Detailed Description

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.

Definition at line 33 of file CWaypointsNavigator.h.

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

Inheritance diagram for mrpt::nav::CWaypointsNavigator:

Classes
struct	TNavigationParamsWaypoints
	The struct for configuring navigation requests to CWaypointsNavigator and derived classes. More...

struct	TWaypointsNavigatorParams

Public Member Functions
	CWaypointsNavigator (CRobot2NavInterface &robot_interface_impl)
	ctor More...

virtual	~CWaypointsNavigator ()
	dtor More...

virtual void	navigationStep () MRPT_OVERRIDE
	This method must be called periodically in order to effectively run the navigation. More...

virtual void	cancel () MRPT_OVERRIDE
	Cancel current navegation. More...

bool	isRelativePointReachable (const mrpt::math::TPoint2D &wp_local_wrt_robot) const
	Returns `true` if, according to the information gathered at the last navigation step, there is a free path to the given point; `false` otherwise: if way is blocked or there is missing information, the point is out of range for the existing PTGs, etc. More...

virtual void	loadConfigFile (const mrpt::utils::CConfigFileBase &c) MRPT_OVERRIDE
	Loads all params from a file. More...

virtual void	saveConfigFile (mrpt::utils::CConfigFileBase &c) const MRPT_OVERRIDE
	Saves all current options to a config file. More...

const mrpt::utils::CTimeLogger &	getDelaysTimeLogger () const
	Gives access to a const-ref to the internal time logger used to estimate delays. More...

Waypoint navigation control API
virtual void	navigateWaypoints (const TWaypointSequence &nav_request)
	Waypoint navigation request. More...

virtual void	getWaypointNavStatus (TWaypointStatusSequence &out_nav_status) const
	Get a copy of the control structure which describes the progress status of the waypoint navigation. More...

TWaypointStatusSequence	getWaypointNavStatus () const
	Get a copy of the control structure which describes the progress status of the waypoint navigation. More...

Public Attributes
TWaypointsNavigatorParams	params_waypoints_navigator

TAbstractNavigatorParams	params_abstract_navigator

Protected Member Functions
virtual bool	impl_waypoint_is_reachable (const mrpt::math::TPoint2D &wp_local_wrt_robot) const =0
	Implements the way to waypoint is free function in children classes: `true` must be returned if, according to the information gathered at the last navigation step, there is a free path to the given point; `false` otherwise: if way is blocked or there is missing information, the point is out of range, etc. More...

virtual void	onStartNewNavigation () MRPT_OVERRIDE
	Called whenever a new navigation has been started. More...

virtual void	onNavigateCommandReceived () MRPT_OVERRIDE
	Called after each call to CAbstractNavigator::navigate() More...

virtual bool	checkHasReachedTarget (const double targetDist) const MRPT_OVERRIDE
	Default implementation: check if target_dist is below the accepted distance. More...

virtual void	waypoints_navigationStep ()
	The waypoints-specific part of navigationStep() More...

bool	waypoints_isAligning () const

void	dispatchPendingNavEvents ()

virtual void	performNavigationStep ()=0
	To be implemented in derived classes. More...

virtual void	processNavigateCommand (const TNavigationParams *params)
	Does the job of navigate(), except the call to onNavigateCommandReceived() More...

virtual void	updateCurrentPoseAndSpeeds ()
	Call to the robot getCurrentPoseAndSpeeds() and updates members m_curPoseVel accordingly. More...

virtual void	performNavigationStepNavigating (bool call_virtual_nav_method=true)
	Factorization of the part inside navigationStep(), for the case of state being NAVIGATING. More...

virtual void	doEmergencyStop (const std::string &msg)
	Stops the robot and set navigation state to error. More...

virtual bool	changeSpeeds (const mrpt::kinematics::CVehicleVelCmd &vel_cmd)
	Default: forward call to m_robot.changeSpeed(). Can be overriden. More...

virtual bool	changeSpeedsNOP ()
	Default: forward call to m_robot.changeSpeedsNOP(). Can be overriden. More...

virtual bool	stop (bool isEmergencyStop)
	Default: forward call to m_robot.stop(). Can be overriden. More...

virtual bool	checkCollisionWithLatestObstacles (const mrpt::math::TPose2D &relative_robot_pose) const
	Checks whether the robot shape, when placed at the given pose (relative to the current pose), is colliding with any of the latest known obstacles. More...

Protected Attributes
TWaypointStatusSequence	m_waypoint_nav_status
	The latest waypoints navigation command and the up-to-date control status. More...

mrpt::synch::CCriticalSectionRecursive	m_nav_waypoints_cs

bool	m_was_aligning
	Whether the last timestep was "is_aligning" in a waypoint with heading. More...

bool	m_is_aligning

mrpt::system::TTimeStamp	m_last_alignment_cmd

std::list< TPendingEvent >	m_pending_events
	Events generated during navigationStep(), enqueued to be called at the end of the method execution to avoid user code to change the navigator state. More...

