MRPT  1.9.9
mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams Struct Reference

Detailed Description

Definition at line 172 of file CAbstractPTGBasedReactive.h.

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

Inheritance diagram for mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams:

Public Member Functions

void loadFromConfigFile (const mrpt::config::CConfigFileBase &c, const std::string &s) override
 This method load the options from a ".ini"-like file or memory-stored string list. More...
 
void saveToConfigFile (mrpt::config::CConfigFileBase &c, const std::string &s) const override
 This method saves the options to a ".ini"-like file or memory-stored string list. More...
 
 TAbstractPTGNavigatorParams ()
 
void loadFromConfigFileName (const std::string &config_file, const std::string &section)
 Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file. More...
 
void saveToConfigFileName (const std::string &config_file, const std::string &section) const
 Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file. More...
 
void dumpToConsole () const
 Just like dumpToTextStream() but sending the text to the console (std::cout) More...
 
virtual void dumpToTextStream (std::ostream &out) const
 This method should clearly display all the contents of the structure in textual form, sending it to a std::ostream. More...
 

Public Attributes

std::string holonomic_method
 C++ class name of the holonomic navigation method to run in the transformed TP-Space. More...
 
std::string motion_decider_method
 C++ class name of the motion chooser. More...
 
std::string ptg_cache_files_directory
 (Default: ".") More...
 
double ref_distance {4.0}
 Maximum distance up to obstacles will be considered (D_{max} in papers). More...
 
double speedfilter_tau {0.0}
 Time constant (in seconds) for the low-pass filter applied to kinematic velocity commands (default=0: no filtering) More...
 
double secure_distance_start {0.05}
 In normalized distances, the start and end of a ramp function that scales the velocity output from the holonomic navigator: More...
 
double secure_distance_end {0.20}
 
bool use_delays_model {false}
 
double max_distance_predicted_actual_path {0.15}
 Max distance [meters] to discard current PTG and issue a new vel cmd (default= 0.05) More...
 
double min_normalized_free_space_for_ptg_continuation {0.2}
 Min normalized dist [0,1] after current pose in a PTG continuation to allow it. More...
 
mrpt::kinematics::CVehicleVelCmd::TVelCmdParams robot_absolute_speed_limits
 Params related to speed limits. More...
 
bool enable_obstacle_filtering {true}
 
bool evaluate_clearance {false}
 Default: false. More...
 
double max_dist_for_timebased_path_prediction {2.0}
 Max dist [meters] to use time-based path prediction for NOP evaluation. More...
 

Static Protected Member Functions

static void dumpVar_int (std::ostream &out, const char *varName, int v)
 Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. More...
 
static void dumpVar_float (std::ostream &out, const char *varName, float v)
 
static void dumpVar_double (std::ostream &out, const char *varName, double v)
 
static void dumpVar_bool (std::ostream &out, const char *varName, bool v)
 
static void dumpVar_string (std::ostream &out, const char *varName, const std::string &v)
 

Constructor & Destructor Documentation

◆ TAbstractPTGNavigatorParams()

CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::TAbstractPTGNavigatorParams ( )

Definition at line 1900 of file CAbstractPTGBasedReactive.cpp.

Member Function Documentation

◆ dumpToConsole()

void CLoadableOptions::dumpToConsole ( ) const
inherited

Just like dumpToTextStream() but sending the text to the console (std::cout)

Definition at line 44 of file CLoadableOptions.cpp.

References mrpt::config::CLoadableOptions::dumpToTextStream().

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel().

Here is the call graph for this function:
Here is the caller graph for this function:

◆ dumpToTextStream()

void CLoadableOptions::dumpToTextStream ( std::ostream &  out) const
virtualinherited

This method should clearly display all the contents of the structure in textual form, sending it to a std::ostream.

The default implementation in this base class relies on saveToConfigFile() to generate a plain text representation of all the parameters.

