Main MRPT website > C++ reference for MRPT 1.4.0
List of all members | Classes | Public Types | Public Member Functions | Static Public Member Functions | Protected Member Functions | Protected Attributes | Private Member Functions | Private Attributes
mrpt::nav::CAbstractPTGBasedReactive Class Referenceabstract

Detailed Description

Base class for reactive navigator systems based on TP-Space, with an arbitrary holonomic reactive method running on it and any number of PTGs for transforming the navigation space.

Both, the holonomic method and the PTGs can be customized by the apropriate user derived classes.

How to use:

For working examples, refer to the source code of the apps:

Publications:

See also
CReactiveNavigationSystem, CReactiveNavigationSystem3D

Definition at line 46 of file CAbstractPTGBasedReactive.h.

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

Inheritance diagram for mrpt::nav::CAbstractPTGBasedReactive:
Inheritance graph

Classes

struct  THolonomicMovement
 The structure used for storing a movement generated by a holonomic-method. More...
 
struct  TInfoPerPTG
 
struct  TNavigationParamsPTG
 The struct for configuring navigation requests to CAbstractPTGBasedReactive and derived classes. More...
 

Public Types

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

Public Member Functions

 CAbstractPTGBasedReactive (CReactiveInterfaceImplementation &react_iterf_impl, bool enableConsoleOutput=true, bool enableLogFile=false)
 Constructor.
 
virtual ~CAbstractPTGBasedReactive ()
 
void initialize ()
 Must be called for loading collision grids, or the first navigation command may last a long time to be executed.
 
void setHolonomicMethod (THolonomicMethod method, const mrpt::utils::CConfigFileBase &cfgBase)
 Selects which one from the set of available holonomic methods will be used into transformed TP-Space, and sets its configuration from a configuration file.
 
void loadHolonomicMethodConfig (const mrpt::utils::CConfigFileBase &ini, const std::string &section)
 Just loads the holonomic method params from the given config source.
 
virtual void navigate (const TNavigationParams *params)
 Start navigation:
 
void getLastLogRecord (CLogFileRecord &o)
 Provides a copy of the last log record with information about execution.
 
void enableKeepLogRecords (bool enable=true)
 Enables keeping an internal registry of navigation logs that can be queried with getLastLogRecord()
 
void enableLogFile (bool enable)
 Enables/disables saving log files.
 
void enableTimeLog (bool enable=true)
 Enables/disables the detailed time logger (default:disabled upon construction) When enabled, a report will be dumped to std::cout upon destruction.
 
const mrpt::utils::CTimeLoggergetTimeLogger () const
 Gives access to a const-ref to the internal time logger.
 
virtual size_t getPTG_count () const =0
 Returns the number of different PTGs that have been setup.
 
virtual CParameterizedTrajectoryGeneratorgetPTG (size_t i)=0
 Gets the i'th PTG.
 
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 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

void performNavigationStep ()
 The main method for the navigator.
 
void doEmergencyStop (const char *msg)
 Stops the robot and set navigation state to error.
 
virtual void STEP1_CollisionGridsBuilder ()=0
 
virtual bool STEP2_SenseObstacles ()=0
 Return false on any fatal error.
 
virtual void STEP3_WSpaceToTPSpace (const size_t ptg_idx, std::vector< float > &out_TPObstacles)=0
 Builds TP-Obstacles from Workspace obstacles for the given PTG.
 
virtual void loggingGetWSObstaclesAndShape (CLogFileRecord &out_log)=0
 Generates a pointcloud of obstacles, and the robot shape, to be saved in the logging record for the current timestep.
 
void STEP5_PTGEvaluator (THolonomicMovement &holonomicMovement, const std::vector< float > &in_TPObstacles, const mrpt::math::TPose2D &WS_Target, const mrpt::math::TPoint2D &TP_Target, CLogFileRecord::TInfoPerPTG &log)
 Scores holonomicMovement.
 
virtual void STEP7_GenerateSpeedCommands (const THolonomicMovement &in_movement)
 
void preDestructor ()
 To be called during children destructors to assure thread-safe destruction, and free of shared objects.
 