TState	m_navigationState
	Current internal state of navigator: More...

TNavigationParams *	m_navigationParams
	Current navigation parameters. More...

CRobot2NavInterface &	m_robot
	The navigator-robot interface. More...

mrpt::poses::FrameTransformer< 2 > *	m_frame_tf
	Optional, user-provided frame transformer. More...

mrpt::synch::CCriticalSectionRecursive	m_nav_cs
	mutex for all navigation methods More...

TRobotPoseVel	m_curPoseVel
	Current robot pose (updated in CAbstractNavigator::navigationStep() ) More...

double	m_last_curPoseVelUpdate_robot_time

std::string	m_last_curPoseVelUpdate_pose_frame_id

mrpt::poses::CPose2DInterpolator	m_latestPoses

mrpt::poses::CPose2DInterpolator	m_latestOdomPoses
	Latest robot poses (updated in CAbstractNavigator::navigationStep() ) More...

mrpt::utils::CTimeLogger	m_timlog_delays
	Time logger to collect delay-related stats. More...

mrpt::utils::CTimeLogger	m_navProfiler
	Publicly available time profiling object. More...

double	m_badNavAlarm_minDistTarget
	For sending an alarm (error event) when it seems that we are not approaching toward the target in a while... More...

mrpt::system::TTimeStamp	m_badNavAlarm_lastMinDistTime

Navigation control API
virtual void	initialize ()=0
	Must be called before any other navigation command. More...

virtual void	navigate (const TNavigationParams *params)
	Navigation request to a single target location. More...

virtual void	resume ()
	Continues with suspended navigation. More...

virtual void	suspend ()
	Suspend current navegation. More...

virtual void	resetNavError ()
	Resets a `NAV_ERROR` state back to `IDLE` More...

TState	getCurrentState () const
	Returns the current navigator state. More...

const TErrorReason &	getErrorReason () const
	In case of state=NAV_ERROR, this returns the reason for the error. More...

void	setFrameTF (mrpt::poses::FrameTransformer< 2 > *frame_tf)
	Sets a user-provided frame transformer object; used only if providing targets in a frame ID different than the one in which robot odometry is given (both IDs default to `"map"`). More...

const mrpt::poses::FrameTransformer< 2 > *	getFrameTF () const
	Get the current frame tf object (defaults to nullptr) More...

void	enableRethrowNavExceptions (const bool enable)
	By default, error exceptions on navigationStep() will dump an error message to the output logger interface. More...

bool	isRethrowNavExceptionsEnabled () const

enum	TState { IDLE =0, NAVIGATING, SUSPENDED, NAV_ERROR }
	The different states for the navigation system. More...

enum	TErrorCode { ERR_NONE =0, ERR_EMERGENCY_STOP, ERR_CANNOT_REACH_TARGET, ERR_OTHER }
	Explains the reason for the navigation error. More...

Member Enumeration Documentation

◆ TErrorCode

enum mrpt::nav::CAbstractNavigator::TErrorCode

inherited

Explains the reason for the navigation error.

Enumerator
ERR_NONE
ERR_EMERGENCY_STOP
ERR_CANNOT_REACH_TARGET
ERR_OTHER

Definition at line 131 of file CAbstractNavigator.h.

◆ TState

enum mrpt::nav::CAbstractNavigator::TState

inherited

The different states for the navigation system.

Enumerator
IDLE
NAVIGATING
SUSPENDED
NAV_ERROR	In this case, use getErrorReason()

Definition at line 120 of file CAbstractNavigator.h.

Constructor & Destructor Documentation

◆ CWaypointsNavigator()

CWaypointsNavigator::CWaypointsNavigator ( CRobot2NavInterface & robot_interface_impl )

ctor

Definition at line 42 of file CWaypointsNavigator.cpp.

◆ ~CWaypointsNavigator()

CWaypointsNavigator::~CWaypointsNavigator ( )

virtual

dtor

Definition at line 50 of file CWaypointsNavigator.cpp.

Member Function Documentation

◆ cancel()

void CWaypointsNavigator::cancel ( )

virtual

Cancel current navegation.

Reimplemented from mrpt::nav::CAbstractNavigator.

Definition at line 96 of file CWaypointsNavigator.cpp.

References mrpt::nav::CAbstractNavigator::cancel(), m_nav_waypoints_cs, and m_waypoint_nav_status.

