Main MRPT website > C++ reference
MRPT logo
Public Member Functions

mrpt::reactivenav::CAbstractHolonomicReactiveMethod Class Reference


Detailed Description

A base class for holonomic reactive navigation methods.

See also:
CHolonomicVFF,CHolonomicND, CReactiveNavigationSystem

Definition at line 46 of file CAbstractHolonomicReactiveMethod.h.

#include <mrpt/reactivenav/CAbstractHolonomicReactiveMethod.h>

Inheritance diagram for mrpt::reactivenav::CAbstractHolonomicReactiveMethod:
Inheritance graph
[legend]

List of all members.

Public Member Functions

virtual void navigate (poses::CPoint2D &target, vector_double &obstacles, double maxRobotSpeed, double &desiredDirection, double &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.

Constructor & Destructor Documentation

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

Virtual destructor.

Definition at line 69 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_double obstacles,
double  maxRobotSpeed,
double &  desiredDirection,
double &  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.




Page generated by Doxygen 1.7.3 for MRPT 0.9.4 SVN:exported at Tue Jan 25 21:56:31 UTC 2011