Protected Attributes

std::vector< CAbstractHolonomicReactiveMethod * > m_holonomicMethod
 The holonomic navigation algorithm (one object per PTG, so internal states are maintained)
 
mrpt::utils::CStreamm_logFile
 The current log file stream, or NULL if not being used.
 
bool m_enableKeepLogRecords
 See enableKeepLogRecords.
 
CLogFileRecord lastLogRecord
 The last log.
 
float last_cmd_v
 
float last_cmd_w
 
float new_cmd_v
 
float new_cmd_w
 Speed actual and last commands:
 
bool navigationEndEventSent
 Will be false until the navigation end is sent, and it is reset with each new command.
 
synch::CCriticalSection m_critZoneLastLog
 
synch::CCriticalSection m_critZoneNavigating
 Critical zones.
 
bool m_enableConsoleOutput
 Enables / disables the console debug output.
 
bool m_init_done
 Whether loadConfigFile() has been called or not.
 
mrpt::utils::CTicTac timerForExecutionPeriod
 
std::string ptg_cache_files_directory
 (Default: ".")
 
std::string robotName
 Robot name.
 
float refDistance
 "D_{max}" in papers.
 
float colGridRes
 CollisionGrid resolution.
 
float robotMax_V_mps
 Max. linear speed (m/s)
 
float robotMax_W_degps
 Max. angular speed (deg/s)
 
float SPEEDFILTER_TAU
 Time constant for the low-pass filter applied to the speed commands.
 
std::vector< float > weights
 length: 6 [0,5]
 
float secureDistanceStart
 In normalized distances, the start and end of a ramp function that scales the velocity output from the holonomic navigator:
 
float secureDistanceEnd
 
float DIST_TO_TARGET_FOR_SENDING_EVENT
 
float meanExecutionPeriod
 Runtime estimation of execution period of the method.
 
mrpt::utils::CTimeLogger m_timelogger
 A complete time logger.
 
float badNavAlarm_minDistTarget
 For sending an alarm (error event) when it seems that we are not approaching toward the target in a while...
 
mrpt::system::TTimeStamp badNavAlarm_lastMinDistTime
 
float badNavAlarm_AlarmTimeout
 
bool m_collisionGridsMustBeUpdated
 
TState m_navigationState
 Current internal state of navigator:
 
TNavigationParamsm_navigationParams
 Current navigation parameters.
 
CReactiveInterfaceImplementationm_robot
 The navigator-robot interface.
 
Variables for CReactiveNavigationSystem::performNavigationStep
mrpt::utils::CTicTac totalExecutionTime
 
mrpt::utils::CTicTac executionTime
 
mrpt::utils::CTicTac tictac
 
float meanExecutionTime
 
float meanTotalExecutionTime
 

Private Member Functions

void deleteHolonomicObjects ()
 Delete m_holonomicMethod.
 

Private Attributes

bool m_closing_navigator
 Signal that the destructor has been called, so no more calls are accepted from other threads.
 
std::vector< TInfoPerPTGm_infoPerPTG
 Temporary buffers for working with each PTG during a navigationStep()
 
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

◆ CAbstractPTGBasedReactive()

mrpt::nav::CAbstractPTGBasedReactive::CAbstractPTGBasedReactive ( CReactiveInterfaceImplementation react_iterf_impl,
bool  enableConsoleOutput = true,
bool  enableLogFile = false 
)

Constructor.

Parameters
[in]react_iterf_implAn instance of an object that implement all the required interfaces to read from and control a robot.
[in]enableConsoleOutputCan be set to false to reduce verbosity.
[in]enableLogFileSet to true to enable creation of navigation log files, useful for inspection and debugging.

◆ ~CAbstractPTGBasedReactive()

virtual mrpt::nav::CAbstractPTGBasedReactive::~CAbstractPTGBasedReactive ( )
virtual

Member Function Documentation

◆ cancel()

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

Cancel current navegacion.

◆ deleteHolonomicObjects()

void mrpt::nav::CAbstractPTGBasedReactive::deleteHolonomicObjects ( )
private

Delete m_holonomicMethod.

