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mrpt::nav::CReactiveNavigationSystem Class Reference

Detailed Description

See base class CAbstractPTGBasedReactive for a description and instructions of use.

This particular implementation assumes a 2D robot shape which can be polygonal or circular (depending on the selected PTGs).

Publications:

Class history:

This class requires a number of parameters which are usually provided via an external config (".ini") file. Alternatively, a memory-only object can be used to avoid physical files, see mrpt::utils::CConfigFileMemory.

A template config file can be generated at any moment by the user by calling saveConfigFile() with a default-constructed object.

Next we provide a self-documented template config file; or see it online: https://github.com/MRPT/mrpt/blob/master/share/mrpt/config_files/navigation-ptgs/reactive2d_config.ini

# ------------------------------------------------------------------------
# Example configuration file for MRPT (>=1.5) Reactive Navigation engine.
# See C++ documentation: http://reference.mrpt.org/devel/classmrpt_1_1nav_1_1_c_reactive_navigation_system.html
# See ROS node documentation: http://wiki.ros.org/mrpt_reactivenav2d
# ------------------------------------------------------------------------

# Max linear vel (m/s):
@define ROBOT_MAX_V  1.0        
# Max angular vel (deg/s):
@define ROBOT_MAX_W  60.0        
# Max distance to "foresee" obstacles (m):
@define NAV_MAX_REF_DIST   10.0

[CAbstractNavigator]
dist_to_target_for_sending_event                  = 0.000000             // Default value=0, means use the `targetAllowedDistance` passed by the user in the navigation request.
alarm_seems_not_approaching_target_timeout        = 30.000000            // navigator timeout (seconds) [Default=30 sec]
dist_check_target_is_blocked                 = 2.0       // When closer than this distance, check if the target is blocked to abort navigation with an error
hysteresis_check_target_is_blocked           = 3         // How many steps should the condition for dist_check_target_is_blocked be fulfilled to raise an event


[CWaypointsNavigator]
max_distance_to_allow_skip_waypoint               = -1.000000            // Max distance to `foresee` waypoints [meters]. (<0: unlimited)
min_timesteps_confirm_skip_waypoints              = 1                    // Min timesteps a `future` waypoint must be seen as reachable to become the active one.
waypoint_angle_tolerance                          = 5.0                  // Angular error tolerance for waypoints with an assigned heading [deg]
multitarget_look_ahead   = 0  // >=0 number of waypoints to forward to the underlying navigation engine, to ease obstacles avoidance when a waypoint is blocked (Default=0 : none).


[CAbstractPTGBasedReactive]
robotMax_V_mps                                    = ${ROBOT_MAX_V}                // Max. linear speed (m/s) [Default=-1 (not set), will raise exception if needed and not set]
robotMax_W_degps                                  = ${ROBOT_MAX_W}                // Max. angular speed (rad/s) [Default=-1 (not set), will raise exception if needed and not set]
#robotMinCurvRadius                                = -1.000000            // Min. radius of curvature of paths (m) [Default=-1 (not set), will raise exception if needed and not set]

holonomic_method                                  = CHolonomicFullEval   // C++ class name of the holonomic navigation method to run in the transformed TP-Space.
# List of known classes:
# - `CHolonomicFullEval`
# - `CHolonomicND`
# - `CHolonomicVFF`


motion_decider_method                             = CMultiObjMotionOpt_Scalarization // C++ class name of the motion decider method.
# List of known classes:
# - `CMultiObjMotionOpt_Scalarization`


ref_distance                                      = ${NAV_MAX_REF_DIST}   // Maximum distance up to obstacles will be considered (D_{max} in papers).
#speedfilter_tau                                   = 0.000000             // Time constant (in seconds) for the low-pass filter applied to kinematic velocity commands (default=0: no filtering)
secure_distance_start                             = 0.050000             // In normalized distance [0,1], start/end of a ramp function that scales the holonomic navigator output velocity.
secure_distance_end                               = 0.150000             // In normalized distance [0,1], start/end of a ramp function that scales the holonomic navigator output velocity.
use_delays_model                                  = false                // Whether to use robot pose inter/extrapolation to improve accuracy (Default:false)
max_distance_predicted_actual_path                = 0.150000             // Max distance [meters] to discard current PTG and issue a new vel cmd (default= 0.05)
min_normalized_free_space_for_ptg_continuation    = 0.200000             // Min normalized dist [0,1] after current pose in a PTG continuation to allow it.

enable_obstacle_filtering                         = true                 // Enabled obstacle filtering (params in its own section)
evaluate_clearance                                = true


[CPointCloudFilterByDistance]
min_dist                                          = 0.100000            
angle_tolerance                                   = 5.000000            
too_old_seconds                                   = 1.000000            
previous_keyframes                                = 1                    // (Default: 1) How many previous keyframes will be compared with the latest pointcloud.
max_deletion_ratio                                = 0.400000             // (Default: 0.4) If the ratio [0,1] of points considered invalid (`deletion` ) is larger than this ratio, no point will be deleted since it'd be too suspicious and may indicate a failure of this filter.


[CHolonomicFullEval]
# [0]=Free space
# [1]=Dist. in sectors
# [2]=Closer to target (Euclidean)
# [3]=Hysteresis
# [4]=clearance along path
factorWeights                    = [0.25 , 0.1 , 1  , 0.05 , 0.5 ] 
factorNormalizeOrNot             = [0    , 0   , 0  , 0    , 1 ]

TOO_CLOSE_OBSTACLE                                = 0.150000             // Directions with collision-free distances below this threshold are not elegible.
TARGET_SLOW_APPROACHING_DISTANCE                  = 0.100000             // Start to reduce speed when closer than this to target.
OBSTACLE_SLOW_DOWN_DISTANCE                       = 0.150000             // Start to reduce speed when clearance is below this value ([0,1] ratio wrt obstacle reference/max distance)
HYSTERESIS_SECTOR_COUNT                           = 5.000000             // Range of `sectors` (directions) for hysteresis over successive timesteps
LOG_SCORE_MATRIX                                  = false                // Save the entire score matrix in log files

clearance_threshold_ratio                         = 0.10                 // Ratio [0,1], times path_count, gives the minimum number of paths at each side of a target direction to be accepted as desired direction
gap_width_ratio_threshold                         = 0.20                 // Ratio [0,1], times path_count, gives the minimum gap width to accept a direct motion towards target.

PHASE_COUNT                                       = 3                    // Number of evaluation phases to run (params for each phase below)
PHASE1_FACTORS                                    = [1 2]                // Indices of the factors above to be considered in this phase
PHASE1_THRESHOLD                                  = 0.5                  // Phase scores must be above this relative range threshold [0,1] to be considered in next phase (Default:`0.75`)
PHASE2_FACTORS                                    = [4 0]                  // Indices of the factors above to be considered in this phase
PHASE2_THRESHOLD                                  = 0.6                  // Phase scores must be above this relative range threshold [0,1] to be considered in next phase (Default:`0.75`)
PHASE3_FACTORS                                    = [0 2]                // Indices of the factors above to be considered in this phase
PHASE3_THRESHOLD                                  = 0.7                  // Phase scores must be above this relative range threshold [0,1] to be considered in next phase (Default:`0.75`)


[CHolonomicND]
WIDE_GAP_SIZE_PERCENT                             = 0.250000            
MAX_SECTOR_DIST_FOR_D2_PERCENT                    = 0.250000            
RISK_EVALUATION_SECTORS_PERCENT                   = 0.100000            
RISK_EVALUATION_DISTANCE                          = 0.400000             // In normalized ps-meters [0,1]
TOO_CLOSE_OBSTACLE                                = 0.150000             // For stopping gradually
TARGET_SLOW_APPROACHING_DISTANCE                  = 0.600000             // In normalized ps-meters
factorWeights                                     = 1.00 0.50 2.00 0.40  // [0]=Free space, [1]=Dist. in sectors, [2]=Closer to target (Euclidean), [3]=Hysteresis


[CHolonomicVFF]
TARGET_SLOW_APPROACHING_DISTANCE                  = 0.100000             // For stopping gradually
TARGET_ATTRACTIVE_FORCE                           = 20.000000            // Dimension-less (may have to be tuned depending on the density of obstacle sampling)

[CMultiObjectiveMotionOptimizerBase]
# Next follows a list of `score%i_{name,formula}` pairs for i=1,...,N
# Each one defines an exprtk formula for one of the scores that will be evaluated for each candidate movement.
# Multiobjective optimizers will then use those scores to select the best candidate, 
# possibly using more parameters that follow below.
# See list of all available variables in documentation of mrpt::nav::CAbstractPTGBasedReactive at http://reference.mrpt.org/devel/classmrpt_1_1nav_1_1_c_abstract_p_t_g_based_reactive.html

score1_name     = target_distance
score1_formula  = \
	var effective_trg_d_norm := max(0,target_d_norm-move_cur_d); \
	if(collision_free_distance>effective_trg_d_norm, \
		1/(1+effective_trg_d_norm^2), \
		0)

score2_name     = collision_free_distance_score
score2_formula  = \
	var effective_trg_d_norm := max(0,target_d_norm-move_cur_d); \
	if (collision_free_distance>(effective_trg_d_norm+0.05), \
		1.0, \
		collision_free_distance)

score3_name     = euclidean_nearness
score3_formula  = 1/(1+dist_eucl_min^2)

score4_name     = hysteresis_score
score4_formula  = hysteresis

score5_name     = path_index_near_target
score5_formula  = \
	var dif:=abs(target_k-move_k); \
	if (dif>(num_paths/2)) \
	{ \
		dif:=num_paths-dif; \
	}; \
	exp(-abs(dif / (num_paths/10.0)));
	
score6_name        = ptg_priority_score
score6_formula     = ptg_priority


# Next follows a list of `movement_assert%i` exprtk expressions for i=1,...,N
# defining expressions for conditions that any candidate movement must fulfill
# in order to get through the evaluation process. *All* assert conditions must be satisfied.
#movement_assert1 = XXX

