class mrpt::nav::CNavigatorManualSequence

Overview

“Fake navigator” for tests: it just sends out a pre-programmed sequence of commands to the robot.

For a short discussion of the API, see CNavigatorVirtualBase

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

class CNavigatorManualSequence: public mrpt::nav::CAbstractNavigator
{
public:
    // structs

    struct TVelCmd;

    // fields

    std::map<double, TVelCmd> programmed_orders;

    // construction

    CNavigatorManualSequence(CRobot2NavInterface& react_iterf_impl);

    // methods

    virtual void loadConfigFile(const mrpt::config::CConfigFileBase& c);
    virtual void saveConfigFile(mrpt::config::CConfigFileBase& c) const;
    virtual void initialize();
    virtual void navigationStep();
};

Inherited Members

public:
    // enums

    enum TErrorCode;
    enum TState;

    // structs

    struct TMsg;
    struct TAbstractNavigatorParams;
    struct TErrorReason;
    struct TNavigationParams;
    struct TNavigationParamsBase;
    struct TRobotPoseVel;
    struct TargetInfo;

    // fields

    mrpt::system::CTimeLogger m_navProfiler {false, "mrpt::nav::CAbstractNavigator"};

    // methods

    COutputLogger& operator = (const COutputLogger&);
    COutputLogger& operator = (COutputLogger&&);
    virtual void loadConfigFile(const mrpt::config::CConfigFileBase& c);
    virtual void saveConfigFile(mrpt::config::CConfigFileBase& c) const;
    virtual void initialize() = 0;
    virtual void navigationStep();
    virtual void navigate(const TNavigationParams* params);
    virtual void cancel();
    virtual void resume();
    virtual void suspend();
    virtual void resetNavError();
    TState getCurrentState() const;
    const TErrorReason& getErrorReason() const;
    void setFrameTF(const std::weak_ptr<mrpt::poses::FrameTransformer<2>>& frame_tf);
    std::weak_ptr<mrpt::poses::FrameTransformer<2>> getFrameTF() const;
    void enableRethrowNavExceptions(const bool enable);
    const mrpt::system::CTimeLogger& getDelaysTimeLogger() const;

Fields

std::map<double, TVelCmd> programmed_orders

map [time_in_secs_since_beginning] -> orders.

Methods

virtual void loadConfigFile(const mrpt::config::CConfigFileBase& c)

Loads all navigator parameters from a config file.

Must be called before initialize(). Derived classes must call the parent implementation after loading their own parameters.

Parameters:

c	The configuration source to read from.

virtual void saveConfigFile(mrpt::config::CConfigFileBase& c) const

Saves all current navigator parameters to a config file.

Derived classes must call the parent implementation after saving their own parameters.

Parameters:

c	The configuration file to write to.

virtual void initialize()

Must be called for loading collision grids, etc.

before invoking any navigation command

virtual void navigationStep()

Overriden in this class to ignore the cancel/pause/…

commands