◆ doEmergencyStop()

void mrpt::nav::CAbstractPTGBasedReactive::doEmergencyStop ( const char *  msg)
protected

Stops the robot and set navigation state to error.

◆ enableKeepLogRecords()

void mrpt::nav::CAbstractPTGBasedReactive::enableKeepLogRecords ( bool  enable = true)
inline

Enables keeping an internal registry of navigation logs that can be queried with getLastLogRecord()

Definition at line 106 of file CAbstractPTGBasedReactive.h.

◆ enableLogFile()

void mrpt::nav::CAbstractPTGBasedReactive::enableLogFile ( bool  enable)

Enables/disables saving log files.

◆ enableTimeLog()

void mrpt::nav::CAbstractPTGBasedReactive::enableTimeLog ( bool  enable = true)
inline

Enables/disables the detailed time logger (default:disabled upon construction) When enabled, a report will be dumped to std::cout upon destruction.

See also
getTimeLogger

Definition at line 115 of file CAbstractPTGBasedReactive.h.

References MRPT_UNUSED_PARAM.

◆ getCurrentState()

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

Returns the current navigator state.

Definition at line 154 of file CAbstractReactiveNavigationSystem.h.

◆ getLastLogRecord()

void mrpt::nav::CAbstractPTGBasedReactive::getLastLogRecord ( CLogFileRecord o)

Provides a copy of the last log record with information about execution.

Parameters
oAn object where the log will be stored into.
Note
Log records are not prepared unless either "enableLogFile" is enabled in the constructor or "enableKeepLogRecords()" has been called.

◆ getPTG()

virtual CParameterizedTrajectoryGenerator * mrpt::nav::CAbstractPTGBasedReactive::getPTG ( size_t  i)
pure virtual

◆ getPTG_count()

virtual size_t mrpt::nav::CAbstractPTGBasedReactive::getPTG_count ( ) const
pure virtual

Returns the number of different PTGs that have been setup.

Implemented in mrpt::nav::CReactiveNavigationSystem, and mrpt::nav::CReactiveNavigationSystem3D.

◆ getTimeLogger()

const mrpt::utils::CTimeLogger & mrpt::nav::CAbstractPTGBasedReactive::getTimeLogger ( ) const
inline

Gives access to a const-ref to the internal time logger.

See also
enableTimeLog

Definition at line 121 of file CAbstractPTGBasedReactive.h.

◆ initialize()

void mrpt::nav::CAbstractPTGBasedReactive::initialize ( )

Must be called for loading collision grids, or the first navigation command may last a long time to be executed.

Internally, it just calls STEP1_CollisionGridsBuilder().

◆ loadHolonomicMethodConfig()

void mrpt::nav::CAbstractPTGBasedReactive::loadHolonomicMethodConfig ( const mrpt::utils::CConfigFileBase ini,
const std::string &  section 
)

Just loads the holonomic method params from the given config source.

See also
setHolonomicMethod

◆ loggingGetWSObstaclesAndShape()

virtual void mrpt::nav::CAbstractPTGBasedReactive::loggingGetWSObstaclesAndShape ( CLogFileRecord out_log)
protectedpure virtual

Generates a pointcloud of obstacles, and the robot shape, to be saved in the logging record for the current timestep.

Implemented in mrpt::nav::CReactiveNavigationSystem, and mrpt::nav::CReactiveNavigationSystem3D.

◆ navigate()

virtual void mrpt::nav::CAbstractPTGBasedReactive::navigate ( const TNavigationParams params)
virtual

Start navigation:

Parameters
[in]paramsPointer to structure with navigation info (its contents will be copied, so the original can be freely destroyed upon return.)

Implements mrpt::nav::CAbstractReactiveNavigationSystem.

◆ navigationStep()

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

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

◆ performNavigationStep()

void mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep ( )
protectedvirtual

The main method for the navigator.

Implements mrpt::nav::CAbstractReactiveNavigationSystem.

◆ preDestructor()

void mrpt::nav::CAbstractPTGBasedReactive::preDestructor ( )
protected

To be called during children destructors to assure thread-safe destruction, and free of shared objects.

◆ 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 ( )
inherited

Continues with suspended navigation.