# Comma-separated list of scores to normalize so the highest is 1.0.
scores_to_normalize  =  
#target_distance

[CMultiObjMotionOpt_Scalarization]
# A formula that takes all/a subset of scores and generates a scalar global score.
scalar_score_formula  = ptg_priority_score*( \
	0.3*target_distance + \
	0.5*collision_free_distance_score + \
	8.0*euclidean_nearness + \
	0.1 * hysteresis_score + \
	0.2*path_index_near_target \
	)




[CReactiveNavigationSystem]
min_obstacles_height                              = 0.000000             // Minimum `z` coordinate of obstacles to be considered fo collision checking
max_obstacles_height                              = 10.000000            // Maximum `z` coordinate of obstacles to be considered fo collision checking

# PTGs: See classes derived from mrpt::nav::CParameterizedTrajectoryGenerator ( http://reference.mrpt.org/svn/classmrpt_1_1nav_1_1_c_parameterized_trajectory_generator.html)
# refer to papers for details.
#------------------------------------------------------------------------------
PTG_COUNT = 3

PTG0_Type = CPTG_DiffDrive_C
PTG0_resolution = 0.05 # Look-up-table cell size or resolution (in meters)
PTG0_refDistance= ${NAV_MAX_REF_DIST} # Maximum distance to build PTGs (in meters), i.e. the visibility "range" of tentative paths
PTG0_num_paths= 121
PTG0_v_max_mps = ${ROBOT_MAX_V}
PTG0_w_max_dps = ${ROBOT_MAX_W}
PTG0_K = 1.0
PTG0_score_priority = 1.0

PTG1_Type = CPTG_DiffDrive_alpha
PTG1_resolution = 0.05 # Look-up-table cell size or resolution (in meters)
PTG1_refDistance= ${NAV_MAX_REF_DIST} # Maximum distance to build PTGs (in meters), i.e. the visibility "range" of tentative paths
PTG1_num_paths = 121
PTG1_v_max_mps = ${ROBOT_MAX_V}
PTG1_w_max_dps = ${ROBOT_MAX_W}
PTG1_cte_a0v_deg = 57
PTG1_cte_a0w_deg = 57
PTG1_score_priority = 1.0

PTG2_Type = CPTG_DiffDrive_C
PTG2_resolution = 0.05 # Look-up-table cell size or resolution (in meters)
PTG2_refDistance= ${NAV_MAX_REF_DIST} # Maximum distance to build PTGs (in meters), i.e. the visibility "range" of tentative paths
PTG2_num_paths = 121
PTG2_v_max_mps = ${ROBOT_MAX_V}
PTG2_w_max_dps = ${ROBOT_MAX_W}
PTG2_K = -1.0
PTG2_score_priority = 0.5


# Default 2D robot shape for collision checks: (ignored in ROS, superseded by node parameters)
# Each PTG will use only one of either (a) polygonal 2D shape or, (b) radius of a circular shape
RobotModel_shape2D_xs=-0.2 0.1 0.1 -0.2
RobotModel_shape2D_ys=0.1 0.1 -0.1 -0.1
RobotModel_circular_shape_radius = 0.5
See also
CAbstractNavigator, CParameterizedTrajectoryGenerator, CAbstractHolonomicReactiveMethod

Definition at line 47 of file nav/reactive/CReactiveNavigationSystem.h.

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

Inheritance diagram for mrpt::nav::CReactiveNavigationSystem:
Inheritance graph

Classes

struct  TReactiveNavigatorParams
 

Public Member Functions

 CReactiveNavigationSystem (CRobot2NavInterface &react_iterf_impl, bool enableConsoleOutput=true, bool enableLogFile=false, const std::string &logFileDirectory=std::string("./reactivenav.logs"))
 See docs in ctor of base class. More...
 
virtual ~CReactiveNavigationSystem ()
 Destructor. More...
 
void changeRobotShape (const mrpt::math::CPolygon &shape)
 Defines the 2D polygonal robot shape, used for some PTGs for collision checking. More...
 
void changeRobotCircularShapeRadius (const double R)
 Defines the 2D circular robot shape radius, used for some PTGs for collision checking. More...
 
virtual size_t getPTG_count () const MRPT_OVERRIDE
 Returns the number of different PTGs that have been setup. More...
 
virtual CParameterizedTrajectoryGeneratorgetPTG (size_t i) MRPT_OVERRIDE
 Gets the i'th PTG. More...
 
virtual const CParameterizedTrajectoryGeneratorgetPTG (size_t i) const MRPT_OVERRIDE
 Gets the i'th PTG. More...
 
virtual bool checkCollisionWithLatestObstacles (const mrpt::math::TPose2D &relative_robot_pose) const MRPT_OVERRIDE
 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...
 
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...
 
void initialize () MRPT_OVERRIDE
 Must be called for loading collision grids, or the first navigation command may last a long time to be executed. More...
 
void setHolonomicMethod (const std::string &method, const mrpt::utils::CConfigFileBase &cfgBase)
 Selects which one from the set of available holonomic methods will be used into transformed TP-Space, and sets its configuration from a configuration file. More...
 
void setHolonomicMethod (THolonomicMethod method, const mrpt::utils::CConfigFileBase &cfgBase)
 
void getLastLogRecord (CLogFileRecord &o)
 Provides a copy of the last log record with information about execution. More...
 
void enableKeepLogRecords (bool enable=true)
 Enables keeping an internal registry of navigation logs that can be queried with getLastLogRecord() More...
 
void enableLogFile (bool enable)
 Enables/disables saving log files. More...
 
void setLogFileDirectory (const std::string &sDir)
 Changes the prefix for new log files. More...
 
std::string getLogFileDirectory () const
 
void enableTimeLog (bool enable=true)
 Enables/disables the detailed time logger (default:disabled upon construction) When enabled, a report will be dumped to std::cout upon destruction. More...
 
const mrpt::utils::CTimeLoggergetTimeLogger () const
 Gives access to a const-ref to the internal time logger. More...
 
const mrpt::kinematics::CVehicleVelCmd::TVelCmdParamsgetCurrentRobotSpeedLimits () const
 Get the current, global (honored for all PTGs) robot speed limits. More...
 
mrpt::kinematics::CVehicleVelCmd::TVelCmdParamschangeCurrentRobotSpeedLimits ()
 Changes the current, global (honored for all PTGs) robot speed limits, via returning a reference to a structure that holds those limits. More...
 
void setTargetApproachSlowDownDistance (const double dist)
 Changes this parameter in all inner holonomic navigator instances [m]. More...
 
double getTargetApproachSlowDownDistance () const
 Returns this parameter for the first inner holonomic navigator instances [m] (should be the same in all of them?) 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...
 
const mrpt::utils::CTimeLoggergetDelaysTimeLogger () 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

TReactiveNavigatorParams params_reactive_nav
 
TAbstractPTGNavigatorParams params_abstract_ptg_navigator
 
TWaypointsNavigatorParams params_waypoints_navigator
 
TAbstractNavigatorParams params_abstract_navigator
 

Protected Member Functions

virtual void loggingGetWSObstaclesAndShape (CLogFileRecord &out_log) MRPT_OVERRIDE
 Generates a pointcloud of obstacles, and the robot shape, to be saved in the logging record for the current timestep. More...
 
void STEP3_WSpaceToTPSpace (const size_t ptg_idx, std::vector< double > &out_TPObstacles, mrpt::nav::ClearanceDiagram &out_clearance, const mrpt::math::TPose2D &rel_pose_PTG_origin_wrt_sense, const bool eval_clearance) MRPT_OVERRIDE
 Builds TP-Obstacles from Workspace obstacles for the given PTG. More...
 
virtual void performNavigationStep () MRPT_OVERRIDE
 The main method for the navigator. More...
 
virtual bool impl_waypoint_is_reachable (const mrpt::math::TPoint2D &wp_local_wrt_robot) const MRPT_OVERRIDE
 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...
 
bool STEP2_SenseObstacles ()
 
void calc_move_candidate_scores (TCandidateMovementPTG &holonomicMovement, const std::vector< double > &in_TPObstacles, const mrpt::nav::ClearanceDiagram &in_clearance, const std::vector< mrpt::math::TPose2D > &WS_Targets, const std::vector< PTGTarget > &TP_Targets, CLogFileRecord::TInfoPerPTG &log, CLogFileRecord &newLogRec, const bool this_is_PTG_continuation, const mrpt::math::TPose2D &relPoseVelCmd_NOP, const unsigned int ptg_idx4weights, const mrpt::system::TTimeStamp tim_start_iteration, const mrpt::nav::CHolonomicLogFileRecordPtr &hlfr)
 Scores holonomicMovement. More...
 
virtual double generate_vel_cmd (const TCandidateMovementPTG &in_movement, mrpt::kinematics::CVehicleVelCmdPtr &new_vel_cmd)
 Return the [0,1] velocity scale of raw PTG cmd_vel. More...
 
void STEP8_GenerateLogRecord (CLogFileRecord &newLogRec, const std::vector< mrpt::math::TPose2D > &relTargets, int nSelectedPTG, const mrpt::kinematics::CVehicleVelCmdPtr &new_vel_cmd, int nPTGs, const bool best_is_NOP_cmdvel, const math::TPose2D &rel_cur_pose_wrt_last_vel_cmd_NOP, const math::TPose2D &rel_pose_PTG_origin_wrt_sense_NOP, const double executionTimeValue, const double tim_changeSpeed, const mrpt::system::TTimeStamp &tim_start_iteration)
 
void preDestructor ()
 To be called during children destructors to assure thread-safe destruction, and free of shared objects. More...
 
virtual void onStartNewNavigation () MRPT_OVERRIDE
 Called whenever a new navigation has been started. More...
 
void build_movement_candidate (CParameterizedTrajectoryGenerator *ptg, const size_t indexPTG, const std::vector< mrpt::math::TPose2D > &relTargets, const mrpt::math::TPose2D &rel_pose_PTG_origin_wrt_sense, TInfoPerPTG &ipf, TCandidateMovementPTG &holonomicMovement, CLogFileRecord &newLogRec, const bool this_is_PTG_continuation, mrpt::nav::CAbstractHolonomicReactiveMethod *holoMethod, const mrpt::system::TTimeStamp tim_start_iteration, const TNavigationParams &navp=TNavigationParams(), const mrpt::math::TPose2D &relPoseVelCmd_NOP=mrpt::poses::CPose2D())
 
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 ()
 
void processNavigateCommand (const TNavigationParams *params)
 Does the job of navigate(), except the call to onNavigateCommandReceived() More...
 
