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 for example configurations.

#include <mrpt/nav/holonomic/CHolonomicFullEval.h>

class CHolonomicFullEval: public mrpt::nav::CAbstractHolonomicReactiveMethod
{
public:
    // typedefs

    typedef std::shared_ptr<mrpt::nav ::CHolonomicFullEval> Ptr;
    typedef std::shared_ptr<const mrpt::nav ::CHolonomicFullEval> ConstPtr;
    typedef std::unique_ptr<mrpt::nav ::CHolonomicFullEval> UniquePtr;
    typedef std::unique_ptr<const mrpt::nav ::CHolonomicFullEval> ConstUniquePtr;

    // structs

    struct EvalOutput;
    struct TOptions;

    // fields

    static constexpr const char* className = "mrpt::nav" "::" "CHolonomicFullEval";
    TOptions options;

    // construction

    CHolonomicFullEval(const mrpt::config::CConfigFileBase* INI_FILE = nullptr);

    // methods

    static constexpr auto getClassName();
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    static std::shared_ptr<CObject> CreateObject();

    template <typename... Args>
    static Ptr Create(Args&&... args);

    template <typename Alloc, typename... Args>
    static Ptr CreateAlloc(
        const Alloc& alloc,
        Args&&... args
        );

    template <typename... Args>
    static UniquePtr CreateUnique(Args&&... args);

    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    virtual mrpt::rtti::CObject* clone() const;
    virtual NavOutput navigate(const NavInput& ni);
    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:
    // typedefs

    typedef std::shared_ptr<CObject> Ptr;
    typedef std::shared_ptr<const CObject> ConstPtr;
    typedef std::shared_ptr<CSerializable> Ptr;
    typedef std::shared_ptr<const CSerializable> ConstPtr;
    typedef std::shared_ptr<CAbstractHolonomicReactiveMethod> Ptr;
    typedef std::shared_ptr<const CAbstractHolonomicReactiveMethod> ConstPtr;

    // structs

    struct NavInput;
    struct NavOutput;

    // methods

    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    mrpt::rtti::CObject::Ptr duplicateGetSmartPtr() const;
    virtual NavOutput navigate(const NavInput& ni) = 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 CObject* clone() const = 0;
    static CAbstractHolonomicReactiveMethod* Create(const std::string& className);

Typedefs

typedef std::shared_ptr<mrpt::nav ::CHolonomicFullEval> Ptr

A type for the associated smart pointer.

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 const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const

Returns information about the class of an object in runtime.

virtual mrpt::rtti::CObject* clone() const

Returns a deep copy (clone) of the object, indepently of its class.

virtual NavOutput navigate(const NavInput& ni)

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.