See also
suspend

◆ setHolonomicMethod()

void mrpt::nav::CAbstractPTGBasedReactive::setHolonomicMethod ( THolonomicMethod  method,
const mrpt::utils::CConfigFileBase cfgBase 
)

Selects which one from the set of available holonomic methods will be used into transformed TP-Space, and sets its configuration from a configuration file.

◆ STEP1_CollisionGridsBuilder()

virtual void mrpt::nav::CAbstractPTGBasedReactive::STEP1_CollisionGridsBuilder ( )
protectedpure virtual

◆ STEP2_SenseObstacles()

virtual bool mrpt::nav::CAbstractPTGBasedReactive::STEP2_SenseObstacles ( )
protectedpure virtual

Return false on any fatal error.

Implemented in mrpt::nav::CReactiveNavigationSystem, and mrpt::nav::CReactiveNavigationSystem3D.

◆ STEP3_WSpaceToTPSpace()

virtual void mrpt::nav::CAbstractPTGBasedReactive::STEP3_WSpaceToTPSpace ( const size_t  ptg_idx,
std::vector< float > &  out_TPObstacles 
)
protectedpure virtual

Builds TP-Obstacles from Workspace obstacles for the given PTG.

"out_TPObstacles" is already initialized to the proper length and maximum collision-free distance for each "k" trajectory index. Distances are in "pseudo-meters". They will be normalized automatically to [0,1] upon return.

Implemented in mrpt::nav::CReactiveNavigationSystem, and mrpt::nav::CReactiveNavigationSystem3D.

◆ STEP5_PTGEvaluator()

void mrpt::nav::CAbstractPTGBasedReactive::STEP5_PTGEvaluator ( THolonomicMovement holonomicMovement,
const std::vector< float > &  in_TPObstacles,
const mrpt::math::TPose2D WS_Target,
const mrpt::math::TPoint2D TP_Target,
CLogFileRecord::TInfoPerPTG log 
)
protected

Scores holonomicMovement.

◆ STEP7_GenerateSpeedCommands()

virtual void mrpt::nav::CAbstractPTGBasedReactive::STEP7_GenerateSpeedCommands ( const THolonomicMovement in_movement)
protectedvirtual

◆ suspend()

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

Suspend current navegation.

See also
resume

Member Data Documentation

◆ badNavAlarm_AlarmTimeout

float mrpt::nav::CAbstractPTGBasedReactive::badNavAlarm_AlarmTimeout
protected

Definition at line 199 of file CAbstractPTGBasedReactive.h.

◆ badNavAlarm_lastMinDistTime

mrpt::system::TTimeStamp mrpt::nav::CAbstractPTGBasedReactive::badNavAlarm_lastMinDistTime
protected

Definition at line 198 of file CAbstractPTGBasedReactive.h.

◆ badNavAlarm_minDistTarget

float mrpt::nav::CAbstractPTGBasedReactive::badNavAlarm_minDistTarget
protected

For sending an alarm (error event) when it seems that we are not approaching toward the target in a while...

Definition at line 197 of file CAbstractPTGBasedReactive.h.

◆ colGridRes

float mrpt::nav::CAbstractPTGBasedReactive::colGridRes
protected

CollisionGrid resolution.

Definition at line 167 of file CAbstractPTGBasedReactive.h.

◆ DIST_TO_TARGET_FOR_SENDING_EVENT

float mrpt::nav::CAbstractPTGBasedReactive::DIST_TO_TARGET_FOR_SENDING_EVENT
protected

Definition at line 192 of file CAbstractPTGBasedReactive.h.

◆ executionTime

mrpt::utils::CTicTac mrpt::nav::CAbstractPTGBasedReactive::executionTime
protected

Definition at line 208 of file CAbstractPTGBasedReactive.h.

◆ last_cmd_v

float mrpt::nav::CAbstractPTGBasedReactive::last_cmd_v
protected

Definition at line 155 of file CAbstractPTGBasedReactive.h.

◆ last_cmd_w

float mrpt::nav::CAbstractPTGBasedReactive::last_cmd_w
protected

Definition at line 155 of file CAbstractPTGBasedReactive.h.