◆ changeSpeeds()

bool CAbstractNavigator::changeSpeeds ( const mrpt::kinematics::CVehicleVelCmd & vel_cmd )

protectedvirtualinherited

Default: forward call to m_robot.changeSpeed(). Can be overriden.

Definition at line 419 of file CAbstractNavigator.cpp.

References mrpt::nav::CRobot2NavInterface::changeSpeeds(), and mrpt::nav::CAbstractNavigator::m_robot.

Referenced by mrpt::nav::CNavigatorManualSequence::navigationStep(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), and waypoints_navigationStep().

◆ changeSpeedsNOP()

bool CAbstractNavigator::changeSpeedsNOP ( )

protectedvirtualinherited

Default: forward call to m_robot.changeSpeedsNOP(). Can be overriden.

Definition at line 423 of file CAbstractNavigator.cpp.

References mrpt::nav::CRobot2NavInterface::changeSpeedsNOP(), and mrpt::nav::CAbstractNavigator::m_robot.

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

◆ checkCollisionWithLatestObstacles()

bool CAbstractNavigator::checkCollisionWithLatestObstacles ( const mrpt::math::TPose2D & relative_robot_pose ) const

protectedvirtualinherited

Checks whether the robot shape, when placed at the given pose (relative to the current pose), is colliding with any of the latest known obstacles.

Default implementation: always returns false.

Reimplemented in mrpt::nav::CReactiveNavigationSystem3D, and mrpt::nav::CReactiveNavigationSystem.

Definition at line 631 of file CAbstractNavigator.cpp.

Referenced by mrpt::nav::CAbstractNavigator::performNavigationStepNavigating().

◆ checkHasReachedTarget()

bool CWaypointsNavigator::checkHasReachedTarget ( const double targetDist ) const

protectedvirtual

Default implementation: check if target_dist is below the accepted distance.

If true is returned here, the end-of-navigation event will be sent out (only for non-intermediary targets).

Reimplemented from mrpt::nav::CAbstractNavigator.

Definition at line 453 of file CWaypointsNavigator.cpp.

References mrpt::system::dateTimeLocalToString(), mrpt::nav::TWaypointStatus::getAsText(), INVALID_TIMESTAMP, mrpt::nav::CAbstractNavigator::m_navigationParams, m_waypoint_nav_status, MRPT_LOG_DEBUG_STREAM, mrpt::nav::TWaypointStatus::reached, mrpt::nav::CAbstractNavigator::TNavigationParams::target, mrpt::nav::CAbstractNavigator::TargetInfo::targetAllowedDistance, and mrpt::nav::CAbstractNavigator::TargetInfo::targetIsIntermediaryWaypoint.

◆ dispatchPendingNavEvents()

void CAbstractNavigator::dispatchPendingNavEvents ( )

protectedinherited

Definition at line 254 of file CAbstractNavigator.cpp.

Referenced by navigationStep(), and mrpt::nav::CAbstractNavigator::navigationStep().

◆ doEmergencyStop()

void CAbstractNavigator::doEmergencyStop ( const std::string & msg )

protectedvirtualinherited

Stops the robot and set navigation state to error.

Definition at line 289 of file CAbstractNavigator.cpp.

References mrpt::nav::CAbstractNavigator::ERR_EMERGENCY_STOP, mrpt::nav::CAbstractNavigator::ERR_NONE, mrpt::nav::CAbstractNavigator::TErrorReason::error_code, mrpt::nav::CAbstractNavigator::TErrorReason::error_msg, mrpt::nav::CAbstractNavigator::m_navErrorReason, mrpt::nav::CAbstractNavigator::m_navigationState, MRPT_LOG_ERROR, mrpt::nav::CAbstractNavigator::NAV_ERROR, and mrpt::nav::CAbstractNavigator::stop().

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

◆ enableRethrowNavExceptions()

void mrpt::nav::CAbstractNavigator::enableRethrowNavExceptions ( const bool enable )

inlineinherited

By default, error exceptions on navigationStep() will dump an error message to the output logger interface.

If rethrow is enabled (default=false), the error message will be reported as well, but exceptions will be re-thrown.

Definition at line 167 of file CAbstractNavigator.h.

◆ getCurrentState()

TState mrpt::nav::CAbstractNavigator::getCurrentState ( ) const

inlineinherited

Returns the current navigator state.

Definition at line 128 of file CAbstractNavigator.h.

◆ getDelaysTimeLogger()

const mrpt::utils::CTimeLogger& mrpt::nav::CAbstractNavigator::getDelaysTimeLogger ( ) const

inlineinherited

Gives access to a const-ref to the internal time logger used to estimate delays.

See also: getTimeLogger() in derived classes

Definition at line 190 of file CAbstractNavigator.h.

