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mrpt::nav::CHolonomicVFF Class Reference

Detailed Description

A holonomic reactive navigation method, based on Virtual Force Fields (VFF).

These are the optional parameters of the method which can be set by means of a configuration file passed to the constructor or to CHolonomicND::initialize (see also the field CHolonomicVFF::options).

# Section name can be changed via setConfigFileSectionName()
[VFF_CONFIG]
TARGET_SLOW_APPROACHING_DISTANCE = 0.10 // For stopping gradually
TARGET_ATTRACTIVE_FORCE = 20 // Dimension-less (may have to be tuned depending on the density of obstacle sampling)
See also
CAbstractHolonomicReactiveMethod,CReactiveNavigationSystem

Definition at line 53 of file CHolonomicVFF.h.

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

Inheritance diagram for mrpt::nav::CHolonomicVFF:
Inheritance graph

Classes

struct  TOptions
 Algorithm options. More...
 

Public Member Functions

voidoperator new (size_t size)
 
voidoperator new[] (size_t size)
 
void operator delete (void *ptr) throw ()
 
void operator delete[] (void *ptr) throw ()
 
void operator delete (void *memory, void *ptr) throw ()
 
voidoperator new (size_t size, const std::nothrow_t &) throw ()
 
void operator delete (void *ptr, const std::nothrow_t &) throw ()
 
 CHolonomicVFF (const mrpt::utils::CConfigFileBase *INI_FILE=NULL)
 Initialize the parameters of the navigator, from some configuration file, or default values if set to NULL. More...
 
void navigate (const NavInput &ni, NavOutput &no) MRPT_OVERRIDE
 Invokes the holonomic navigation algorithm itself. More...
 
void initialize (const mrpt::utils::CConfigFileBase &INI_FILE) MRPT_OVERRIDE
 Initialize the parameters of the navigator, reading from the default section name (see derived classes) or the one set via setConfigFileSectionName() More...
 
virtual void saveConfigFile (mrpt::utils::CConfigFileBase &c) const MRPT_OVERRIDE
 saves all available parameters, in a forma loadable by initialize() More...
 
double getTargetApproachSlowDownDistance () const MRPT_OVERRIDE
 Returns the actual value of this parameter [m], as set via the children class options structure. More...
 
void setTargetApproachSlowDownDistance (const double dist) MRPT_OVERRIDE
 Sets the actual value of this parameter [m]. More...
 
void setConfigFileSectionName (const std::string &sectName)
 Defines the name of the section used in initialize() More...
 
std::string getConfigFileSectionName () const
 Gets the name of the section used in initialize() More...
 
void setAssociatedPTG (mrpt::nav::CParameterizedTrajectoryGenerator *ptg)
 Optionally, sets the associated PTG, just in case a derived class requires this info (not required for methods where the robot kinematics are totally abstracted) More...
 
mrpt::nav::CParameterizedTrajectoryGeneratorgetAssociatedPTG () const
 Returns the pointer set by setAssociatedPTG() More...
 
void enableApproachTargetSlowDown (bool enable)
 
virtual mxArraywriteToMatlab () const
 Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More...
 
CObjectclone () const
 Cloning interface for smart pointers. More...
 
RTTI classes and functions
mrpt::utils::CObjectPtr duplicateGetSmartPtr () const
 Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...
 

Static Public Member Functions

static voidoperator new (size_t size, void *ptr)
 
static CAbstractHolonomicReactiveMethodCreate (const std::string &className) MRPT_NO_THROWS
 Class factory from class name, e.g. More...
 

Public Attributes

TOptions options
 Parameters of the algorithm (can be set manually or loaded from CHolonomicVFF::initialize or options.loadFromConfigFile(), etc.) More...
 

Static Public Attributes

static const mrpt::utils::TRuntimeClassId classCObject
 
RTTI stuff
static const mrpt::utils::TRuntimeClassId classCAbstractHolonomicReactiveMethod
 
RTTI stuff
static const mrpt::utils::TRuntimeClassId classCSerializable
 

Protected Member Functions

CSerializable virtual methods
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const
 Introduces a pure virtual method responsible for writing to a CStream. More...
 
void readFromStream (mrpt::utils::CStream &in, int version)
 Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...
 

Protected Attributes

mrpt::nav::CParameterizedTrajectoryGeneratorm_associatedPTG
 If applicable, this will contain the argument of the most recent call to setAssociatedPTG() More...
 
bool m_enableApproachTargetSlowDown
 Whether to decrease speed when approaching target. More...
 

RTTI stuff

typedef CHolonomicVFFPtr Ptr
 
typedef CHolonomicVFFPtr ConstPtr
 
static mrpt::utils::CLASSINIT _init_CHolonomicVFF
 
static mrpt::utils::TRuntimeClassId classCHolonomicVFF
 
static const mrpt::utils::TRuntimeClassIdclassinfo
 
static const mrpt::utils::TRuntimeClassId_GetBaseClass ()
 
virtual const mrpt::utils::TRuntimeClassIdGetRuntimeClass () const
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::utils::CObjectduplicate () const
 Returns a copy of the object, indepently of its class. More...
 
static mrpt::utils::CObjectCreateObject ()
 
static CHolonomicVFFPtr Create ()
 

Member Typedef Documentation

◆ ConstPtr

typedef CHolonomicVFFPtr mrpt::nav::CHolonomicVFF::ConstPtr

Definition at line 55 of file CHolonomicVFF.h.