◆ lastLogRecord

CLogFileRecord mrpt::nav::CAbstractPTGBasedReactive::lastLogRecord
protected

The last log.

Definition at line 154 of file CAbstractPTGBasedReactive.h.

◆ m_closing_navigator

bool mrpt::nav::CAbstractPTGBasedReactive::m_closing_navigator
private

Signal that the destructor has been called, so no more calls are accepted from other threads.

Definition at line 243 of file CAbstractPTGBasedReactive.h.

◆ m_collisionGridsMustBeUpdated

bool mrpt::nav::CAbstractPTGBasedReactive::m_collisionGridsMustBeUpdated
protected

Definition at line 201 of file CAbstractPTGBasedReactive.h.

◆ m_critZoneLastLog

synch::CCriticalSection mrpt::nav::CAbstractPTGBasedReactive::m_critZoneLastLog
protected

Definition at line 157 of file CAbstractPTGBasedReactive.h.

◆ m_critZoneNavigating

synch::CCriticalSection mrpt::nav::CAbstractPTGBasedReactive::m_critZoneNavigating
protected

Critical zones.

Definition at line 157 of file CAbstractPTGBasedReactive.h.

◆ m_enableConsoleOutput

bool mrpt::nav::CAbstractPTGBasedReactive::m_enableConsoleOutput
protected

Enables / disables the console debug output.

Definition at line 159 of file CAbstractPTGBasedReactive.h.

◆ m_enableKeepLogRecords

bool mrpt::nav::CAbstractPTGBasedReactive::m_enableKeepLogRecords
protected

See enableKeepLogRecords.

Definition at line 153 of file CAbstractPTGBasedReactive.h.

◆ m_holonomicMethod

std::vector<CAbstractHolonomicReactiveMethod*> mrpt::nav::CAbstractPTGBasedReactive::m_holonomicMethod
protected

The holonomic navigation algorithm (one object per PTG, so internal states are maintained)

Definition at line 151 of file CAbstractPTGBasedReactive.h.

◆ m_infoPerPTG

std::vector<TInfoPerPTG> mrpt::nav::CAbstractPTGBasedReactive::m_infoPerPTG
private

Temporary buffers for working with each PTG during a navigationStep()

Definition at line 255 of file CAbstractPTGBasedReactive.h.

◆ m_init_done

bool mrpt::nav::CAbstractPTGBasedReactive::m_init_done
protected

Whether loadConfigFile() has been called or not.

Definition at line 160 of file CAbstractPTGBasedReactive.h.

◆ m_lastNavigationState

TState mrpt::nav::CAbstractReactiveNavigationSystem::m_lastNavigationState
privateinherited

Last internal state of navigator:

Definition at line 157 of file CAbstractReactiveNavigationSystem.h.

◆ m_logFile

mrpt::utils::CStream* mrpt::nav::CAbstractPTGBasedReactive::m_logFile
protected

The current log file stream, or NULL if not being used.

Definition at line 152 of file CAbstractPTGBasedReactive.h.

◆ m_navigationParams

TNavigationParams* mrpt::nav::CAbstractReactiveNavigationSystem::m_navigationParams
protectedinherited

Current navigation parameters.

Definition at line 164 of file CAbstractReactiveNavigationSystem.h.

◆ m_navigationState

TState mrpt::nav::CAbstractReactiveNavigationSystem::m_navigationState
protectedinherited

Current internal state of navigator:

Definition at line 163 of file CAbstractReactiveNavigationSystem.h.

◆ m_robot

CReactiveInterfaceImplementation& mrpt::nav::CAbstractReactiveNavigationSystem::m_robot
protectedinherited

The navigator-robot interface.

Definition at line 167 of file CAbstractReactiveNavigationSystem.h.

◆ m_timelogger

mrpt::utils::CTimeLogger mrpt::nav::CAbstractPTGBasedReactive::m_timelogger
protected

A complete time logger.

See also
enableTimeLog()

Definition at line 194 of file CAbstractPTGBasedReactive.h.

◆ meanExecutionPeriod

float mrpt::nav::CAbstractPTGBasedReactive::meanExecutionPeriod
protected

Runtime estimation of execution period of the method.