◆ getErrorReason()

const TErrorReason& mrpt::nav::CAbstractNavigator::getErrorReason ( ) const

inlineinherited

In case of state=NAV_ERROR, this returns the reason for the error.

Error state is reseted everytime a new navigation starts with a call to navigate(), or when resetNavError() is called.

Definition at line 150 of file CAbstractNavigator.h.

◆ getFrameTF()

const mrpt::poses::FrameTransformer<2>* mrpt::nav::CAbstractNavigator::getFrameTF ( ) const

inlineinherited

Get the current frame tf object (defaults to nullptr)

See also: setFrameTF

Definition at line 161 of file CAbstractNavigator.h.

◆ getWaypointNavStatus() [1/2]

void CWaypointsNavigator::getWaypointNavStatus ( TWaypointStatusSequence & out_nav_status ) const

virtual

Get a copy of the control structure which describes the progress status of the waypoint navigation.

Definition at line 90 of file CWaypointsNavigator.cpp.

References m_waypoint_nav_status.

◆ getWaypointNavStatus() [2/2]

TWaypointStatusSequence mrpt::nav::CWaypointsNavigator::getWaypointNavStatus ( ) const

inline

Get a copy of the control structure which describes the progress status of the waypoint navigation.

Definition at line 69 of file CWaypointsNavigator.h.

Referenced by waypoints_navigationStep().

◆ impl_waypoint_is_reachable()

virtual bool mrpt::nav::CWaypointsNavigator::impl_waypoint_is_reachable ( const mrpt::math::TPoint2D & wp_local_wrt_robot ) const

protectedpure virtual

Implements the way to waypoint is free function in children classes: true must be returned if, according to the information gathered at the last navigation step, there is a free path to the given point; false otherwise: if way is blocked or there is missing information, the point is out of range, etc.

Implemented in mrpt::nav::CAbstractPTGBasedReactive.

Referenced by isRelativePointReachable(), and waypoints_navigationStep().

◆ initialize()

virtual void mrpt::nav::CAbstractNavigator::initialize ( )

pure virtualinherited

Must be called before any other navigation command.

Implemented in mrpt::nav::CAbstractPTGBasedReactive, and mrpt::nav::CNavigatorManualSequence.

◆ isRelativePointReachable()

bool CWaypointsNavigator::isRelativePointReachable ( const mrpt::math::TPoint2D & wp_local_wrt_robot ) const

Returns true if, according to the information gathered at the last navigation step, there is a free path to the given point; false otherwise: if way is blocked or there is missing information, the point is out of range for the existing PTGs, etc.

Definition at line 408 of file CWaypointsNavigator.cpp.

References impl_waypoint_is_reachable().

◆ isRethrowNavExceptionsEnabled()

bool mrpt::nav::CAbstractNavigator::isRethrowNavExceptionsEnabled ( ) const

inlineinherited

Definition at line 170 of file CAbstractNavigator.h.

◆ loadConfigFile()

void CWaypointsNavigator::loadConfigFile ( const mrpt::utils::CConfigFileBase & c )

virtual

Loads all params from a file.

To be called before initialize(). Each derived class MUST load its own parameters, and then call ITS PARENT'S overriden method to ensure all params are loaded.

Reimplemented from mrpt::nav::CAbstractNavigator.

Reimplemented in mrpt::nav::CAbstractPTGBasedReactive, mrpt::nav::CReactiveNavigationSystem3D, and mrpt::nav::CReactiveNavigationSystem.

Definition at line 413 of file CWaypointsNavigator.cpp.

References mrpt::nav::CAbstractNavigator::loadConfigFile(), mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams::loadFromConfigFile(), MRPT_END, MRPT_START, and params_waypoints_navigator.

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

◆ navigate()

void CAbstractNavigator::navigate ( const TNavigationParams * params )

virtualinherited

Navigation request to a single target location.

It starts a new navigation.

Parameters

[in] params Pointer to structure with navigation info (its contents will be copied, so the original can be freely destroyed upon return if it was dynamically allocated.)

Note: A pointer is used so the passed object can be polymorphic with derived types.

Reimplemented in mrpt::nav::CNavigatorManualSequence.

Definition at line 346 of file CAbstractNavigator.cpp.

References MRPT_END, MRPT_START, mrpt::nav::CAbstractNavigator::onNavigateCommandReceived(), and mrpt::nav::CAbstractNavigator::processNavigateCommand().

◆ navigateWaypoints()

void CWaypointsNavigator::navigateWaypoints ( const TWaypointSequence & nav_request )

virtual

Waypoint navigation request.

This immediately cancels any other previous on-going navigation.

See also: CAbstractNavigator::navigate() for single waypoint navigation requests.

Definition at line 66 of file CWaypointsNavigator.cpp.