◆ Ptr

typedef CHolonomicVFFPtr mrpt::nav::CHolonomicVFF::Ptr

A typedef for the associated smart pointer

Definition at line 55 of file CHolonomicVFF.h.

Constructor & Destructor Documentation

◆ CHolonomicVFF()

CHolonomicVFF::CHolonomicVFF ( const mrpt::utils::CConfigFileBase INI_FILE = NULL)

Initialize the parameters of the navigator, from some configuration file, or default values if set to NULL.

Definition at line 27 of file CHolonomicVFF.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::nav::CHolonomicVFF::_GetBaseClass ( )
staticprotected

◆ clone()

CObject* mrpt::utils::CObject::clone ( ) const
inlineinherited

Cloning interface for smart pointers.

Definition at line 133 of file CObject.h.

◆ Create() [1/2]

static CHolonomicVFFPtr mrpt::nav::CHolonomicVFF::Create ( )
static

◆ Create() [2/2]

CAbstractHolonomicReactiveMethod * CAbstractHolonomicReactiveMethod::Create ( const std::string className)
staticinherited

Class factory from class name, e.g.

"CHolonomicVFF", etc.

Exceptions
std::logic_errorOn invalid or missing parameters.

Definition at line 50 of file CAbstractHolonomicReactiveMethod.cpp.

References mrpt::utils::TRuntimeClassId::createObject(), mrpt::utils::findRegisteredClass(), and mrpt::utils::registerAllPendingClasses().

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

◆ CreateObject()

static mrpt::utils::CObject* mrpt::nav::CHolonomicVFF::CreateObject ( )
static

◆ duplicate()

virtual mrpt::utils::CObject* mrpt::nav::CHolonomicVFF::duplicate ( ) const
virtual

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

◆ duplicateGetSmartPtr()

mrpt::utils::CObjectPtr CObject::duplicateGetSmartPtr ( ) const
inlineinherited

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 162 of file CObject.h.

References mrpt::utils::CObjectPtr.

Referenced by mrpt::obs::CRawlog::addActions(), mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), and mrpt::obs::CRawlog::addObservations().

◆ enableApproachTargetSlowDown()

void mrpt::nav::CAbstractHolonomicReactiveMethod::enableApproachTargetSlowDown ( bool  enable)
inlineinherited

◆ getAssociatedPTG()

mrpt::nav::CParameterizedTrajectoryGenerator * CAbstractHolonomicReactiveMethod::getAssociatedPTG ( ) const
inherited

◆ getConfigFileSectionName()

std::string CAbstractHolonomicReactiveMethod::getConfigFileSectionName ( ) const
inherited

Gets the name of the section used in initialize()

Definition at line 37 of file CAbstractHolonomicReactiveMethod.cpp.

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::nav::CHolonomicVFF::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::nav::CAbstractHolonomicReactiveMethod.

◆ getTargetApproachSlowDownDistance()

double mrpt::nav::CHolonomicVFF::getTargetApproachSlowDownDistance ( ) const
inlinevirtual

Returns the actual value of this parameter [m], as set via the children class options structure.

See also
setTargetApproachSlowDownDistance()

Implements mrpt::nav::CAbstractHolonomicReactiveMethod.

Definition at line 79 of file CHolonomicVFF.h.

References mrpt::nav::CHolonomicVFF::TOptions::TARGET_SLOW_APPROACHING_DISTANCE.

◆ initialize()

void CHolonomicVFF::initialize ( const mrpt::utils::CConfigFileBase c)
virtual

Initialize the parameters of the navigator, reading from the default section name (see derived classes) or the one set via setConfigFileSectionName()

Implements mrpt::nav::CAbstractHolonomicReactiveMethod.

Definition at line 34 of file CHolonomicVFF.cpp.

◆ navigate()

void CHolonomicVFF::navigate ( const NavInput ni,
NavOutput no 
)
virtual

◆ operator delete() [1/3]

void mrpt::nav::CHolonomicVFF::operator delete ( void ptr)
throw (
)
inline

Definition at line 55 of file CHolonomicVFF.h.

◆ operator delete() [2/3]

void mrpt::nav::CHolonomicVFF::operator delete ( void memory,
void ptr 
)
throw (
)
inline

Definition at line 55 of file CHolonomicVFF.h.

◆ operator delete() [3/3]

void mrpt::nav::CHolonomicVFF::operator delete ( void ptr,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 55 of file CHolonomicVFF.h.

◆ operator delete[]()

void mrpt::nav::CHolonomicVFF::operator delete[] ( void ptr)
throw (
)
inline

Definition at line 55 of file CHolonomicVFF.h.