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...
 
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...
 

Protected Attributes

mrpt::math::CPolygon m_robotShape
 The robot 2D shape model. Only one of robot_shape or robot_shape_circular_radius will be used in each PTG. More...
 
double m_robotShapeCircularRadius
 Radius of the robot if approximated as a circle. Only one of robot_shape or robot_shape_circular_radius will be used in each PTG. More...
 
mrpt::maps::CSimplePointsMap m_WS_Obstacles
 The obstacle points, as seen from the local robot frame. More...
 
mrpt::maps::CSimplePointsMap m_WS_Obstacles_original
 Obstacle points, before filtering (if filtering is enabled). More...
 
std::vector< CAbstractHolonomicReactiveMethod * > m_holonomicMethod
 The holonomic navigation algorithm (one object per PTG, so internal states are maintained) More...
 
mrpt::utils::CStreamm_logFile
 
mrpt::utils::CStreamm_prev_logfile
 The current log file stream, or NULL if not being used. More...
 
bool m_enableKeepLogRecords
 See enableKeepLogRecords. More...
 
CLogFileRecord lastLogRecord
 The last log. More...
 
mrpt::kinematics::CVehicleVelCmdPtr m_last_vel_cmd
 Last velocity commands. More...
 
mrpt::synch::CCriticalSectionRecursive m_critZoneLastLog
 Critical zones. More...
 
bool m_enableConsoleOutput
 Enables / disables the console debug output. More...
 
bool m_init_done
 Whether loadConfigFile() has been called or not. More...
 
mrpt::utils::CTicTac timerForExecutionPeriod
 
mrpt::utils::CTimeLogger m_timelogger
 A complete time logger. More...
 
bool m_PTGsMustBeReInitialized
 
bool m_closing_navigator
 Signal that the destructor has been called, so no more calls are accepted from other threads. More...
 
mrpt::system::TTimeStamp m_WS_Obstacles_timestamp
 
mrpt::maps::CPointCloudFilterBasePtr m_WS_filter
 Default: none. More...
 
mrpt::nav::CMultiObjectiveMotionOptimizerBasePtr m_multiobjopt
 
std::vector< TInfoPerPTGm_infoPerPTG
 Temporary buffers for working with each PTG during a navigationStep() More...
 
mrpt::system::TTimeStamp m_infoPerPTG_timestamp
 
TSentVelCmd m_lastSentVelCmd
 
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
 
std::vector< TPendingEventm_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...
 
TNavigationParamsm_navigationParams
 Current navigation parameters. More...
 
CRobot2NavInterfacem_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...
 
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
 
Variables for CReactiveNavigationSystem::performNavigationStep
mrpt::utils::CTicTac totalExecutionTime
 
mrpt::utils::CTicTac executionTime
 
mrpt::utils::CTicTac tictac
 
mrpt::math::LowPassFilter_IIR1 meanExecutionTime
 
mrpt::math::LowPassFilter_IIR1 meanTotalExecutionTime
 
mrpt::math::LowPassFilter_IIR1 meanExecutionPeriod
 Runtime estimation of execution period of the method. More...
 
mrpt::math::LowPassFilter_IIR1 tim_changeSpeed_avr
 
mrpt::math::LowPassFilter_IIR1 timoff_obstacles_avr
 
mrpt::math::LowPassFilter_IIR1 timoff_curPoseAndSpeed_avr
 
mrpt::math::LowPassFilter_IIR1 timoff_sendVelCmd_avr
 

Private Member Functions

virtual void STEP1_InitPTGs () MRPT_OVERRIDE
 
bool implementSenseObstacles (mrpt::system::TTimeStamp &obs_timestamp) MRPT_OVERRIDE
 Return false on any fatal error. More...
 

Private Attributes

std::vector< CParameterizedTrajectoryGenerator * > PTGs
 The list of PTGs to use for navigation. More...
 

Navigation control API

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

Member Enumeration Documentation

The different states for the navigation system.

Enumerator
IDLE 
NAVIGATING 
SUSPENDED 
NAV_ERROR 

Definition at line 119 of file CAbstractNavigator.h.

Constructor & Destructor Documentation

CReactiveNavigationSystem::CReactiveNavigationSystem ( CRobot2NavInterface react_iterf_impl,
bool  enableConsoleOutput = true,
bool  enableLogFile = false,
const std::string logFileDirectory = std::string("./reactivenav.logs") 
)

See docs in ctor of base class.

Definition at line 27 of file CReactiveNavigationSystem.cpp.

CReactiveNavigationSystem::~CReactiveNavigationSystem ( )
virtual

Destructor.

Definition at line 39 of file CReactiveNavigationSystem.cpp.

References mrpt::nav::CAbstractPTGBasedReactive::preDestructor(), and PTGs.

Member Function Documentation

void CAbstractPTGBasedReactive::build_movement_candidate ( CParameterizedTrajectoryGenerator ptg,
const size_t  indexPTG,
const std::vector< mrpt::math::TPose2D > &  relTargets,
const mrpt::math::TPose2D rel_pose_PTG_origin_wrt_sense,
TInfoPerPTG ipf,
TCandidateMovementPTG holonomicMovement,
CLogFileRecord newLogRec,
const bool  this_is_PTG_continuation,
mrpt::nav::CAbstractHolonomicReactiveMethod holoMethod,
const mrpt::system::TTimeStamp  tim_start_iteration,
const TNavigationParams navp = TNavigationParams(),
const mrpt::math::TPose2D relPoseVelCmd_NOP = mrpt::poses::CPose2D() 
)
protectedinherited

Definition at line 1270 of file CAbstractPTGBasedReactive.cpp.