References ASSERT_, ASSERTMSG_, m_nav_waypoints_cs, m_waypoint_nav_status, MRPT_END, MRPT_START, mrpt::system::now(), onNavigateCommandReceived(), mrpt::nav::TWaypointStatusSequence::timestamp_nav_started, mrpt::nav::TWaypointSequence::waypoints, and mrpt::nav::TWaypointStatusSequence::waypoints.

◆ navigationStep()

void CWaypointsNavigator::navigationStep ( )

virtual

This method must be called periodically in order to effectively run the navigation.

Reimplemented from mrpt::nav::CAbstractNavigator.

Definition at line 373 of file CWaypointsNavigator.cpp.

References mrpt::nav::CAbstractNavigator::dispatchPendingNavEvents(), mrpt::nav::CAbstractNavigator::IDLE, m_is_aligning, mrpt::nav::CAbstractNavigator::m_navigationState, mrpt::nav::CAbstractNavigator::m_navProfiler, MRPT_END, MRPT_START, mrpt::nav::CAbstractNavigator::NAVIGATING, mrpt::nav::CAbstractNavigator::navigationStep(), and waypoints_navigationStep().

◆ onNavigateCommandReceived()

void CWaypointsNavigator::onNavigateCommandReceived ( )

protectedvirtual

Called after each call to CAbstractNavigator::navigate()

Reimplemented from mrpt::nav::CAbstractNavigator.

Definition at line 54 of file CWaypointsNavigator.cpp.

References INVALID_TIMESTAMP, m_nav_waypoints_cs, m_was_aligning, m_waypoint_nav_status, mrpt::nav::CAbstractNavigator::onNavigateCommandReceived(), mrpt::nav::TWaypointStatusSequence::timestamp_nav_started, and mrpt::nav::TWaypointStatusSequence::waypoint_index_current_goal.

Referenced by navigateWaypoints().

◆ onStartNewNavigation()

void CWaypointsNavigator::onStartNewNavigation ( )

protectedvirtual

Called whenever a new navigation has been started.

Can be used to reset state variables, etc.

Implements mrpt::nav::CAbstractNavigator.

Reimplemented in mrpt::nav::CAbstractPTGBasedReactive.

Definition at line 404 of file CWaypointsNavigator.cpp.

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

◆ performNavigationStep()

virtual void mrpt::nav::CAbstractNavigator::performNavigationStep ( )

protectedpure virtualinherited

To be implemented in derived classes.

Implemented in mrpt::nav::CAbstractPTGBasedReactive, and mrpt::nav::CNavigatorManualSequence.

Referenced by mrpt::nav::CAbstractNavigator::performNavigationStepNavigating().

◆ performNavigationStepNavigating()

void CAbstractNavigator::performNavigationStepNavigating ( bool call_virtual_nav_method = true )

protectedvirtualinherited

Factorization of the part inside navigationStep(), for the case of state being NAVIGATING.

Performs house-hold tasks like raising events in case of starting/ending navigation, timeout reaching destination, etc. call_virtual_nav_method can be set to false to avoid calling the virtual method performNavigationStep()

Definition at line 472 of file CAbstractNavigator.cpp.

Referenced by mrpt::nav::CAbstractNavigator::navigationStep(), and waypoints_navigationStep().

◆ processNavigateCommand()

void CAbstractNavigator::processNavigateCommand ( const TNavigationParams * params )

protectedvirtualinherited

Does the job of navigate(), except the call to onNavigateCommandReceived()

Definition at line 314 of file CAbstractNavigator.cpp.

Referenced by mrpt::nav::CAbstractNavigator::navigate(), and waypoints_navigationStep().

◆ resetNavError()

void CAbstractNavigator::resetNavError ( )

virtualinherited

Resets a NAV_ERROR state back to IDLE

Definition at line 156 of file CAbstractNavigator.cpp.

References mrpt::nav::CAbstractNavigator::IDLE, mrpt::nav::CAbstractNavigator::m_nav_cs, mrpt::nav::CAbstractNavigator::m_navErrorReason, mrpt::nav::CAbstractNavigator::m_navigationState, MRPT_LOG_DEBUG, and mrpt::nav::CAbstractNavigator::NAV_ERROR.

◆ resume()

void CAbstractNavigator::resume ( )

virtualinherited

Continues with suspended navigation.

See also: suspend

Definition at line 129 of file CAbstractNavigator.cpp.

References mrpt::nav::CAbstractNavigator::m_nav_cs, mrpt::nav::CAbstractNavigator::m_navigationState, MRPT_LOG_DEBUG, mrpt::nav::CAbstractNavigator::NAVIGATING, and mrpt::nav::CAbstractNavigator::SUSPENDED.

