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mrpt::nav::CAbstractReactiveNavigationSystem Class Referenceabstract

Detailed Description

This is the base class for any reactive navigation system.

Here is defined the interface that users will use with derived classes where algorithms are really implemented.

Changes history:

16/SEP/2004: Totally redesigned.

How to use:

See also
CReactiveNavigationSystem, CReactiveInterfaceImplementation

Definition at line 102 of file CAbstractReactiveNavigationSystem.h.

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

Inheritance diagram for mrpt::nav::CAbstractReactiveNavigationSystem:
Inheritance graph

Classes

struct  TNavigationParams
 The struct for configuring navigation requests. More...
 

Public Types

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

Public Member Functions

 CAbstractReactiveNavigationSystem (CReactiveInterfaceImplementation &react_iterf_impl)
 Constructor.
 
virtual ~CAbstractReactiveNavigationSystem ()
 Destructor.
 
void cancel ()
 Cancel current navegacion.
 
void resume ()
 Continues with suspended navigation.
 
void navigationStep ()
 This method must be called periodically in order to effectively run the navigation.
 
virtual void navigate (const TNavigationParams *params)=0
 Navigation request.
 
virtual void suspend ()
 Suspend current navegation.
 
TState getCurrentState () const
 Returns the current navigator state.
 

Static Public Member Functions

static void printf_debug (const char *frmt,...)
 Sends a formated text to "debugOut" if not NULL, or to cout otherwise.
 

Protected Member Functions

virtual void performNavigationStep ()=0
 To be implemented in derived classes.
 

Protected Attributes

TState m_navigationState
 Current internal state of navigator:
 
TNavigationParamsm_navigationParams
 Current navigation parameters.
 
CReactiveInterfaceImplementationm_robot
 The navigator-robot interface.
 

Private Attributes

TState m_lastNavigationState
 Last internal state of navigator:
 

Member Enumeration Documentation

◆ TState

The different states for the navigation system.

Enumerator
IDLE 
NAVIGATING 
SUSPENDED 
NAV_ERROR 

Definition at line 145 of file CAbstractReactiveNavigationSystem.h.

Constructor & Destructor Documentation

◆ CAbstractReactiveNavigationSystem()

mrpt::nav::CAbstractReactiveNavigationSystem::CAbstractReactiveNavigationSystem ( CReactiveInterfaceImplementation react_iterf_impl)

Constructor.

◆ ~CAbstractReactiveNavigationSystem()

virtual mrpt::nav::CAbstractReactiveNavigationSystem::~CAbstractReactiveNavigationSystem ( )
virtual

Destructor.

Member Function Documentation

◆ cancel()

void mrpt::nav::CAbstractReactiveNavigationSystem::cancel ( )

Cancel current navegacion.

◆ getCurrentState()

TState mrpt::nav::CAbstractReactiveNavigationSystem::getCurrentState ( ) const
inline

Returns the current navigator state.

Definition at line 154 of file CAbstractReactiveNavigationSystem.h.

◆ navigate()

virtual void mrpt::nav::CAbstractReactiveNavigationSystem::navigate ( const TNavigationParams params)
pure virtual

Navigation request.

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.)

Implemented in mrpt::nav::CAbstractPTGBasedReactive.

◆ navigationStep()

void mrpt::nav::CAbstractReactiveNavigationSystem::navigationStep ( )

This method must be called periodically in order to effectively run the navigation.

◆ performNavigationStep()

virtual void mrpt::nav::CAbstractReactiveNavigationSystem::performNavigationStep ( )
protectedpure virtual

To be implemented in derived classes.

Implemented in mrpt::nav::CAbstractPTGBasedReactive.

◆ printf_debug()

static void mrpt::utils::CDebugOutputCapable::printf_debug ( const char *  frmt,
  ... 
)
staticinherited

Sends a formated text to "debugOut" if not NULL, or to cout otherwise.

Referenced by mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute().

◆ resume()

void mrpt::nav::CAbstractReactiveNavigationSystem::resume ( )

Continues with suspended navigation.

See also
suspend

◆ suspend()

virtual void mrpt::nav::CAbstractReactiveNavigationSystem::suspend ( )
virtual

Suspend current navegation.

See also
resume

Member Data Documentation

◆ m_lastNavigationState

TState mrpt::nav::CAbstractReactiveNavigationSystem::m_lastNavigationState
private

Last internal state of navigator:

Definition at line 157 of file CAbstractReactiveNavigationSystem.h.

◆ m_navigationParams

TNavigationParams* mrpt::nav::CAbstractReactiveNavigationSystem::m_navigationParams
protected

Current navigation parameters.

Definition at line 164 of file CAbstractReactiveNavigationSystem.h.

◆ m_navigationState

TState mrpt::nav::CAbstractReactiveNavigationSystem::m_navigationState
protected

Current internal state of navigator:

Definition at line 163 of file CAbstractReactiveNavigationSystem.h.

◆ m_robot

CReactiveInterfaceImplementation& mrpt::nav::CAbstractReactiveNavigationSystem::m_robot
protected

The navigator-robot interface.

Definition at line 167 of file CAbstractReactiveNavigationSystem.h.




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