References mrpt::nav::CLogFileRecord::additional_debug_msgs, mrpt::nav::CParameterizedTrajectoryGenerator::alpha2index(), ASSERT_, mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), mrpt::nav::CLogFileRecord::TInfoPerPTG::clearance, mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::clearance, mrpt::nav::CAbstractPTGBasedReactive::TInfoPerPTG::clearance, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::colfreedist_move_k, mrpt::utils::metaprogramming::copy_container_typecasting(), mrpt::nav::CLogFileRecord_VFF::Create(), mrpt::nav::CLogFileRecord::TInfoPerPTG::desiredDirection, mrpt::nav::CAbstractHolonomicReactiveMethod::NavOutput::desiredDirection, mrpt::nav::CLogFileRecord::TInfoPerPTG::desiredSpeed, mrpt::nav::CAbstractHolonomicReactiveMethod::NavOutput::desiredSpeed, mrpt::nav::TCandidateMovementPTG::direction, mrpt::nav::CAbstractHolonomicReactiveMethod::enableApproachTargetSlowDown(), mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::evaluate_clearance, mrpt::mrpt::format(), mrpt::nav::CParameterizedTrajectoryGenerator::getAlphaValuesCount(), mrpt::nav::CParameterizedTrajectoryGenerator::getDescription(), mrpt::nav::CAbstractPTGBasedReactive::getPTG_count(), mrpt::nav::CParameterizedTrajectoryGenerator::getRefDistance(), mrpt::nav::CLogFileRecord::TInfoPerPTG::HLFR, mrpt::mrpt::math::hypot_fast(), mrpt::nav::CParameterizedTrajectoryGenerator::index2alpha(), mrpt::nav::CLogFileRecord::infoPerPTG, mrpt::nav::CParameterizedTrajectoryGenerator::initClearanceDiagram(), mrpt::nav::CParameterizedTrajectoryGenerator::initTPObstacles(), mrpt::nav::CParameterizedTrajectoryGenerator::inverseMap_WS2TP(), mrpt::utils::CTimeLogger::isEnabled(), mrpt::nav::CAbstractHolonomicReactiveMethod::NavOutput::logRecord, mrpt::nav::CAbstractNavigator::m_curPoseVel, mrpt::nav::CAbstractPTGBasedReactive::m_enableKeepLogRecords, mrpt::nav::CAbstractPTGBasedReactive::m_lastSentVelCmd, mrpt::nav::CAbstractPTGBasedReactive::m_logFile, mrpt::nav::CAbstractPTGBasedReactive::m_timelogger, mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::maxObstacleDist, mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::maxRobotSpeed, mrpt::nav::CParameterizedTrajectoryGenerator::maxTimeInVelCmdNOP(), min, mrpt::nav::CAbstractHolonomicReactiveMethod::navigate(), mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::obstacles, mrpt::nav::CAbstractPTGBasedReactive::params_abstract_ptg_navigator, mrpt::nav::TCandidateMovementPTG::props, mrpt::nav::TCandidateMovementPTG::PTG, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::ptg_alpha_index, mrpt::nav::CLogFileRecord::TInfoPerPTG::PTG_desc, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::ptg_index, mrpt::utils::CTimeLogger::registerUserMeasure(), mrpt::nav::CAbstractPTGBasedReactive::TNavigationParamsPTG::restrict_PTG_indices, mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::secure_distance_end, mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::secure_distance_start, mrpt::nav::TCandidateMovementPTG::speed, mrpt::nav::CAbstractPTGBasedReactive::STEP3_WSpaceToTPSpace(), mrpt::nav::CParameterizedTrajectoryGenerator::supportVelCmdNOP(), mrpt::utils::CTicTac::Tac(), mrpt::nav::CAbstractNavigator::TNavigationParams::target, mrpt::nav::CAbstractPTGBasedReactive::PTGTarget::target_alpha, mrpt::nav::CAbstractPTGBasedReactive::PTGTarget::target_dist, mrpt::nav::CAbstractPTGBasedReactive::PTGTarget::target_k, mrpt::nav::CAbstractNavigator::TargetInfo::targetDesiredRelSpeed, mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::targets, mrpt::nav::CAbstractPTGBasedReactive::TInfoPerPTG::targets, mrpt::utils::CTicTac::Tic(), mrpt::nav::CAbstractPTGBasedReactive::tictac, mrpt::nav::CLogFileRecord::TInfoPerPTG::timeForHolonomicMethod, mrpt::nav::CLogFileRecord::TInfoPerPTG::timeForTPObsTransformation, mrpt::nav::CLogFileRecord::TInfoPerPTG::TP_Obstacles, mrpt::nav::CAbstractPTGBasedReactive::TInfoPerPTG::TP_Obstacles, mrpt::nav::CAbstractPTGBasedReactive::PTGTarget::TP_Target, mrpt::nav::CLogFileRecord::TInfoPerPTG::TP_Targets, mrpt::nav::CParameterizedTrajectoryGenerator::updateClearancePost(), mrpt::nav::CAbstractPTGBasedReactive::PTGTarget::valid_TP, mrpt::nav::CAbstractNavigator::TRobotPoseVel::velLocal, mrpt::math::TTwist2D::vx, mrpt::math::TTwist2D::vy, mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

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

void CAbstractPTGBasedReactive::calc_move_candidate_scores ( TCandidateMovementPTG holonomicMovement,
const std::vector< double > &  in_TPObstacles,
const mrpt::nav::ClearanceDiagram in_clearance,
const std::vector< mrpt::math::TPose2D > &  WS_Targets,
const std::vector< PTGTarget > &  TP_Targets,
CLogFileRecord::TInfoPerPTG log,
CLogFileRecord newLogRec,
const bool  this_is_PTG_continuation,
const mrpt::math::TPose2D relPoseVelCmd_NOP,
const unsigned int  ptg_idx4weights,
const mrpt::system::TTimeStamp  tim_start_iteration,
const mrpt::nav::CHolonomicLogFileRecordPtr &  hlfr 
)
protectedinherited

Scores holonomicMovement.

Definition at line 849 of file CAbstractPTGBasedReactive.cpp.

References mrpt::nav::CLogFileRecord::additional_debug_msgs, mrpt::nav::CParameterizedTrajectoryGenerator::alpha2index(), mrpt::math::angDistance(), ASSERT_, ASSERT_EQUAL_, mrpt::math::TPose2D::asString(), mrpt::nav::TCandidateMovementPTG::direction, mrpt::nav::CParameterizedTrajectoryGenerator::directionToMotionCommand(), mrpt::nav::CParameterizedTrajectoryGenerator::evalClearanceSingleObstacle(), mrpt::nav::CParameterizedTrajectoryGenerator::evalPathRelativePriority(), mrpt::mrpt::format(), mrpt::nav::ClearanceDiagram::getClearance(), mrpt::nav::CParameterizedTrajectoryGenerator::getPathDist(), mrpt::nav::CParameterizedTrajectoryGenerator::getPathPose(), mrpt::nav::CParameterizedTrajectoryGenerator::getPathStepDuration(), mrpt::nav::CParameterizedTrajectoryGenerator::getPathStepForDist(), mrpt::nav::CParameterizedTrajectoryGenerator::getRefDistance(), mrpt::nav::CParameterizedTrajectoryGenerator::getScorePriority(), mrpt::mrpt::math::hypot_fast(), mrpt::nav::CParameterizedTrajectoryGenerator::index2alpha(), mrpt::nav::CParameterizedTrajectoryGenerator::inverseMap_WS2TP(), mrpt::nav::CParameterizedTrajectoryGenerator::isBijectiveAt(), mrpt::mrpt::utils::keep_min(), mrpt::nav::CAbstractNavigator::m_curPoseVel, mrpt::nav::CAbstractPTGBasedReactive::m_holonomicMethod, mrpt::nav::CAbstractPTGBasedReactive::m_last_vel_cmd, mrpt::nav::CAbstractPTGBasedReactive::m_lastSentVelCmd, mrpt::nav::CAbstractNavigator::m_navigationParams, mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::max_dist_for_timebased_path_prediction, mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::max_distance_predicted_actual_path, min, MRPT_END, MRPT_START, mrpt::system::now(), mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::original_holo_eval, mrpt::nav::CAbstractPTGBasedReactive::params_abstract_ptg_navigator, mrpt::math::TPose2D::phi, mrpt::nav::CAbstractNavigator::TRobotPoseVel::pose, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::poseVel, mrpt::nav::TCandidateMovementPTG::props, mrpt::nav::TCandidateMovementPTG::PTG, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::ptg_alpha_index, mrpt::nav::CAbstractNavigator::TRobotPoseVel::rawOdometry, mrpt::utils::round(), mrpt::nav::TCandidateMovementPTG::speed, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::speed_scale, mrpt::nav::TCandidateMovementPTG::starting_robot_dir, mrpt::nav::TCandidateMovementPTG::starting_robot_dist, mrpt::nav::CParameterizedTrajectoryGenerator::supportSpeedAtTarget(), mrpt::nav::CParameterizedTrajectoryGenerator::supportVelCmdNOP(), mrpt::nav::CAbstractNavigator::TNavigationParams::target, mrpt::nav::CAbstractNavigator::TargetInfo::targetDesiredRelSpeed, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::tim_send_cmd_vel, mrpt::system::timeDifference(), mrpt::nav::CLogFileRecord::TInfoPerPTG::TP_Robot, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::was_slowdown, mrpt::math::TPoint2D::x, mrpt::math::TPose2D::x, mrpt::math::TPoint2D::y, and mrpt::math::TPose2D::y.

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

void CWaypointsNavigator::cancel ( )
virtualinherited
mrpt::kinematics::CVehicleVelCmd::TVelCmdParams& mrpt::nav::CAbstractPTGBasedReactive::changeCurrentRobotSpeedLimits ( )
inlineinherited

Changes the current, global (honored for all PTGs) robot speed limits, via returning a reference to a structure that holds those limits.

Definition at line 203 of file CAbstractPTGBasedReactive.h.

References MRPT_OVERRIDE, and mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::robot_absolute_speed_limits.

void CReactiveNavigationSystem::changeRobotCircularShapeRadius ( const double  R)

Defines the 2D circular robot shape radius, used for some PTGs for collision checking.

Definition at line 60 of file CReactiveNavigationSystem.cpp.

References ASSERT_, mrpt::nav::CAbstractPTGBasedReactive::m_PTGsMustBeReInitialized, m_robotShapeCircularRadius, and R.

Referenced by loadConfigFile().

void CReactiveNavigationSystem::changeRobotShape ( const mrpt::math::CPolygon shape)

Defines the 2D polygonal robot shape, used for some PTGs for collision checking.

Definition at line 52 of file CReactiveNavigationSystem.cpp.

References mrpt::nav::CAbstractPTGBasedReactive::m_PTGsMustBeReInitialized, m_robotShape, THROW_EXCEPTION, and mrpt::math::CPolygon::verticesCount().

Referenced by loadConfigFile().

bool CAbstractNavigator::changeSpeeds ( const mrpt::kinematics::CVehicleVelCmd vel_cmd)
protectedvirtualinherited
bool CAbstractNavigator::changeSpeedsNOP ( )
protectedvirtualinherited

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

Definition at line 402 of file CAbstractNavigator.cpp.

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

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

bool CReactiveNavigationSystem::checkCollisionWithLatestObstacles ( const mrpt::math::TPose2D relative_robot_pose) const
virtual

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 from mrpt::nav::CAbstractNavigator.

Definition at line 269 of file CReactiveNavigationSystem.cpp.