◆ saveConfigFile()

void CWaypointsNavigator::saveConfigFile ( mrpt::utils::CConfigFileBase & c ) const

virtual

Saves all current options to a config file.

Each derived class MUST save its own parameters, and then call ITS PARENT'S overriden method to ensure all params are saved.

Reimplemented from mrpt::nav::CAbstractNavigator.

Reimplemented in mrpt::nav::CAbstractPTGBasedReactive, mrpt::nav::CReactiveNavigationSystem3D, and mrpt::nav::CReactiveNavigationSystem.

Definition at line 423 of file CWaypointsNavigator.cpp.

References params_waypoints_navigator, mrpt::nav::CAbstractNavigator::saveConfigFile(), and mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams::saveToConfigFile().

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

◆ setFrameTF()

void CAbstractNavigator::setFrameTF ( mrpt::poses::FrameTransformer< 2 > * frame_tf )

inherited

Sets a user-provided frame transformer object; used only if providing targets in a frame ID different than the one in which robot odometry is given (both IDs default to "map").

Ownership of the pointee object remains belonging to the user, which is responsible of deleting it and ensuring its a valid pointer during the lifetime of this navigator object.

Todo:: [MRPT 2.0: Make this a weak_ptr]

Definition at line 168 of file CAbstractNavigator.cpp.

References mrpt::nav::CAbstractNavigator::m_frame_tf.

◆ stop()

bool CAbstractNavigator::stop ( bool isEmergencyStop )

protectedvirtualinherited

Default: forward call to m_robot.stop(). Can be overriden.

Definition at line 427 of file CAbstractNavigator.cpp.

References mrpt::nav::CAbstractNavigator::m_robot, and mrpt::nav::CRobot2NavInterface::stop().

Referenced by mrpt::nav::CAbstractNavigator::cancel(), mrpt::nav::CAbstractNavigator::doEmergencyStop(), mrpt::nav::CNavigatorManualSequence::navigationStep(), mrpt::nav::CAbstractNavigator::navigationStep(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), mrpt::nav::CAbstractPTGBasedReactive::preDestructor(), mrpt::nav::CAbstractNavigator::suspend(), mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds(), and waypoints_navigationStep().

◆ suspend()

void CAbstractNavigator::suspend ( )

virtualinherited

Suspend current navegation.

See also: resume

Definition at line 142 of file CAbstractNavigator.cpp.

References mrpt::nav::CAbstractNavigator::m_nav_cs, mrpt::nav::CAbstractNavigator::m_navigationState, MRPT_LOG_DEBUG, mrpt::nav::CAbstractNavigator::NAVIGATING, mrpt::nav::CAbstractNavigator::stop(), and mrpt::nav::CAbstractNavigator::SUSPENDED.

◆ updateCurrentPoseAndSpeeds()

void CAbstractNavigator::updateCurrentPoseAndSpeeds ( )

protectedvirtualinherited

Call to the robot getCurrentPoseAndSpeeds() and updates members m_curPoseVel accordingly.

If an error is returned by the user callback, first, it calls robot.stop() ,then throws an std::runtime_error exception.

Definition at line 354 of file CAbstractNavigator.cpp.

Referenced by mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), mrpt::nav::CAbstractNavigator::processNavigateCommand(), and waypoints_navigationStep().

◆ waypoints_isAligning()

bool mrpt::nav::CWaypointsNavigator::waypoints_isAligning ( ) const

inlineprotected

Definition at line 113 of file CWaypointsNavigator.h.

◆ waypoints_navigationStep()

void CWaypointsNavigator::waypoints_navigationStep ( )

protectedvirtual

The waypoints-specific part of navigationStep()

Definition at line 105 of file CWaypointsNavigator.cpp.

Referenced by navigationStep().

Member Data Documentation

◆ m_badNavAlarm_lastMinDistTime

mrpt::system::TTimeStamp mrpt::nav::CAbstractNavigator::m_badNavAlarm_lastMinDistTime

protectedinherited

Definition at line 299 of file CAbstractNavigator.h.

Referenced by mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), and mrpt::nav::CAbstractNavigator::processNavigateCommand().

◆ m_badNavAlarm_minDistTarget

double mrpt::nav::CAbstractNavigator::m_badNavAlarm_minDistTarget

protectedinherited

For sending an alarm (error event) when it seems that we are not approaching toward the target in a while...

Definition at line 298 of file CAbstractNavigator.h.

Referenced by mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), and mrpt::nav::CAbstractNavigator::processNavigateCommand().