Reimplemented in mrpt::vision::TMultiResDescOptions, mrpt::vision::TMultiResDescMatchOptions, mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions, mrpt::maps::COccupancyGridMap2D::TInsertionOptions, mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams, mrpt::vision::TMatchingOptions, mrpt::hmtslam::CHMTSLAM::TOptions, mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams, mrpt::maps::CLandmarksMap::TLikelihoodOptions, mrpt::maps::TSetOfMetricMapInitializers, mrpt::maps::CPointsMap::TRenderOptions, mrpt::maps::CPointsMap::TLikelihoodOptions, mrpt::vision::TStereoSystemParams, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TLikelihoodOptions, mrpt::maps::CLandmarksMap::TInsertionOptions, mrpt::maps::CPointsMap::TInsertionOptions, mrpt::maps::CColouredPointsMap::TColourOptions, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::GraphVisualizationParams, mrpt::slam::CRangeBearingKFSLAM::TOptions, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::TParams, mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::TParams, mrpt::maps::CRandomFieldGridMap3D::TInsertionOptions, mrpt::maps::CBeaconMap::TInsertionOptions, mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams, mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::TParams, mrpt::maps::CMultiMetricMapPDF::TPredictionParams, mrpt::maps::CBeaconMap::TLikelihoodOptions, mrpt::slam::CRangeBearingKFSLAM2D::TOptions, mrpt::maps::CHeightGridMap2D::TInsertionOptions, mrpt::vision::CFeatureExtraction::TOptions, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions, mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::TParams, mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions, mrpt::slam::CGridMapAligner::TConfigParams, mrpt::bayes::TKF_options, mrpt::graphslam::TSlidingWindow, mrpt::maps::CReflectivityGridMap2D::TInsertionOptions, mrpt::hmtslam::CTopLCDetector_GridMatching::TOptions, mrpt::hmtslam::CTopLCDetector_FabMap::TOptions, mrpt::graphslam::TUncertaintyPath< GRAPH_T >, mrpt::maps::CHeightGridMap2D_MRF::TInsertionOptions, mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions, mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions, mrpt::maps::TMetricMapInitializer, mrpt::slam::CMetricMapBuilderICP::TConfigParams, and mrpt::slam::TKLDParams.

Definition at line 77 of file CLoadableOptions.cpp.

References mrpt::config::CConfigFileMemory::getContent(), and mrpt::config::CLoadableOptions::saveToConfigFile().

Referenced by mrpt::config::CLoadableOptions::dumpToConsole(), mrpt::maps::TMetricMapInitializer::dumpToTextStream(), mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams::dumpToTextStream(), and mrpt::maps::COccupancyGridMap3D::TMapDefinition::dumpToTextStream_map_specific().

Here is the call graph for this function:
Here is the caller graph for this function:

◆ dumpVar_bool()

void CLoadableOptions::dumpVar_bool ( std::ostream &  out,
const char *  varName,
bool  v 
)
staticprotectedinherited

Definition at line 63 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

Here is the call graph for this function:

◆ dumpVar_double()

void CLoadableOptions::dumpVar_double ( std::ostream &  out,
const char *  varName,
double  v 
)
staticprotectedinherited

Definition at line 57 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

Here is the call graph for this function:

◆ dumpVar_float()

void CLoadableOptions::dumpVar_float ( std::ostream &  out,
const char *  varName,
float  v 
)
staticprotectedinherited

Definition at line 51 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

Here is the call graph for this function:

◆ dumpVar_int()

void CLoadableOptions::dumpVar_int ( std::ostream &  out,
const char *  varName,
int  v 
)
staticprotectedinherited

Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.

Definition at line 45 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

Here is the call graph for this function:

◆ dumpVar_string()

void CLoadableOptions::dumpVar_string ( std::ostream &  out,
const char *  varName,
const std::string v 
)
staticprotectedinherited

Definition at line 70 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

Here is the call graph for this function:

◆ loadFromConfigFile()

void CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::loadFromConfigFile ( const mrpt::config::CConfigFileBase source,
const std::string section 
)
overridevirtual

This method load the options from a ".ini"-like file or memory-stored string list.

Only those parameters found in the given "section" and having the same name that the variable are loaded. Those not found in the file will stay with their previous values (usually the default values loaded at initialization). An example of an ".ini" file:

[section]
resolution = 0.10 // blah blah...
modeSelection = 1 // 0=blah, 1=blah,...
See also
loadFromConfigFileName, saveToConfigFile

Implements mrpt::config::CLoadableOptions.

Definition at line 1801 of file CAbstractPTGBasedReactive.cpp.

References MRPT_END, MRPT_LOAD_CONFIG_VAR_CS, MRPT_LOAD_CONFIG_VAR_REQUIRED_CS, and MRPT_START.