References ASSERT_, mrpt::maps::CPointsMap::getPointsBuffer(), mrpt::math::TPose2D::inverseComposePoint(), m_WS_Obstacles, mrpt::nav::CReactiveNavigationSystem::TReactiveNavigatorParams::max_obstacles_height, mrpt::nav::CReactiveNavigationSystem::TReactiveNavigatorParams::min_obstacles_height, params_reactive_nav, PTGs, R, mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

bool CWaypointsNavigator::checkHasReachedTarget ( const double  targetDist) const
protectedvirtualinherited
void CAbstractNavigator::dispatchPendingNavEvents ( )
protectedinherited
void CAbstractNavigator::doEmergencyStop ( const std::string msg)
protectedinherited
void mrpt::nav::CAbstractPTGBasedReactive::enableKeepLogRecords ( bool  enable = true)
inlineinherited

Enables keeping an internal registry of navigation logs that can be queried with getLastLogRecord()

Definition at line 126 of file CAbstractPTGBasedReactive.h.

void CAbstractPTGBasedReactive::enableLogFile ( bool  enable)
inherited
void mrpt::nav::CAbstractPTGBasedReactive::enableTimeLog ( bool  enable = true)
inlineinherited

Enables/disables the detailed time logger (default:disabled upon construction) When enabled, a report will be dumped to std::cout upon destruction.

See also
getTimeLogger

Definition at line 186 of file CAbstractPTGBasedReactive.h.

double CAbstractPTGBasedReactive::generate_vel_cmd ( const TCandidateMovementPTG in_movement,
mrpt::kinematics::CVehicleVelCmdPtr &  new_vel_cmd 
)
protectedvirtualinherited
const mrpt::kinematics::CVehicleVelCmd::TVelCmdParams& mrpt::nav::CAbstractPTGBasedReactive::getCurrentRobotSpeedLimits ( ) const
inlineinherited

Get the current, global (honored for all PTGs) robot speed limits.

Definition at line 198 of file CAbstractPTGBasedReactive.h.

References mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::robot_absolute_speed_limits.

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

Returns the current navigator state.

Definition at line 127 of file CAbstractNavigator.h.

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 157 of file CAbstractNavigator.h.

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 138 of file CAbstractNavigator.h.

void CAbstractPTGBasedReactive::getLastLogRecord ( CLogFileRecord o)
inherited

Provides a copy of the last log record with information about execution.

Parameters
oAn object where the log will be stored into.
Note
Log records are not prepared unless either "enableLogFile" is enabled in the constructor or "enableLogFile()" has been called.

Definition at line 188 of file CAbstractPTGBasedReactive.cpp.

References mrpt::nav::CAbstractPTGBasedReactive::lastLogRecord, and mrpt::nav::CAbstractPTGBasedReactive::m_critZoneLastLog.

std::string mrpt::nav::CAbstractPTGBasedReactive::getLogFileDirectory ( ) const
inlineinherited

Definition at line 133 of file CAbstractPTGBasedReactive.h.

virtual CParameterizedTrajectoryGenerator* mrpt::nav::CReactiveNavigationSystem::getPTG ( size_t  i)
inlinevirtual

Gets the i'th PTG.

Implements mrpt::nav::CAbstractPTGBasedReactive.

Definition at line 71 of file nav/reactive/CReactiveNavigationSystem.h.

References ASSERT_.

Referenced by STEP3_WSpaceToTPSpace().

virtual const CParameterizedTrajectoryGenerator* mrpt::nav::CReactiveNavigationSystem::getPTG ( size_t  i) const
inlinevirtual

Gets the i'th PTG.

Implements mrpt::nav::CAbstractPTGBasedReactive.

Definition at line 72 of file nav/reactive/CReactiveNavigationSystem.h.

References ASSERT_, and MRPT_OVERRIDE.

virtual size_t mrpt::nav::CReactiveNavigationSystem::getPTG_count ( ) const
inlinevirtual

Returns the number of different PTGs that have been setup.

Implements mrpt::nav::CAbstractPTGBasedReactive.

Definition at line 70 of file nav/reactive/CReactiveNavigationSystem.h.

double CAbstractPTGBasedReactive::getTargetApproachSlowDownDistance ( ) const
inherited

Returns this parameter for the first inner holonomic navigator instances [m] (should be the same in all of them?)

Definition at line 1659 of file CAbstractPTGBasedReactive.cpp.

References ASSERT_, and mrpt::nav::CAbstractPTGBasedReactive::m_holonomicMethod.

const mrpt::utils::CTimeLogger& mrpt::nav::CAbstractPTGBasedReactive::getTimeLogger ( ) const
inlineinherited

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

See also
enableTimeLog

Definition at line 191 of file CAbstractPTGBasedReactive.h.

void CWaypointsNavigator::getWaypointNavStatus ( TWaypointStatusSequence out_nav_status) const
virtualinherited

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

Definition at line 92 of file CWaypointsNavigator.cpp.

References mrpt::nav::CWaypointsNavigator::m_waypoint_nav_status.

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

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 mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

bool CAbstractPTGBasedReactive::impl_waypoint_is_reachable ( const mrpt::math::TPoint2D wp_local_wrt_robot) const
protectedvirtualinherited

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.

Implements mrpt::nav::CWaypointsNavigator.

Definition at line 1199 of file CAbstractPTGBasedReactive.cpp.

References ASSERT_, mrpt::nav::CParameterizedTrajectoryGenerator::getPathCount(), mrpt::nav::CAbstractPTGBasedReactive::getPTG(), mrpt::nav::CAbstractPTGBasedReactive::getPTG_count(), INVALID_TIMESTAMP, mrpt::nav::CParameterizedTrajectoryGenerator::inverseMap_WS2TP(), mrpt::nav::CAbstractPTGBasedReactive::m_infoPerPTG, mrpt::nav::CAbstractPTGBasedReactive::m_infoPerPTG_timestamp, MRPT_END, MRPT_START, mrpt::system::now(), mrpt::system::timeDifference(), mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

bool CReactiveNavigationSystem::implementSenseObstacles ( mrpt::system::TTimeStamp obs_timestamp)
privatevirtual
void CAbstractPTGBasedReactive::initialize ( void  )
virtualinherited

Must be called for loading collision grids, or the first navigation command may last a long time to be executed.

Internally, it just calls STEP1_CollisionGridsBuilder().

Implements mrpt::nav::CAbstractNavigator.

Definition at line 109 of file CAbstractPTGBasedReactive.cpp.

References ASSERT_, INVALID_TIMESTAMP, mrpt::nav::CAbstractPTGBasedReactive::m_infoPerPTG_timestamp, mrpt::nav::CAbstractPTGBasedReactive::m_multiobjopt, mrpt::nav::CAbstractNavigator::m_nav_cs, and mrpt::nav::CAbstractPTGBasedReactive::STEP1_InitPTGs().

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

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 400 of file CWaypointsNavigator.cpp.

References mrpt::nav::CWaypointsNavigator::impl_waypoint_is_reachable().

void CReactiveNavigationSystem::loadConfigFile ( const mrpt::utils::CConfigFileBase c)
virtual
void CReactiveNavigationSystem::loggingGetWSObstaclesAndShape ( CLogFileRecord out_log)
protectedvirtual
void CAbstractNavigator::navigate ( const TNavigationParams params)
virtualinherited

Navigation request to a single target location.

It starts a new navigation.

Parameters
[in]paramsPointer 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 327 of file CAbstractNavigator.cpp.

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

void CWaypointsNavigator::navigateWaypoints ( const TWaypointSequence nav_request)
virtualinherited
void CWaypointsNavigator::navigationStep ( )
virtualinherited
void CWaypointsNavigator::onNavigateCommandReceived ( )
protectedvirtualinherited
void CAbstractPTGBasedReactive::onStartNewNavigation ( )
protectedvirtualinherited
void CAbstractPTGBasedReactive::performNavigationStep ( )
protectedvirtualinherited

The main method for the navigator.

< Allow PTGs to be responsive to target location, dynamics, etc.

Implements mrpt::nav::CAbstractNavigator.

Definition at line 241 of file CAbstractPTGBasedReactive.cpp.

