class mrpt::nav::CWaypointsNavigator

Overview

Extends CAbstractNavigator with sequential waypoint following.

Accepts a TWaypointSequence and navigates the robot through each waypoint in order, optionally skipping waypoints marked with allow_skip=true if the underlying navigator determines that it is more efficient to do so. Each time a waypoint is reached or skipped, sendWaypointReachedEvent() is called; sendNavigationEndEvent() is called only for the final waypoint.

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:

  • Navigation state may briefly pass by the IDLE status between a waypoint is reached and a new navigation command is issued towards the next waypoint.

  • sendNavigationEndEvent() will be called only when the last waypoint is reached.

  • Reaching an intermediary waypoint (or skipping it if considered so by the navigator) generates a call to sendWaypointReachedEvent() instead.

See also:

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

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

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

    struct TNavigationParamsWaypoints;
    struct TWaypointsNavigatorParams;

    // classes

    class WaypointsAccessGuard;

    // construction

    CWaypointsNavigator(CRobot2NavInterface& robot_interface_impl);

    // methods

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

// direct descendants

struct MinimalWaypointsNav;
class CAbstractPTGBasedReactive;

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;

Construction

CWaypointsNavigator(CRobot2NavInterface& robot_interface_impl)

ctor

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.