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

Here is the caller graph for this function:

◆ loadFromConfigFileName()

void CLoadableOptions::loadFromConfigFileName ( const std::string config_file,
const std::string section 
)
inherited

Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file.

See also
loadFromConfigFile

Definition at line 22 of file CLoadableOptions.cpp.

References mrpt::config::CLoadableOptions::loadFromConfigFile().

Here is the call graph for this function:

◆ saveToConfigFile()

void CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::saveToConfigFile ( mrpt::config::CConfigFileBase target,
const std::string section 
) const
overridevirtual

This method saves the options to a ".ini"-like file or memory-stored string list.

See also
loadFromConfigFile, saveToConfigFileName

Reimplemented from mrpt::config::CLoadableOptions.

Definition at line 1825 of file CAbstractPTGBasedReactive.cpp.

References CLASS_ID, mrpt::rtti::getAllRegisteredClassesChildrenOf(), and MRPT_SAVE_CONFIG_VAR_COMMENT.

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

Here is the call graph for this function:
Here is the caller graph for this function:

◆ saveToConfigFileName()

void CLoadableOptions::saveToConfigFileName ( const std::string config_file,
const std::string section 
) const
inherited

Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file.

See also
saveToConfigFile, loadFromConfigFileName

Definition at line 37 of file CLoadableOptions.cpp.

References mrpt::config::CLoadableOptions::saveToConfigFile().

Here is the call graph for this function:

Member Data Documentation

◆ enable_obstacle_filtering

bool mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::enable_obstacle_filtering {true}

◆ evaluate_clearance

bool mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::evaluate_clearance {false}

Default: false.

Definition at line 220 of file CAbstractPTGBasedReactive.h.

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

◆ holonomic_method

std::string mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::holonomic_method

C++ class name of the holonomic navigation method to run in the transformed TP-Space.

Definition at line 176 of file CAbstractPTGBasedReactive.h.

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

◆ max_dist_for_timebased_path_prediction

double mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::max_dist_for_timebased_path_prediction {2.0}

Max dist [meters] to use time-based path prediction for NOP evaluation.

Definition at line 223 of file CAbstractPTGBasedReactive.h.

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

◆ max_distance_predicted_actual_path

double mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::max_distance_predicted_actual_path {0.15}

Max distance [meters] to discard current PTG and issue a new vel cmd (default= 0.05)

Definition at line 210 of file CAbstractPTGBasedReactive.h.

◆ min_normalized_free_space_for_ptg_continuation

double mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::min_normalized_free_space_for_ptg_continuation {0.2}

Min normalized dist [0,1] after current pose in a PTG continuation to allow it.

Definition at line 213 of file CAbstractPTGBasedReactive.h.

◆ motion_decider_method

std::string mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::motion_decider_method

C++ class name of the motion chooser.

Definition at line 178 of file CAbstractPTGBasedReactive.h.

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

◆ ptg_cache_files_directory

std::string mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::ptg_cache_files_directory

◆ ref_distance

double mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::ref_distance {4.0}

Maximum distance up to obstacles will be considered (D_{max} in papers).

Definition at line 184 of file CAbstractPTGBasedReactive.h.

Referenced by mrpt::nav::CReactiveNavigationSystem3D::implementSenseObstacles(), and mrpt::nav::CReactiveNavigationSystem::STEP3_WSpaceToTPSpace().

◆ robot_absolute_speed_limits

mrpt::kinematics::CVehicleVelCmd::TVelCmdParams mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::robot_absolute_speed_limits

◆ secure_distance_end

double mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::secure_distance_end {0.20}

◆ secure_distance_start

double mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::secure_distance_start {0.05}

In normalized distances, the start and end of a ramp function that scales the velocity output from the holonomic navigator:

velocity scale
^
| _____________
| /
1 | /
| /
0 +-------+---|----------------> normalized distance
Start
End

Definition at line 206 of file CAbstractPTGBasedReactive.h.

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

◆ speedfilter_tau

double mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::speedfilter_tau {0.0}

Time constant (in seconds) for the low-pass filter applied to kinematic velocity commands (default=0: no filtering)

Definition at line 187 of file CAbstractPTGBasedReactive.h.

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

◆ use_delays_model

bool mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::use_delays_model {false}



Page generated by Doxygen 1.8.14 for MRPT 1.9.9 Git: ee555d257 Fri Aug 16 10:05:39 2019 +0200 at vie ago 16 10:10:14 CEST 2019