References mrpt::nav::CLogFileRecord::additional_debug_msgs, mrpt::nav::CParameterizedTrajectoryGenerator::alpha2index(), ASSERT_, ASSERT_EQUAL_, mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CAbstractNavigator::changeSpeeds(), mrpt::nav::CAbstractNavigator::changeSpeedsNOP(), mrpt::nav::CAbstractNavigator::TNavigationParams::clone(), mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::colfreedist_move_k, mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::curVelLocal, mrpt::mrpt::utils::delete_safe(), mrpt::nav::TCandidateMovementPTG::direction, mrpt::nav::CAbstractNavigator::doEmergencyStop(), mrpt::nav::CAbstractNavigator::TPendingEvent::event_noargs, mrpt::nav::CAbstractPTGBasedReactive::executionTime, mrpt::math::LowPassFilter_IIR1::filter(), mrpt::nav::CMultiObjectiveMotionOptimizerBase::TResultInfo::final_evaluation, mrpt::mrpt::format(), mrpt::nav::CAbstractPTGBasedReactive::generate_vel_cmd(), mrpt::nav::CRobot2NavInterface::getEmergencyStopCmd(), mrpt::math::LowPassFilter_IIR1::getLastOutput(), mrpt::utils::CTimeLogger::getLastTime(), mrpt::nav::CAbstractPTGBasedReactive::getPTG(), mrpt::nav::CAbstractPTGBasedReactive::getPTG_count(), mrpt::nav::CLogFileRecord::infoPerPTG, int(), mrpt::poses::CPoseInterpolatorBase< DIM >::interpolate(), mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::isValid(), mrpt::nav::CMultiObjectiveMotionOptimizerBase::TResultInfo::log_entries, mrpt::poses::FrameTransformer< DIM >::lookupTransform(), mrpt::nav::CAbstractPTGBasedReactive::m_closing_navigator, mrpt::nav::CAbstractPTGBasedReactive::m_copy_prev_navParams, mrpt::nav::CAbstractNavigator::m_curPoseVel, mrpt::nav::CAbstractPTGBasedReactive::m_enableConsoleOutput, mrpt::nav::CAbstractPTGBasedReactive::m_enableKeepLogRecords, mrpt::nav::CAbstractNavigator::m_frame_tf, mrpt::nav::CAbstractPTGBasedReactive::m_holonomicMethod, mrpt::nav::CAbstractPTGBasedReactive::m_infoPerPTG, mrpt::nav::CAbstractPTGBasedReactive::m_infoPerPTG_timestamp, mrpt::nav::CAbstractPTGBasedReactive::m_init_done, mrpt::nav::CAbstractPTGBasedReactive::m_lastSentVelCmd, mrpt::nav::CAbstractNavigator::m_latestOdomPoses, mrpt::nav::CAbstractNavigator::m_latestPoses, mrpt::nav::CAbstractPTGBasedReactive::m_logFile, mrpt::nav::CAbstractPTGBasedReactive::m_multiobjopt, mrpt::nav::CAbstractNavigator::m_navigationParams, mrpt::nav::CAbstractNavigator::m_pending_events, mrpt::nav::CAbstractPTGBasedReactive::m_prev_logfile, mrpt::nav::CAbstractNavigator::m_robot, mrpt::nav::CAbstractPTGBasedReactive::m_timelogger, mrpt::nav::CAbstractNavigator::m_timlog_delays, mrpt::nav::CAbstractPTGBasedReactive::m_WS_Obstacles_timestamp, mrpt::nav::CParameterizedTrajectoryGenerator::maxTimeInVelCmdNOP(), mrpt::nav::CAbstractPTGBasedReactive::meanExecutionPeriod, mrpt::nav::CAbstractPTGBasedReactive::meanExecutionTime, mrpt::nav::CAbstractPTGBasedReactive::meanTotalExecutionTime, MRPT_LOG_DEBUG, MRPT_LOG_DEBUG_FMT, MRPT_LOG_WARN_FMT, mrpt::nav::CLogFileRecord::navDynState, mrpt::system::now(), mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::original_holo_eval, mrpt::nav::CAbstractPTGBasedReactive::params_abstract_ptg_navigator, mrpt::nav::CAbstractNavigator::TRobotPoseVel::pose, mrpt::nav::CAbstractNavigator::TRobotPoseVel::pose_frame_id, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::poseVel, mrpt::nav::TCandidateMovementPTG::props, mrpt::nav::TCandidateMovementPTG::PTG, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::ptg_alpha_index, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::ptg_dynState, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::ptg_index, mrpt::nav::CAbstractNavigator::TRobotPoseVel::rawOdometry, mrpt::utils::CStream::ReadObject(), mrpt::nav::CLogFileRecord::relPoseSense, mrpt::nav::CLogFileRecord::relPoseVelCmd, mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::relTarget, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::reset(), mrpt::utils::CMemoryStream::Seek(), mrpt::nav::CRobot2NavInterface::sendApparentCollisionEvent(), mrpt::nav::TCandidateMovementPTG::speed, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::speed_scale, mrpt::nav::CAbstractPTGBasedReactive::STEP1_InitPTGs(), mrpt::nav::CAbstractPTGBasedReactive::STEP2_SenseObstacles(), mrpt::nav::CAbstractPTGBasedReactive::STEP8_GenerateLogRecord(), mrpt::nav::CAbstractNavigator::stop(), mrpt::nav::CParameterizedTrajectoryGenerator::supportSpeedAtTarget(), mrpt::nav::CParameterizedTrajectoryGenerator::supportVelCmdNOP(), mrpt::utils::CTicTac::Tac(), mrpt::nav::CAbstractNavigator::TNavigationParams::target, mrpt::nav::CAbstractNavigator::TargetInfo::targetDesiredRelSpeed, mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::targetRelSpeed, THROW_EXCEPTION, THROW_EXCEPTION_FMT, mrpt::utils::CTicTac::Tic(), mrpt::nav::CAbstractPTGBasedReactive::tim_changeSpeed_avr, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::tim_send_cmd_vel, mrpt::system::timeDifference(), mrpt::nav::CAbstractPTGBasedReactive::timerForExecutionPeriod, mrpt::nav::CAbstractNavigator::TRobotPoseVel::timestamp, mrpt::system::timestampAdd(), mrpt::nav::CLogFileRecord::timestamps, mrpt::nav::CAbstractPTGBasedReactive::timoff_curPoseAndSpeed_avr, mrpt::nav::CAbstractPTGBasedReactive::timoff_obstacles_avr, mrpt::nav::CAbstractPTGBasedReactive::timoff_sendVelCmd_avr, mrpt::nav::CAbstractPTGBasedReactive::totalExecutionTime, mrpt::nav::CParameterizedTrajectoryGenerator::updateNavDynamicState(), mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::use_delays_model, mrpt::nav::CLogFileRecord::values, mrpt::nav::CAbstractNavigator::TRobotPoseVel::velLocal, and mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::was_slowdown.

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 451 of file CAbstractNavigator.cpp.

References mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams::alarm_seems_not_approaching_target_timeout, ASSERT_, mrpt::nav::CAbstractNavigator::checkCollisionWithLatestObstacles(), mrpt::nav::CAbstractNavigator::checkHasReachedTarget(), mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams::dist_check_target_is_blocked, mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams::dist_to_target_for_sending_event, mrpt::math::TSegment2D::distance(), mrpt::poses::CPoseInterpolatorBase< DIM >::empty(), mrpt::nav::CAbstractNavigator::TPendingEvent::event_cannot_get_closer_target, mrpt::nav::CAbstractNavigator::TPendingEvent::event_noargs, mrpt::mrpt::format(), mrpt::nav::CAbstractNavigator::TNavigationParams::getAsText(), mrpt::system::getCurrentTime(), mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams::hysteresis_check_target_is_blocked, mrpt::nav::CAbstractNavigator::IDLE, mrpt::nav::CAbstractNavigator::internal_onStartNewNavigation(), mrpt::nav::CAbstractNavigator::m_badNavAlarm_lastMinDistTime, mrpt::nav::CAbstractNavigator::m_badNavAlarm_minDistTarget, mrpt::nav::CAbstractNavigator::m_counter_check_target_is_blocked, mrpt::nav::CAbstractNavigator::m_curPoseVel, mrpt::nav::CAbstractNavigator::m_lastNavigationState, mrpt::nav::CAbstractNavigator::m_latestPoses, mrpt::nav::CAbstractNavigator::m_navigationEndEventSent, mrpt::nav::CAbstractNavigator::m_navigationParams, mrpt::nav::CAbstractNavigator::m_navigationState, mrpt::nav::CAbstractNavigator::m_pending_events, MRPT_LOG_DEBUG, MRPT_LOG_ERROR, MRPT_LOG_ERROR_FMT, MRPT_LOG_INFO, MRPT_LOG_THROTTLE_WARN, MRPT_LOG_WARN, mrpt::nav::CAbstractNavigator::NAV_ERROR, mrpt::nav::CAbstractNavigator::NAVIGATING, mrpt::nav::CAbstractNavigator::params_abstract_navigator, mrpt::nav::CAbstractNavigator::performNavigationStep(), mrpt::nav::CAbstractNavigator::TRobotPoseVel::pose, mrpt::poses::CPoseInterpolatorBase< DIM >::rbegin(), mrpt::nav::CRobot2NavInterface::sendNavigationEndEvent(), mrpt::nav::CRobot2NavInterface::sendNavigationStartEvent(), mrpt::nav::CRobot2NavInterface::sendWaySeemsBlockedEvent(), mrpt::poses::CPoseInterpolatorBase< DIM >::size(), mrpt::nav::CAbstractNavigator::stop(), mrpt::nav::CAbstractNavigator::TNavigationParams::target, mrpt::nav::CAbstractNavigator::TargetInfo::target_coords, mrpt::nav::CAbstractNavigator::TargetInfo::targetIsIntermediaryWaypoint, mrpt::system::timeDifference(), mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds(), mrpt::math::TPose2D::x, and mrpt::math::TPose2D::y.

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

void CAbstractPTGBasedReactive::preDestructor ( )
protectedinherited
void CAbstractNavigator::processNavigateCommand ( const TNavigationParams params)
protectedinherited
void CAbstractNavigator::resetNavError ( )
virtualinherited
void CAbstractNavigator::resume ( )
virtualinherited
void CReactiveNavigationSystem::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::CAbstractPTGBasedReactive.

Definition at line 68 of file CReactiveNavigationSystem.cpp.

References MRPT_SAVE_CONFIG_VAR_COMMENT, params_reactive_nav, PTGs, mrpt::nav::CAbstractPTGBasedReactive::saveConfigFile(), and mrpt::nav::CReactiveNavigationSystem::TReactiveNavigatorParams::saveToConfigFile().

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 163 of file CAbstractNavigator.cpp.

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

void CAbstractPTGBasedReactive::setHolonomicMethod ( const std::string method,
const mrpt::utils::CConfigFileBase cfgBase 
)
inherited
void CAbstractPTGBasedReactive::setHolonomicMethod ( THolonomicMethod  method,
const mrpt::utils::CConfigFileBase cfgBase 
)
inherited
void mrpt::nav::CAbstractPTGBasedReactive::setLogFileDirectory ( const std::string sDir)
inlineinherited

Changes the prefix for new log files.

Definition at line 132 of file CAbstractPTGBasedReactive.h.

void CAbstractPTGBasedReactive::setTargetApproachSlowDownDistance ( const double  dist)
inherited

Changes this parameter in all inner holonomic navigator instances [m].

Definition at line 1652 of file CAbstractPTGBasedReactive.cpp.

