class mrpt::nav::CHolonomicFullEval
Overview
Full evaluation of all possible directions within the discrete set of input directions.
These are the optional parameters of the method which can be set by means of a configuration file passed to the constructor or to CHolonomicFullEval::initialize() or directly in CHolonomicFullEval::options
See [MRPT]/share/mrpt/config_files_navigation-ptgs/*.ini for example configurations.
See also:
CAbstractHolonomicReactiveMethod, CReactiveNavigationSystem
#include <mrpt/nav/holonomic/CHolonomicFullEval.h> class CHolonomicFullEval: public mrpt::nav::CAbstractHolonomicReactiveMethod { public: // structs struct EvalOutput; struct TOptions; // fields TOptions options; // construction CHolonomicFullEval(const mrpt::config::CConfigFileBase* INI_FILE = nullptr); // methods virtual void navigate(const NavInput& ni, NavOutput& no); virtual void initialize(const mrpt::config::CConfigFileBase& c); virtual void saveConfigFile(mrpt::config::CConfigFileBase& c) const; virtual double getTargetApproachSlowDownDistance() const; virtual void setTargetApproachSlowDownDistance(const double dist); };
Inherited Members
public: // structs struct NavInput; struct NavOutput; // methods mrpt::rtti::CObject::Ptr duplicateGetSmartPtr() const; static CAbstractHolonomicReactiveMethod* Create(const std::string& className); virtual void navigate(const NavInput& ni, NavOutput& no) = 0; virtual void initialize(const mrpt::config::CConfigFileBase& c) = 0; virtual void saveConfigFile(mrpt::config::CConfigFileBase& c) const = 0; void setConfigFileSectionName(const std::string& sectName); std::string getConfigFileSectionName() const; virtual double getTargetApproachSlowDownDistance() const = 0; virtual void setTargetApproachSlowDownDistance(const double dist) = 0; void setAssociatedPTG(mrpt::nav::CParameterizedTrajectoryGenerator* ptg); mrpt::nav::CParameterizedTrajectoryGenerator* getAssociatedPTG() const; virtual mxArray* writeToMatlab() const; virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const; virtual CObject* clone() const = 0;
Fields
TOptions options
Parameters of the algorithm (can be set manually or loaded from CHolonomicFullEval::initialize or options.loadFromConfigFile(), etc.)
Construction
CHolonomicFullEval(const mrpt::config::CConfigFileBase* INI_FILE = nullptr)
Initialize the parameters of the navigator, from some configuration file, or default values if set to nullptr.
Methods
virtual void navigate(const NavInput& ni, NavOutput& no)
Invokes the holonomic navigation algorithm itself.
See the description of the input/output structures for details on each parameter.
virtual void initialize(const mrpt::config::CConfigFileBase& c)
Initialize the parameters of the navigator, reading from the default section name (see derived classes) or the one set via setConfigFileSectionName()
virtual void saveConfigFile(mrpt::config::CConfigFileBase& c) const
saves all available parameters, in a forma loadable by initialize()
virtual double getTargetApproachSlowDownDistance() const
Returns the actual value of this parameter [m], as set via the children class options structure.
See also:
setTargetApproachSlowDownDistance()
virtual void setTargetApproachSlowDownDistance(const double dist)
Sets the actual value of this parameter [m].
See also: