#include <mrpt/reactivenav/CAbstractReactiveNavigationSystem.h>
Classes | |
struct | TDebug |
This struct is used as a placeholder for functors related to robot movement. More... | |
struct | TEventsLaunching |
This struct is used as a placeholder for fuctors related to launching events. More... | |
struct | TNavigationParams |
The struct for configuring the navigation request. More... | |
struct | TRobotMotionControl |
This struct is used as a placeholder for fuctors related to robot movement. More... | |
struct | TSensors |
This struct is used as a placeholder for fuctors related to sensing. More... | |
Public Types | |
enum | TState { IDLE = 0, NAVIGATING, SUSPENDED, NAV_ERROR } |
The different states for the navigation system. More... | |
Public Member Functions | |
CAbstractReactiveNavigationSystem (TRobotMotionControl &rmc, TSensors &sensors, void(*emul_printf)(const char *s), TEventsLaunching &evnts) | |
Constructor. | |
virtual | ~CAbstractReactiveNavigationSystem () |
Destructor. | |
void | cancel () |
Cancel current navegacion. | |
void | resume () |
Continues with suspended navigation. | |
virtual float | evaluate (TNavigationParams *params)=0 |
Evaluates the practicability of a navigation for given parameters:. | |
void | navigationStep () |
This method must be called periodically in order to effectively run the navigation. | |
virtual void | navigate (TNavigationParams *params)=0 |
Navigation request. | |
virtual void | setParams (TNavigationParams *params)=0 |
Changes the parameters for current navigation. | |
virtual void | suspend () |
Suspend current navegation. | |
TState | getCurrentState () |
Returns the current navigator state. | |
Protected Member Functions | |
virtual void | performNavigationStep ()=0 |
To be implemented in derived classes. | |
void | TextoDebug (const char *formatStr,...) |
Protected Attributes | |
TState | navigationState |
Current internal state of navigator:. | |
TNavigationParams | navigationParams |
Current navigation parameters:. | |
TRobotMotionControl | RobotMotionControl |
Wrappers. | |
TSensors | Sensors |
TDebug | Debug |
TEventsLaunching | EventsLaunching |
Private Attributes | |
TState | lastNavigationState |
Last internal state of navigator:. |
Here is defined the interface that users will use with derived classes where algorithms are really implemented.
Changes history:
Definition at line 55 of file CAbstractReactiveNavigationSystem.h.
The different states for the navigation system.
Definition at line 236 of file CAbstractReactiveNavigationSystem.h.
mrpt::reactivenav::CAbstractReactiveNavigationSystem::CAbstractReactiveNavigationSystem | ( | TRobotMotionControl & | rmc, | |
TSensors & | sensors, | |||
void(*)(const char *s) | emul_printf, | |||
TEventsLaunching & | evnts | |||
) |
Constructor.
virtual mrpt::reactivenav::CAbstractReactiveNavigationSystem::~CAbstractReactiveNavigationSystem | ( | ) | [inline, virtual] |
void mrpt::reactivenav::CAbstractReactiveNavigationSystem::cancel | ( | ) |
Cancel current navegacion.
virtual float mrpt::reactivenav::CAbstractReactiveNavigationSystem::evaluate | ( | TNavigationParams * | params | ) | [pure virtual] |
Evaluates the practicability of a navigation for given parameters:.
Implemented in mrpt::reactivenav::CReactiveNavigationSystem.
TState mrpt::reactivenav::CAbstractReactiveNavigationSystem::getCurrentState | ( | ) | [inline] |
Returns the current navigator state.
Definition at line 246 of file CAbstractReactiveNavigationSystem.h.
virtual void mrpt::reactivenav::CAbstractReactiveNavigationSystem::navigate | ( | TNavigationParams * | params | ) | [pure virtual] |
Navigation request.
It starts a new navigation.
Implemented in mrpt::reactivenav::CReactiveNavigationSystem.
void mrpt::reactivenav::CAbstractReactiveNavigationSystem::navigationStep | ( | ) |
This method must be called periodically in order to effectively run the navigation.
virtual void mrpt::reactivenav::CAbstractReactiveNavigationSystem::performNavigationStep | ( | ) | [protected, pure virtual] |
void mrpt::reactivenav::CAbstractReactiveNavigationSystem::resume | ( | ) |
virtual void mrpt::reactivenav::CAbstractReactiveNavigationSystem::setParams | ( | TNavigationParams * | params | ) | [pure virtual] |
Changes the parameters for current navigation.
Implemented in mrpt::reactivenav::CReactiveNavigationSystem.
virtual void mrpt::reactivenav::CAbstractReactiveNavigationSystem::suspend | ( | ) | [virtual] |
void mrpt::reactivenav::CAbstractReactiveNavigationSystem::TextoDebug | ( | const char * | formatStr, | |
... | ||||
) | [inline, protected] |
Definition at line 273 of file CAbstractReactiveNavigationSystem.h.
References mrpt::system::os::vsprintf().
Definition at line 270 of file CAbstractReactiveNavigationSystem.h.
Definition at line 271 of file CAbstractReactiveNavigationSystem.h.
Last internal state of navigator:.
Definition at line 251 of file CAbstractReactiveNavigationSystem.h.
Current internal state of navigator:.
Definition at line 260 of file CAbstractReactiveNavigationSystem.h.
Definition at line 269 of file CAbstractReactiveNavigationSystem.h.
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