◆ operator new() [1/3]

static void* mrpt::nav::CHolonomicVFF::operator new ( size_t  size,
void ptr 
)
inlinestatic

Definition at line 55 of file CHolonomicVFF.h.

◆ operator new() [2/3]

void* mrpt::nav::CHolonomicVFF::operator new ( size_t  size,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 55 of file CHolonomicVFF.h.

◆ operator new() [3/3]

void* mrpt::nav::CHolonomicVFF::operator new ( size_t  size)
inline

Definition at line 55 of file CHolonomicVFF.h.

◆ operator new[]()

void* mrpt::nav::CHolonomicVFF::operator new[] ( size_t  size)
inline

Definition at line 55 of file CHolonomicVFF.h.

◆ readFromStream()

void CHolonomicVFF::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters
inThe input binary stream where the object data must read from.
versionThe version of the object stored in the stream: use this version number in your code to know how to read the incoming data.
Exceptions
std::exceptionOn any error, see CStream::ReadBuffer
See also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 110 of file CHolonomicVFF.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and version.

◆ saveConfigFile()

void CHolonomicVFF::saveConfigFile ( mrpt::utils::CConfigFileBase c) const
virtual

saves all available parameters, in a forma loadable by initialize()

Implements mrpt::nav::CAbstractHolonomicReactiveMethod.

Definition at line 38 of file CHolonomicVFF.cpp.

◆ setAssociatedPTG()

void CAbstractHolonomicReactiveMethod::setAssociatedPTG ( mrpt::nav::CParameterizedTrajectoryGenerator ptg)
inherited

Optionally, sets the associated PTG, just in case a derived class requires this info (not required for methods where the robot kinematics are totally abstracted)

Definition at line 41 of file CAbstractHolonomicReactiveMethod.cpp.

◆ setConfigFileSectionName()

void CAbstractHolonomicReactiveMethod::setConfigFileSectionName ( const std::string sectName)
inherited

Defines the name of the section used in initialize()

Defines the name of the section (Default: "FULL_EVAL_CONFIG")

Definition at line 33 of file CAbstractHolonomicReactiveMethod.cpp.

◆ setTargetApproachSlowDownDistance()

void mrpt::nav::CHolonomicVFF::setTargetApproachSlowDownDistance ( const double  dist)
inlinevirtual

Sets the actual value of this parameter [m].

See also
getTargetApproachSlowDownDistance()

Implements mrpt::nav::CAbstractHolonomicReactiveMethod.

Definition at line 80 of file CHolonomicVFF.h.

References mrpt::nav::CHolonomicVFF::TOptions::TARGET_SLOW_APPROACHING_DISTANCE.

◆ writeToMatlab()

virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const
inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns
A new mxArray (caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

◆ writeToStream()

void CHolonomicVFF::writeToStream ( mrpt::utils::CStream out,
int *  getVersion 
) const
protectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters
outThe output binary stream where object must be dumped.
getVersionIf NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.
Exceptions
std::exceptionOn any error, see CStream::WriteBuffer
See also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 101 of file CHolonomicVFF.cpp.

References version.

Member Data Documentation

◆ _init_CHolonomicVFF

mrpt::utils::CLASSINIT mrpt::nav::CHolonomicVFF::_init_CHolonomicVFF
staticprotected

Definition at line 55 of file CHolonomicVFF.h.

◆ classCAbstractHolonomicReactiveMethod

const mrpt::utils::TRuntimeClassId mrpt::nav::CAbstractHolonomicReactiveMethod::classCAbstractHolonomicReactiveMethod
staticinherited

Definition at line 47 of file CAbstractHolonomicReactiveMethod.h.

◆ classCHolonomicVFF

mrpt::utils::TRuntimeClassId mrpt::nav::CHolonomicVFF::classCHolonomicVFF
static

Definition at line 55 of file CHolonomicVFF.h.

◆ classCObject

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject
staticinherited

Definition at line 118 of file CObject.h.

◆ classCSerializable

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable
staticinherited

Definition at line 42 of file CSerializable.h.

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::nav::CHolonomicVFF::classinfo
static

Definition at line 55 of file CHolonomicVFF.h.

◆ m_associatedPTG

mrpt::nav::CParameterizedTrajectoryGenerator* mrpt::nav::CAbstractHolonomicReactiveMethod::m_associatedPTG
protectedinherited

If applicable, this will contain the argument of the most recent call to setAssociatedPTG()

Definition at line 102 of file CAbstractHolonomicReactiveMethod.h.

◆ m_enableApproachTargetSlowDown

bool mrpt::nav::CAbstractHolonomicReactiveMethod::m_enableApproachTargetSlowDown
protectedinherited

Whether to decrease speed when approaching target.

Definition at line 103 of file CAbstractHolonomicReactiveMethod.h.

Referenced by mrpt::nav::CHolonomicFullEval::navigate().

◆ options

TOptions mrpt::nav::CHolonomicVFF::options

Parameters of the algorithm (can be set manually or loaded from CHolonomicVFF::initialize or options.loadFromConfigFile(), etc.)

Definition at line 77 of file CHolonomicVFF.h.




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