◆ m_curPoseVel

TRobotPoseVel mrpt::nav::CAbstractNavigator::m_curPoseVel

protectedinherited

Current robot pose (updated in CAbstractNavigator::navigationStep() )

Definition at line 286 of file CAbstractNavigator.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), mrpt::nav::CReactiveNavigationSystem::implementSenseObstacles(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), mrpt::nav::CAbstractNavigator::processNavigateCommand(), mrpt::nav::CAbstractPTGBasedReactive::STEP8_GenerateLogRecord(), mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds(), and waypoints_navigationStep().

◆ m_frame_tf

mrpt::poses::FrameTransformer<2>* mrpt::nav::CAbstractNavigator::m_frame_tf

protectedinherited

Optional, user-provided frame transformer.

Note: We dont have ownership of the pointee object!

Definition at line 272 of file CAbstractNavigator.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), and mrpt::nav::CAbstractNavigator::setFrameTF().

◆ m_is_aligning

bool mrpt::nav::CWaypointsNavigator::m_is_aligning

protected

Definition at line 116 of file CWaypointsNavigator.h.

Referenced by navigationStep(), and waypoints_navigationStep().

◆ m_last_alignment_cmd

mrpt::system::TTimeStamp mrpt::nav::CWaypointsNavigator::m_last_alignment_cmd

protected

Definition at line 117 of file CWaypointsNavigator.h.

Referenced by waypoints_navigationStep().

◆ m_last_curPoseVelUpdate_pose_frame_id

std::string mrpt::nav::CAbstractNavigator::m_last_curPoseVelUpdate_pose_frame_id

protectedinherited

Definition at line 288 of file CAbstractNavigator.h.

Referenced by mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds().

◆ m_last_curPoseVelUpdate_robot_time

double mrpt::nav::CAbstractNavigator::m_last_curPoseVelUpdate_robot_time

protectedinherited

Definition at line 287 of file CAbstractNavigator.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::onStartNewNavigation(), and mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds().

◆ m_latestOdomPoses

mrpt::poses::CPose2DInterpolator mrpt::nav::CAbstractNavigator::m_latestOdomPoses

protectedinherited

Latest robot poses (updated in CAbstractNavigator::navigationStep() )

Definition at line 289 of file CAbstractNavigator.h.

Referenced by mrpt::nav::CAbstractNavigator::CAbstractNavigator(), mrpt::nav::CAbstractNavigator::internal_onStartNewNavigation(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), and mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds().

◆ m_latestPoses

mrpt::poses::CPose2DInterpolator mrpt::nav::CAbstractNavigator::m_latestPoses

protectedinherited

Definition at line 289 of file CAbstractNavigator.h.

Referenced by mrpt::nav::CAbstractNavigator::CAbstractNavigator(), mrpt::nav::CAbstractNavigator::internal_onStartNewNavigation(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), and mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds().

◆ m_nav_cs

mrpt::synch::CCriticalSectionRecursive mrpt::nav::CAbstractNavigator::m_nav_cs

protectedinherited

mutex for all navigation methods

Definition at line 274 of file CAbstractNavigator.h.

◆ m_nav_waypoints_cs

mrpt::synch::CCriticalSectionRecursive mrpt::nav::CWaypointsNavigator::m_nav_waypoints_cs

protected

Definition at line 100 of file CWaypointsNavigator.h.

Referenced by cancel(), navigateWaypoints(), onNavigateCommandReceived(), and waypoints_navigationStep().

◆ m_navigationParams

TNavigationParams* mrpt::nav::CAbstractNavigator::m_navigationParams

protectedinherited

Current navigation parameters.

Definition at line 266 of file CAbstractNavigator.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), checkHasReachedTarget(), mrpt::nav::CAbstractNavigator::onNavigateCommandReceived(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), mrpt::nav::CAbstractNavigator::processNavigateCommand(), and mrpt::nav::CAbstractNavigator::~CAbstractNavigator().

◆ m_navigationState

TState mrpt::nav::CAbstractNavigator::m_navigationState

protectedinherited

Current internal state of navigator:

Definition at line 265 of file CAbstractNavigator.h.

◆ m_navProfiler

mrpt::utils::CTimeLogger mrpt::nav::CAbstractNavigator::m_navProfiler

protectedinherited

Publicly available time profiling object.

Default: disabled

Definition at line 295 of file CAbstractNavigator.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), mrpt::nav::CAbstractNavigator::loadConfigFile(), navigationStep(), mrpt::nav::CAbstractNavigator::navigationStep(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::nav::CReactiveNavigationSystem::STEP3_WSpaceToTPSpace(), mrpt::nav::CAbstractPTGBasedReactive::STEP8_GenerateLogRecord(), and mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds().

◆ m_pending_events

std::list<TPendingEvent> mrpt::nav::CAbstractNavigator::m_pending_events

protectedinherited

Events generated during navigationStep(), enqueued to be called at the end of the method execution to avoid user code to change the navigator state.

