CRobot2NavInterfaceForSimulator.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#pragma once
 
#include <mrpt/nav/reactive/CRobot2NavInterface.h>
#include <mrpt/kinematics/CVehicleSimul_Holo.h>
#include <mrpt/kinematics/CVehicleSimul_DiffDriven.h>
 
namespace mrpt
{
namespace nav
{
/** CRobot2NavInterface implemented for a simulator object based on
 * mrpt::kinematics::CVehicleSimul_Holo.
  * Only `senseObstacles()` remains virtual for the user to implement it.
  *
  * \sa CReactiveNavigationSystem, CAbstractNavigator,
 * mrpt::kinematics::CVehicleSimulVirtualBase
  *  \ingroup nav_reactive
  */
class CRobot2NavInterfaceForSimulator_Holo : public CRobot2NavInterface
{
   private:
        mrpt::kinematics::CVehicleSimul_Holo& m_simul;
        /** for getNavigationTime */
        double m_simul_time_start;
 
   public:
        CRobot2NavInterfaceForSimulator_Holo(
                mrpt::kinematics::CVehicleSimul_Holo& simul)
                : m_simul(simul), m_simul_time_start(.0)
        {
        }
 
        bool getCurrentPoseAndSpeeds(
                mrpt::math::TPose2D& curPose, mrpt::math::TTwist2D& curVel,
                mrpt::system::TTimeStamp& timestamp, mrpt::math::TPose2D& curOdometry,
                std::string& frame_id) override
        {
                curPose = m_simul.getCurrentGTPose();
                curVel = m_simul.getCurrentGTVel();
                timestamp = mrpt::system::now();
                curOdometry = m_simul.getCurrentOdometricPose();
                return true;  // ok
        }
 
        virtual bool changeSpeeds(
                const mrpt::kinematics::CVehicleVelCmd& vel_cmd) override
        {
                m_simul.sendVelCmd(vel_cmd);
                return true;  // ok
        }
 
        bool stop(bool isEmergencyStop) override
        {
                m_simul.sendVelRampCmd(
                        0.0 /*vel*/, 0 /*dir*/, isEmergencyStop ? 0.1 : 1.0 /* ramp_time */,
                        0.0 /*rot speed */);
                return true;
        }
 
        mrpt::kinematics::CVehicleVelCmd::Ptr getEmergencyStopCmd() override
        {
                return mrpt::kinematics::CVehicleVelCmd::Ptr(
                        new mrpt::kinematics::CVehicleVelCmd_Holo(0.0, 0.0, 0.1, 0.0));
        }
 
        mrpt::kinematics::CVehicleVelCmd::Ptr getStopCmd() override
        {
                return mrpt::kinematics::CVehicleVelCmd::Ptr(
                        new mrpt::kinematics::CVehicleVelCmd_Holo(0.0, 0.0, 1.0, 0.0));
        }
 
        mrpt::kinematics::CVehicleVelCmd::Ptr getAlignCmd(
                const double relative_heading_radians) override
        {
                return mrpt::kinematics::CVehicleVelCmd::Ptr(
                        new mrpt::kinematics::CVehicleVelCmd_Holo(
                                0.0,  // vel
                                relative_heading_radians,  // local_dir
                                0.5,  // ramp_time
                                mrpt::signWithZero(relative_heading_radians) *
                                        mrpt::DEG2RAD(40.0)  // rotvel
                                ));
        }
 
        /** See CRobot2NavInterface::getNavigationTime(). In this class, simulation
         * time is returned instead of wall-clock time. */
        double getNavigationTime() override
        {
                return m_simul.getTime() - m_simul_time_start;
        }
        /** See CRobot2NavInterface::resetNavigationTimer() */
        void resetNavigationTimer() override
        {
                m_simul_time_start = m_simul.getTime();
        }
};
 
/** CRobot2NavInterface implemented for a simulator object based on
 * mrpt::kinematics::CVehicleSimul_DiffDriven
  * Only `senseObstacles()` remains virtual for the user to implement it.
  *
  * \sa CReactiveNavigationSystem, CAbstractNavigator,
 * mrpt::kinematics::CVehicleSimulVirtualBase
  *  \ingroup nav_reactive
  */
class CRobot2NavInterfaceForSimulator_DiffDriven : public CRobot2NavInterface
{
   private:
        mrpt::kinematics::CVehicleSimul_DiffDriven& m_simul;
        /** for getNavigationTime */
        double m_simul_time_start;
 
   public:
        CRobot2NavInterfaceForSimulator_DiffDriven(
                mrpt::kinematics::CVehicleSimul_DiffDriven& simul)
                : m_simul(simul), m_simul_time_start(.0)
        {
        }
 
        bool getCurrentPoseAndSpeeds(
                mrpt::math::TPose2D& curPose, mrpt::math::TTwist2D& curVel,
                mrpt::system::TTimeStamp& timestamp, mrpt::math::TPose2D& curOdometry,
                std::string& frame_id) override
        {
                curPose = m_simul.getCurrentGTPose();
                curVel = m_simul.getCurrentGTVel();
                timestamp = mrpt::system::now();
                curOdometry = m_simul.getCurrentOdometricPose();
                return true;  // ok
        }
 
        bool changeSpeeds(const mrpt::kinematics::CVehicleVelCmd& vel_cmd) override
        {
                m_simul.sendVelCmd(vel_cmd);
                return true;  // ok
        }
 
        bool stop(bool isEmergencyStop) override
        {
                mrpt::kinematics::CVehicleVelCmd_DiffDriven cmd;
                cmd.setToStop();
                m_simul.sendVelCmd(cmd);
                return true;
        }
 
        mrpt::kinematics::CVehicleVelCmd::Ptr getStopCmd() override
        {
                mrpt::kinematics::CVehicleVelCmd::Ptr cmd(
                        new mrpt::kinematics::CVehicleVelCmd_DiffDriven());
                cmd->setToStop();
                return cmd;
        }
        mrpt::kinematics::CVehicleVelCmd::Ptr getEmergencyStopCmd() override
        {
                return getStopCmd();
        }
 
        /** See CRobot2NavInterface::getNavigationTime(). In this class, simulation
         * time is returned instead of wall-clock time. */
        double getNavigationTime() override
        {
                return m_simul.getTime() - m_simul_time_start;
        }
        /** See CRobot2NavInterface::resetNavigationTimer() */
        void resetNavigationTimer() override
        {
                m_simul_time_start = m_simul.getTime();
        }
};
}
}