References mrpt::nav::CAbstractPTGBasedReactive::m_holonomicMethod.

void CReactiveNavigationSystem::STEP1_InitPTGs ( )
privatevirtual
bool CAbstractPTGBasedReactive::STEP2_SenseObstacles ( )
protectedinherited
void CReactiveNavigationSystem::STEP3_WSpaceToTPSpace ( const size_t  ptg_idx,
std::vector< double > &  out_TPObstacles,
mrpt::nav::ClearanceDiagram out_clearance,
const mrpt::math::TPose2D rel_pose_PTG_origin_wrt_sense,
const bool  eval_clearance 
)
protectedvirtual
void CAbstractPTGBasedReactive::STEP8_GenerateLogRecord ( CLogFileRecord newLogRec,
const std::vector< mrpt::math::TPose2D > &  relTargets,
int  nSelectedPTG,
const mrpt::kinematics::CVehicleVelCmdPtr &  new_vel_cmd,
int  nPTGs,
const bool  best_is_NOP_cmdvel,
const math::TPose2D rel_cur_pose_wrt_last_vel_cmd_NOP,
const math::TPose2D rel_pose_PTG_origin_wrt_sense_NOP,
const double  executionTimeValue,
const double  tim_changeSpeed,
const mrpt::system::TTimeStamp tim_start_iteration 
)
protectedinherited

Definition at line 794 of file CAbstractPTGBasedReactive.cpp.

References mrpt::nav::CLogFileRecord::cmd_vel, mrpt::nav::CLogFileRecord_VFF::Create(), mrpt::nav::CLogFileRecord::cur_vel, mrpt::nav::CLogFileRecord::cur_vel_local, mrpt::utils::CTimeLogger::enter(), mrpt::math::LowPassFilter_IIR1::getLastOutput(), mrpt::utils::CTimeLogger::getLastTime(), mrpt::nav::CLogFileRecord::TInfoPerPTG::HLFR, mrpt::nav::CLogFileRecord::infoPerPTG, mrpt::nav::CAbstractPTGBasedReactive::lastLogRecord, mrpt::utils::CTimeLogger::leave(), mrpt::nav::CAbstractPTGBasedReactive::loggingGetWSObstaclesAndShape(), mrpt::nav::CAbstractPTGBasedReactive::m_critZoneLastLog, mrpt::nav::CAbstractNavigator::m_curPoseVel, mrpt::nav::CAbstractPTGBasedReactive::m_lastSentVelCmd, mrpt::nav::CAbstractPTGBasedReactive::m_logFile, mrpt::nav::CAbstractPTGBasedReactive::m_timelogger, mrpt::nav::CAbstractNavigator::m_timlog_delays, mrpt::nav::CAbstractPTGBasedReactive::meanExecutionPeriod, mrpt::nav::CAbstractPTGBasedReactive::meanExecutionTime, mrpt::nav::CLogFileRecord::nPTGs, mrpt::nav::CLogFileRecord::nSelectedPTG, mrpt::nav::CAbstractNavigator::TRobotPoseVel::pose, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::ptg_alpha_index, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::ptg_dynState, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::ptg_index, mrpt::nav::CLogFileRecord::ptg_index_NOP, mrpt::nav::CLogFileRecord::ptg_last_k_NOP, mrpt::nav::CLogFileRecord::ptg_last_navDynState, mrpt::nav::CAbstractNavigator::TRobotPoseVel::rawOdometry, mrpt::nav::CLogFileRecord::rel_cur_pose_wrt_last_vel_cmd_NOP, mrpt::nav::CLogFileRecord::rel_pose_PTG_origin_wrt_sense_NOP, mrpt::nav::CLogFileRecord::robotPoseLocalization, mrpt::nav::CLogFileRecord::robotPoseOdometry, mrpt::nav::CAbstractPTGBasedReactive::tim_changeSpeed_avr, mrpt::nav::CAbstractNavigator::TRobotPoseVel::timestamp, mrpt::nav::CLogFileRecord::timestamps, mrpt::nav::CLogFileRecord::values, mrpt::nav::CAbstractNavigator::TRobotPoseVel::velGlobal, mrpt::nav::CAbstractNavigator::TRobotPoseVel::velLocal, and mrpt::nav::CLogFileRecord::WS_targets_relative.

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

bool CAbstractNavigator::stop ( bool  isEmergencyStop)
protectedvirtualinherited
void CAbstractNavigator::suspend ( )
virtualinherited
void CAbstractNavigator::updateCurrentPoseAndSpeeds ( )
protectedinherited

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 335 of file CAbstractNavigator.cpp.

References mrpt::poses::CPoseInterpolatorBase< DIM >::begin(), mrpt::poses::CPoseInterpolatorBase< DIM >::clear(), mrpt::poses::CPoseInterpolatorBase< DIM >::erase(), mrpt::nav::CRobot2NavInterface::getCurrentPoseAndSpeeds(), mrpt::nav::CRobot2NavInterface::getNavigationTime(), mrpt::poses::CPoseInterpolatorBase< DIM >::insert(), mrpt::nav::CAbstractNavigator::m_curPoseVel, mrpt::nav::CAbstractNavigator::m_last_curPoseVelUpdate_pose_frame_id, mrpt::nav::CAbstractNavigator::m_last_curPoseVelUpdate_robot_time, mrpt::nav::CAbstractNavigator::m_latestOdomPoses, mrpt::nav::CAbstractNavigator::m_latestPoses, mrpt::nav::CAbstractNavigator::m_navigationState, mrpt::nav::CAbstractNavigator::m_robot, mrpt::nav::CAbstractNavigator::m_timlog_delays, MRPT_LOG_ERROR, MRPT_LOG_THROTTLE_DEBUG_FMT, mrpt::nav::CAbstractNavigator::NAV_ERROR, mrpt::math::TPose2D::phi, mrpt::nav::CAbstractNavigator::TRobotPoseVel::pose, mrpt::nav::CAbstractNavigator::TRobotPoseVel::pose_frame_id, PREVIOUS_POSES_MAX_AGE, mrpt::nav::CAbstractNavigator::TRobotPoseVel::rawOdometry, mrpt::poses::CPoseInterpolatorBase< DIM >::rbegin(), mrpt::math::TTwist2D::rotate(), mrpt::poses::CPoseInterpolatorBase< DIM >::size(), mrpt::nav::CAbstractNavigator::stop(), mrpt::system::timeDifference(), mrpt::nav::CAbstractNavigator::TRobotPoseVel::timestamp, mrpt::nav::CAbstractNavigator::TRobotPoseVel::velGlobal, and mrpt::nav::CAbstractNavigator::TRobotPoseVel::velLocal.

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

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

Definition at line 114 of file CWaypointsNavigator.h.

void CWaypointsNavigator::waypoints_navigationStep ( )
protectedvirtualinherited

The waypoints-specific part of navigationStep()

Definition at line 107 of file CWaypointsNavigator.cpp.

References mrpt::nav::TWaypoint::allowed_distance, mrpt::math::angDistance(), ASSERT_, mrpt::nav::CAbstractNavigator::changeSpeeds(), mrpt::math::TSegment2D::distance(), mrpt::nav::CAbstractNavigator::TPendingEvent::event_new_wp, mrpt::nav::CAbstractNavigator::TPendingEvent::event_new_wp_index, mrpt::nav::CAbstractNavigator::TPendingEvent::event_wp_reached, mrpt::nav::CAbstractNavigator::TPendingEvent::event_wp_reached_index, mrpt::nav::CAbstractNavigator::TPendingEvent::event_wp_reached_reached, mrpt::nav::TWaypointStatusSequence::final_goal_reached, mrpt::nav::CRobot2NavInterface::getAlignCmd(), mrpt::nav::CWaypointsNavigator::getWaypointNavStatus(), mrpt::nav::CWaypointsNavigator::impl_waypoint_is_reachable(), int(), mrpt::nav::TWaypoint::INVALID_NUM, mrpt::poses::CPose2D::inverseComposePoint(), mrpt::nav::TWaypointStatusSequence::last_robot_pose, mrpt::nav::CAbstractNavigator::m_curPoseVel, mrpt::nav::CWaypointsNavigator::m_is_aligning, mrpt::nav::CWaypointsNavigator::m_last_alignment_cmd, mrpt::nav::CWaypointsNavigator::m_nav_waypoints_cs, mrpt::nav::CAbstractNavigator::m_pending_events, mrpt::nav::CAbstractNavigator::m_robot, mrpt::nav::CAbstractNavigator::m_timlog_delays, mrpt::nav::CWaypointsNavigator::m_was_aligning, mrpt::nav::CWaypointsNavigator::m_waypoint_nav_status, mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams::max_distance_to_allow_skip_waypoint, mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams::min_timesteps_confirm_skip_waypoints, MRPT_END, MRPT_LOG_DEBUG_STREAM, MRPT_LOG_INFO_FMT, MRPT_LOG_THROTTLE_INFO_FMT, MRPT_START, mrpt::nav::CWaypointsNavigator::TNavigationParamsWaypoints::multiple_targets, mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams::multitarget_look_ahead, mrpt::math::TPoint2D::norm(), mrpt::system::now(), mrpt::nav::CWaypointsNavigator::params_waypoints_navigator, mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), mrpt::math::TPose2D::phi, mrpt::math::TSegment2D::point1, mrpt::math::TSegment2D::point2, mrpt::nav::CAbstractNavigator::TRobotPoseVel::pose, mrpt::nav::CAbstractNavigator::processNavigateCommand(), mrpt::mrpt::utils::RAD2DEG(), mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams::rel_speed_for_stop_waypoints, mrpt::mrpt::math::square(), mrpt::nav::CAbstractNavigator::stop(), mrpt::nav::TWaypoint::target, mrpt::nav::CAbstractNavigator::TNavigationParams::target, mrpt::nav::CAbstractNavigator::TargetInfo::target_coords, mrpt::nav::TWaypoint::target_frame_id, mrpt::nav::CAbstractNavigator::TargetInfo::target_frame_id, mrpt::nav::TWaypoint::target_heading, mrpt::nav::CAbstractNavigator::TargetInfo::targetAllowedDistance, mrpt::nav::CAbstractNavigator::TargetInfo::targetDesiredRelSpeed, mrpt::nav::CAbstractNavigator::TargetInfo::targetIsIntermediaryWaypoint, mrpt::nav::CAbstractNavigator::TargetInfo::targetIsRelative, mrpt::system::timeDifference(), mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds(), mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams::waypoint_angle_tolerance, mrpt::nav::TWaypointStatusSequence::waypoint_index_current_goal, mrpt::nav::TWaypointStatusSequence::waypoints, mrpt::math::TPoint2D::x, mrpt::math::TPose2D::x, mrpt::math::TPoint2D::y, and mrpt::math::TPose2D::y.