Definition at line 222 of file CAbstractNavigator.h.

Referenced by mrpt::nav::CAbstractNavigator::dispatchPendingNavEvents(), mrpt::nav::CAbstractNavigator::navigationStep(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), and waypoints_navigationStep().

◆ m_robot

CRobot2NavInterface& mrpt::nav::CAbstractNavigator::m_robot

protectedinherited

The navigator-robot interface.

Definition at line 268 of file CAbstractNavigator.h.

◆ m_timlog_delays

mrpt::utils::CTimeLogger mrpt::nav::CAbstractNavigator::m_timlog_delays

protectedinherited

Time logger to collect delay-related stats.

Definition at line 291 of file CAbstractNavigator.h.

Referenced by mrpt::nav::CReactiveNavigationSystem::implementSenseObstacles(), mrpt::nav::CReactiveNavigationSystem3D::implementSenseObstacles(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::nav::CAbstractPTGBasedReactive::STEP8_GenerateLogRecord(), and waypoints_navigationStep().

◆ m_was_aligning

bool mrpt::nav::CWaypointsNavigator::m_was_aligning

protected

Whether the last timestep was "is_aligning" in a waypoint with heading.

Definition at line 115 of file CWaypointsNavigator.h.

Referenced by onNavigateCommandReceived(), and waypoints_navigationStep().

◆ m_waypoint_nav_status

TWaypointStatusSequence mrpt::nav::CWaypointsNavigator::m_waypoint_nav_status

protected

The latest waypoints navigation command and the up-to-date control status.

Definition at line 99 of file CWaypointsNavigator.h.

Referenced by cancel(), checkHasReachedTarget(), getWaypointNavStatus(), navigateWaypoints(), onNavigateCommandReceived(), and waypoints_navigationStep().

◆ params_abstract_navigator

TAbstractNavigatorParams mrpt::nav::CAbstractNavigator::params_abstract_navigator

inherited

Definition at line 187 of file CAbstractNavigator.h.

Referenced by mrpt::nav::CAbstractNavigator::loadConfigFile(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), and mrpt::nav::CAbstractNavigator::saveConfigFile().

◆ params_waypoints_navigator

TWaypointsNavigatorParams mrpt::nav::CWaypointsNavigator::params_waypoints_navigator

Definition at line 93 of file CWaypointsNavigator.h.

Referenced by loadConfigFile(), saveConfigFile(), and waypoints_navigationStep().

Detailed Description

Classes

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Navigation control API

Member Enumeration Documentation

◆ TErrorCode

◆ TState

Constructor & Destructor Documentation

◆ CWaypointsNavigator()

◆ ~CWaypointsNavigator()

Member Function Documentation

◆ cancel()

◆ changeSpeeds()

◆ changeSpeedsNOP()

◆ checkCollisionWithLatestObstacles()

◆ checkHasReachedTarget()

◆ dispatchPendingNavEvents()

◆ doEmergencyStop()

◆ enableRethrowNavExceptions()

◆ getCurrentState()

◆ getDelaysTimeLogger()

◆ getErrorReason()

◆ getFrameTF()

◆ getWaypointNavStatus() [1/2]

◆ getWaypointNavStatus() [2/2]

◆ impl_waypoint_is_reachable()

◆ initialize()

◆ isRelativePointReachable()

◆ isRethrowNavExceptionsEnabled()

◆ loadConfigFile()

◆ navigate()

◆ navigateWaypoints()

◆ navigationStep()

◆ onNavigateCommandReceived()

◆ onStartNewNavigation()

◆ performNavigationStep()

◆ performNavigationStepNavigating()

◆ processNavigateCommand()

◆ resetNavError()

◆ resume()

◆ saveConfigFile()

◆ setFrameTF()

◆ stop()

◆ suspend()

◆ updateCurrentPoseAndSpeeds()

◆ waypoints_isAligning()

◆ waypoints_navigationStep()

Member Data Documentation

◆ m_badNavAlarm_lastMinDistTime

◆ m_badNavAlarm_minDistTarget

◆ m_curPoseVel

◆ m_frame_tf

◆ m_is_aligning

◆ m_last_alignment_cmd

◆ m_last_curPoseVelUpdate_pose_frame_id

◆ m_last_curPoseVelUpdate_robot_time

◆ m_latestOdomPoses

◆ m_latestPoses

◆ m_nav_cs

◆ m_nav_waypoints_cs

◆ m_navigationParams

◆ m_navigationState

◆ m_navProfiler

◆ m_pending_events

◆ m_robot

◆ m_timlog_delays

◆ m_was_aligning

◆ m_waypoint_nav_status

◆ params_abstract_navigator

◆ params_waypoints_navigator