00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2011 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef CAbstractHolonomicReactiveMethod_H 00029 #define CAbstractHolonomicReactiveMethod_H 00030 00031 #include <mrpt/utils.h> 00032 #include <mrpt/poses.h> 00033 #include "CHolonomicLogFileRecord.h" 00034 00035 namespace mrpt 00036 { 00037 namespace reactivenav 00038 { 00039 using namespace mrpt::utils; 00040 using namespace mrpt::poses; 00041 00042 /** A base class for holonomic reactive navigation methods. 00043 * \sa CHolonomicVFF,CHolonomicND, CReactiveNavigationSystem 00044 */ 00045 class REACTIVENAV_IMPEXP CAbstractHolonomicReactiveMethod 00046 { 00047 public: 00048 /** This method performs the holonomic navigation itself. 00049 * \param target [IN] The relative location (x,y) of target point. 00050 * \param 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] 00051 * \param maxRobotSpeed [IN] Maximum robot speed, in "pseudometers/sec". See note below. 00052 * \param desiredDirection [OUT] The desired motion direction, in the range [-PI,PI] 00053 * \param desiredSpeed [OUT] The desired motion speed in that direction, in "pseudometers"/sec. (See note below) 00054 * \param 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 <b>must free memory</b> using "delete logRecord" after using it. 00055 * 00056 * NOTE: With "pseudometers" we refer to the distance unit in TP-Space, thus: 00057 * <br><center><code>pseudometer<sup>2</sup>= meter<sup>2</sup> + (rad ยท r)<sup>2</sup></code><br></center> 00058 */ 00059 virtual void navigate( poses::CPoint2D &target, 00060 vector_double &obstacles, 00061 double maxRobotSpeed, 00062 double &desiredDirection, 00063 double &desiredSpeed, 00064 CHolonomicLogFileRecordPtr &logRecord) = 0; 00065 00066 /** Virtual destructor 00067 */ 00068 virtual ~CAbstractHolonomicReactiveMethod() { }; 00069 00070 /** Initialize the parameters of the navigator. 00071 */ 00072 virtual void initialize( const mrpt::utils::CConfigFileBase &INI_FILE ) = 0; 00073 00074 00075 }; 00076 } 00077 } 00078 00079 00080 #endif 00081
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