Referenced by mrpt::nav::CWaypointsNavigator::navigationStep().

Member Data Documentation

mrpt::utils::CTicTac mrpt::nav::CAbstractPTGBasedReactive::executionTime
protectedinherited
CLogFileRecord mrpt::nav::CAbstractPTGBasedReactive::lastLogRecord
protectedinherited
mrpt::system::TTimeStamp mrpt::nav::CAbstractNavigator::m_badNavAlarm_lastMinDistTime
protectedinherited
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 259 of file CAbstractNavigator.h.

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

bool mrpt::nav::CAbstractPTGBasedReactive::m_closing_navigator
protectedinherited

Signal that the destructor has been called, so no more calls are accepted from other threads.

Definition at line 286 of file CAbstractPTGBasedReactive.h.

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

mrpt::synch::CCriticalSectionRecursive mrpt::nav::CAbstractPTGBasedReactive::m_critZoneLastLog
protectedinherited
TRobotPoseVel mrpt::nav::CAbstractNavigator::m_curPoseVel
protectedinherited
bool mrpt::nav::CAbstractPTGBasedReactive::m_enableConsoleOutput
protectedinherited
bool mrpt::nav::CAbstractPTGBasedReactive::m_enableKeepLogRecords
protectedinherited
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 237 of file CAbstractNavigator.h.

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

std::vector<CAbstractHolonomicReactiveMethod*> mrpt::nav::CAbstractPTGBasedReactive::m_holonomicMethod
protectedinherited
std::vector<TInfoPerPTG> mrpt::nav::CAbstractPTGBasedReactive::m_infoPerPTG
protectedinherited
mrpt::system::TTimeStamp mrpt::nav::CAbstractPTGBasedReactive::m_infoPerPTG_timestamp
protectedinherited
bool mrpt::nav::CAbstractPTGBasedReactive::m_init_done
protectedinherited
std::string mrpt::nav::CAbstractNavigator::m_last_curPoseVelUpdate_pose_frame_id
protectedinherited
double mrpt::nav::CAbstractNavigator::m_last_curPoseVelUpdate_robot_time
protectedinherited
mrpt::kinematics::CVehicleVelCmdPtr mrpt::nav::CAbstractPTGBasedReactive::m_last_vel_cmd
protectedinherited
TSentVelCmd mrpt::nav::CAbstractPTGBasedReactive::m_lastSentVelCmd
protectedinherited
mrpt::poses::CPose2DInterpolator mrpt::nav::CAbstractNavigator::m_latestOdomPoses
protectedinherited
mrpt::poses::CPose2DInterpolator mrpt::nav::CAbstractNavigator::m_latestPoses
protectedinherited
mrpt::utils::CStream* mrpt::nav::CAbstractPTGBasedReactive::m_logFile
protectedinherited
mrpt::nav::CMultiObjectiveMotionOptimizerBasePtr mrpt::nav::CAbstractPTGBasedReactive::m_multiobjopt
protectedinherited
mrpt::synch::CCriticalSectionRecursive mrpt::nav::CAbstractNavigator::m_nav_cs
protectedinherited
mrpt::synch::CCriticalSectionRecursive mrpt::nav::CWaypointsNavigator::m_nav_waypoints_cs
protectedinherited
TNavigationParams* mrpt::nav::CAbstractNavigator::m_navigationParams
protectedinherited
TState mrpt::nav::CAbstractNavigator::m_navigationState
protectedinherited
std::vector<TPendingEvent> mrpt::nav::CAbstractNavigator::m_pending_events
protectedinherited
mrpt::utils::CStream * mrpt::nav::CAbstractPTGBasedReactive::m_prev_logfile
protectedinherited

The current log file stream, or NULL if not being used.

Definition at line 215 of file CAbstractPTGBasedReactive.h.

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

bool mrpt::nav::CAbstractPTGBasedReactive::m_PTGsMustBeReInitialized
protectedinherited
CRobot2NavInterface& mrpt::nav::CAbstractNavigator::m_robot
protectedinherited
mrpt::math::CPolygon mrpt::nav::CReactiveNavigationSystem::m_robotShape
protected

The robot 2D shape model. Only one of robot_shape or robot_shape_circular_radius will be used in each PTG.

Definition at line 99 of file nav/reactive/CReactiveNavigationSystem.h.

Referenced by changeRobotShape(), loggingGetWSObstaclesAndShape(), and STEP1_InitPTGs().

double mrpt::nav::CReactiveNavigationSystem::m_robotShapeCircularRadius
protected

Radius of the robot if approximated as a circle. Only one of robot_shape or robot_shape_circular_radius will be used in each PTG.

Definition at line 100 of file nav/reactive/CReactiveNavigationSystem.h.

Referenced by changeRobotCircularShapeRadius(), loggingGetWSObstaclesAndShape(), and STEP1_InitPTGs().

mrpt::utils::CTimeLogger mrpt::nav::CAbstractPTGBasedReactive::m_timelogger
protectedinherited
mrpt::utils::CTimeLogger mrpt::nav::CAbstractNavigator::m_timlog_delays
protectedinherited
TWaypointStatusSequence mrpt::nav::CWaypointsNavigator::m_waypoint_nav_status
protectedinherited
mrpt::maps::CPointCloudFilterBasePtr mrpt::nav::CAbstractPTGBasedReactive::m_WS_filter
protectedinherited
mrpt::maps::CSimplePointsMap mrpt::nav::CReactiveNavigationSystem::m_WS_Obstacles
protected

The obstacle points, as seen from the local robot frame.

Definition at line 105 of file nav/reactive/CReactiveNavigationSystem.h.

Referenced by checkCollisionWithLatestObstacles(), implementSenseObstacles(), loggingGetWSObstaclesAndShape(), and STEP3_WSpaceToTPSpace().

mrpt::maps::CSimplePointsMap mrpt::nav::CReactiveNavigationSystem::m_WS_Obstacles_original
protected

Obstacle points, before filtering (if filtering is enabled).

Definition at line 106 of file nav/reactive/CReactiveNavigationSystem.h.

Referenced by implementSenseObstacles(), and loggingGetWSObstaclesAndShape().

mrpt::system::TTimeStamp mrpt::nav::CAbstractPTGBasedReactive::m_WS_Obstacles_timestamp
protectedinherited
mrpt::math::LowPassFilter_IIR1 mrpt::nav::CAbstractPTGBasedReactive::meanExecutionPeriod
protectedinherited
mrpt::math::LowPassFilter_IIR1 mrpt::nav::CAbstractPTGBasedReactive::meanExecutionTime
protectedinherited
mrpt::math::LowPassFilter_IIR1 mrpt::nav::CAbstractPTGBasedReactive::meanTotalExecutionTime
protectedinherited
TAbstractNavigatorParams mrpt::nav::CAbstractNavigator::params_abstract_navigator
inherited
TAbstractPTGNavigatorParams mrpt::nav::CAbstractPTGBasedReactive::params_abstract_ptg_navigator
inherited
TReactiveNavigatorParams mrpt::nav::CReactiveNavigationSystem::params_reactive_nav
TWaypointsNavigatorParams mrpt::nav::CWaypointsNavigator::params_waypoints_navigator
inherited
std::vector<CParameterizedTrajectoryGenerator*> mrpt::nav::CReactiveNavigationSystem::PTGs
private
mrpt::utils::CTicTac mrpt::nav::CAbstractPTGBasedReactive::tictac
protectedinherited
mrpt::math::LowPassFilter_IIR1 mrpt::nav::CAbstractPTGBasedReactive::tim_changeSpeed_avr
protectedinherited
mrpt::utils::CTicTac mrpt::nav::CAbstractPTGBasedReactive::timerForExecutionPeriod
protectedinherited
mrpt::math::LowPassFilter_IIR1 mrpt::nav::CAbstractPTGBasedReactive::timoff_curPoseAndSpeed_avr
protectedinherited
mrpt::math::LowPassFilter_IIR1 mrpt::nav::CAbstractPTGBasedReactive::timoff_obstacles_avr
protectedinherited
mrpt::math::LowPassFilter_IIR1 mrpt::nav::CAbstractPTGBasedReactive::timoff_sendVelCmd_avr
protectedinherited
mrpt::utils::CTicTac mrpt::nav::CAbstractPTGBasedReactive::totalExecutionTime
protectedinherited



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