigationStep().

◆ m_waypoint_nav_status

TWaypointStatusSequence mrpt::nav::CWaypointsNavigator::m_waypoint_nav_status
protected

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

Definition at line 143 of file CWaypointsNavigator.h.

Referenced by cancel(), checkHasReachedTarget(), getWaypointNavStatus(), navigateWaypoints(), onNavigateCommandReceived(), and waypoints_navigationStep().

◆ params_abstract_navigator

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

◆ params_waypoints_navigator

TWaypointsNavigatorParams mrpt::nav::CWaypointsNavigator::params_waypoints_navigator

Definition at line 133 of file CWaypointsNavigator.h.

Referenced by loadConfigFile(), saveConfigFile(), and waypoints_navigationStep().




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