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mrpt::reactivenav::CAbstractHolonomicReactiveMethod Class Reference

A base class for holonomic reactive navigation methods. More...

#include <mrpt/reactivenav/CAbstractHolonomicReactiveMethod.h>

Inheritance diagram for mrpt::reactivenav::CAbstractHolonomicReactiveMethod:

mrpt::reactivenav::CHolonomicND mrpt::reactivenav::CHolonomicVFF

List of all members.

Public Member Functions

virtual void navigate (poses::CPoint2D &target, vector_float &obstacles, float maxRobotSpeed, float &desiredDirection, float &desiredSpeed, CHolonomicLogFileRecordPtr &logRecord)=0
 This method performs the holonomic navigation itself.
virtual ~CAbstractHolonomicReactiveMethod ()
 Virtual destructor.
virtual void initialize (const mrpt::utils::CConfigFileBase &INI_FILE)=0
 Initialize the parameters of the navigator.


Detailed Description

A base class for holonomic reactive navigation methods.

See also:
CHolonomicVFF,CHolonomicND, CReactiveNavigationSystem

Definition at line 45 of file CAbstractHolonomicReactiveMethod.h.


Constructor & Destructor Documentation

virtual mrpt::reactivenav::CAbstractHolonomicReactiveMethod::~CAbstractHolonomicReactiveMethod (  )  [inline, virtual]

Virtual destructor.

Definition at line 68 of file CAbstractHolonomicReactiveMethod.h.


Member Function Documentation

virtual void mrpt::reactivenav::CAbstractHolonomicReactiveMethod::initialize ( const mrpt::utils::CConfigFileBase INI_FILE  )  [pure virtual]

Initialize the parameters of the navigator.

Implemented in mrpt::reactivenav::CHolonomicND, and mrpt::reactivenav::CHolonomicVFF.

virtual void mrpt::reactivenav::CAbstractHolonomicReactiveMethod::navigate ( poses::CPoint2D target,
vector_float obstacles,
float  maxRobotSpeed,
float &  desiredDirection,
float &  desiredSpeed,
CHolonomicLogFileRecordPtr &  logRecord 
) [pure virtual]

This method performs the holonomic navigation itself.

Parameters:
target [IN] The relative location (x,y) of target point.
obstacles [IN] Distance to obstacles from robot location (0,0). First index refers to -PI direction, and last one to +PI direction. Distances can be dealed as "meters", although they are "pseudometers", see note below, but normalized in the range [0,1]
maxRobotSpeed [IN] Maximum robot speed, in "pseudometers/sec". See note below.
desiredDirection [OUT] The desired motion direction, in the range [-PI,PI]
desiredSpeed [OUT] The desired motion speed in that direction, in "pseudometers"/sec. (See note below)
logRecord [IN/OUT] A placeholder for a pointer to a log record with extra info about the execution. Set to NULL if not required. User must free memory using "delete logRecord" after using it.
NOTE: With "pseudometers" we refer to the distance unit in TP-Space, thus:
pseudometer2= meter2 + (rad ยท r)2

Implemented in mrpt::reactivenav::CHolonomicND, and mrpt::reactivenav::CHolonomicVFF.




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