Definition at line 193 of file CAbstractPTGBasedReactive.h.

◆ meanExecutionTime

float mrpt::nav::CAbstractPTGBasedReactive::meanExecutionTime
protected

Definition at line 209 of file CAbstractPTGBasedReactive.h.

◆ meanTotalExecutionTime

float mrpt::nav::CAbstractPTGBasedReactive::meanTotalExecutionTime
protected

Definition at line 209 of file CAbstractPTGBasedReactive.h.

◆ navigationEndEventSent

bool mrpt::nav::CAbstractPTGBasedReactive::navigationEndEventSent
protected

Will be false until the navigation end is sent, and it is reset with each new command.

Definition at line 156 of file CAbstractPTGBasedReactive.h.

◆ new_cmd_v

float mrpt::nav::CAbstractPTGBasedReactive::new_cmd_v
protected

Definition at line 155 of file CAbstractPTGBasedReactive.h.

◆ new_cmd_w

float mrpt::nav::CAbstractPTGBasedReactive::new_cmd_w
protected

Speed actual and last commands:

Definition at line 155 of file CAbstractPTGBasedReactive.h.

◆ ptg_cache_files_directory

std::string mrpt::nav::CAbstractPTGBasedReactive::ptg_cache_files_directory
protected

(Default: ".")

Definition at line 164 of file CAbstractPTGBasedReactive.h.

◆ refDistance

float mrpt::nav::CAbstractPTGBasedReactive::refDistance
protected

"D_{max}" in papers.

Definition at line 166 of file CAbstractPTGBasedReactive.h.

◆ robotMax_V_mps

float mrpt::nav::CAbstractPTGBasedReactive::robotMax_V_mps
protected

Max. linear speed (m/s)

Definition at line 168 of file CAbstractPTGBasedReactive.h.

◆ robotMax_W_degps

float mrpt::nav::CAbstractPTGBasedReactive::robotMax_W_degps
protected

Max. angular speed (deg/s)

Definition at line 169 of file CAbstractPTGBasedReactive.h.

◆ robotName

std::string mrpt::nav::CAbstractPTGBasedReactive::robotName
protected

Robot name.

Definition at line 165 of file CAbstractPTGBasedReactive.h.

◆ secureDistanceEnd

float mrpt::nav::CAbstractPTGBasedReactive::secureDistanceEnd
protected

Definition at line 189 of file CAbstractPTGBasedReactive.h.

◆ secureDistanceStart

float mrpt::nav::CAbstractPTGBasedReactive::secureDistanceStart
protected

In normalized distances, the start and end of a ramp function that scales the velocity output from the holonomic navigator:

velocity scale
^
| _____________
| /
1 | /
| /
0 +-------+---|----------------> normalized distance
Start
End

Definition at line 189 of file CAbstractPTGBasedReactive.h.

◆ SPEEDFILTER_TAU

float mrpt::nav::CAbstractPTGBasedReactive::SPEEDFILTER_TAU
protected

Time constant for the low-pass filter applied to the speed commands.

Definition at line 170 of file CAbstractPTGBasedReactive.h.

◆ tictac

mrpt::utils::CTicTac mrpt::nav::CAbstractPTGBasedReactive::tictac
protected

Definition at line 208 of file CAbstractPTGBasedReactive.h.

◆ timerForExecutionPeriod

mrpt::utils::CTicTac mrpt::nav::CAbstractPTGBasedReactive::timerForExecutionPeriod
protected

Definition at line 161 of file CAbstractPTGBasedReactive.h.

◆ totalExecutionTime

mrpt::utils::CTicTac mrpt::nav::CAbstractPTGBasedReactive::totalExecutionTime
protected

Definition at line 208 of file CAbstractPTGBasedReactive.h.

◆ weights

std::vector<float> mrpt::nav::CAbstractPTGBasedReactive::weights
protected

length: 6 [0,5]

Definition at line 171 of file CAbstractPTGBasedReactive.h.




Page generated by Doxygen 1.9.8 for MRPT 1.4.0 SVN: at Fri Dec 15 05:36:48 UTC 2023