CRobot2NavInterface implemented for a simulator object based on mrpt::kinematics::CVehicleSimul_DiffDriven Only senseObstacles()
remains virtual for the user to implement it.
Definition at line 92 of file CRobot2NavInterfaceForSimulator.h.
#include <mrpt/nav/reactive/CRobot2NavInterfaceForSimulator.h>
Public Member Functions | |
CRobot2NavInterfaceForSimulator_DiffDriven (mrpt::kinematics::CVehicleSimul_DiffDriven &simul) | |
bool | getCurrentPoseAndSpeeds (mrpt::math::TPose2D &curPose, mrpt::math::TTwist2D &curVel, mrpt::system::TTimeStamp ×tamp, mrpt::math::TPose2D &curOdometry, std::string &frame_id) MRPT_OVERRIDE |
Get the current pose and velocity of the robot. More... | |
bool | changeSpeeds (const mrpt::kinematics::CVehicleVelCmd &vel_cmd) MRPT_OVERRIDE |
Sends a velocity command to the robot. More... | |
bool | stop (bool isEmergencyStop) MRPT_OVERRIDE |
Stop the robot right now. More... | |
mrpt::kinematics::CVehicleVelCmdPtr | getStopCmd () MRPT_OVERRIDE |
Gets the emergency stop command for the current robot. More... | |
mrpt::kinematics::CVehicleVelCmdPtr | getEmergencyStopCmd () MRPT_OVERRIDE |
Gets the emergency stop command for the current robot. More... | |
double | getNavigationTime () MRPT_OVERRIDE |
See CRobot2NavInterface::getNavigationTime(). More... | |
void | resetNavigationTimer () MRPT_OVERRIDE |
See CRobot2NavInterface::resetNavigationTimer() More... | |
virtual bool | changeSpeedsNOP () |
Just like changeSpeeds(), but will be called when the last velocity command is still the preferred solution, so there is no need to change that past command. More... | |
virtual mrpt::kinematics::CVehicleVelCmdPtr | getAlignCmd (const double relative_heading_radians) |
Gets a motion command to make the robot to align with a given relative heading, without translating. More... | |
virtual bool | startWatchdog (float T_ms) |
Start the watchdog timer of the robot platform, if any, for maximum expected delay between consecutive calls to changeSpeeds(). More... | |
virtual bool | stopWatchdog () |
Stop the watchdog timer. More... | |
virtual bool | senseObstacles (mrpt::maps::CSimplePointsMap &obstacles, mrpt::system::TTimeStamp ×tamp)=0 |
Return the current set of obstacle points, as seen from the local coordinate frame of the robot. More... | |
Navigation event callbacks | |
virtual void | sendNavigationStartEvent () |
Callback: Start of navigation command. More... | |
virtual void | sendNavigationEndEvent () |
Callback: End of navigation command (reach of single goal, or final waypoint of waypoint list) More... | |
virtual void | sendWaypointReachedEvent (int waypoint_index, bool reached_nSkipped) |
Callback: Reached an intermediary waypoint in waypoint list navigation. More... | |
virtual void | sendNewWaypointTargetEvent (int waypoint_index) |
Callback: Heading towards a new intermediary/final waypoint in waypoint list navigation. More... | |
virtual void | sendNavigationEndDueToErrorEvent () |
Callback: Error asking sensory data from robot or sending motor commands. More... | |
virtual void | sendWaySeemsBlockedEvent () |
Callback: No progression made towards target for a predefined period of time. More... | |
virtual void | sendApparentCollisionEvent () |
Callback: Apparent collision event (i.e. More... | |
virtual void | sendCannotGetCloserToBlockedTargetEvent (bool &do_abort_nav) |
Callback: Target seems to be blocked by an obstacle. More... | |
Private Attributes | |
mrpt::kinematics::CVehicleSimul_DiffDriven & | m_simul |
double | m_simul_time_start |
for getNavigationTime More... | |
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inline |
Definition at line 99 of file CRobot2NavInterfaceForSimulator.h.
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inlinevirtual |
Sends a velocity command to the robot.
The number components in each command depends on children classes of mrpt::kinematics::CVehicleVelCmd. One robot may accept one or more different CVehicleVelCmd classes. This method resets the watchdog timer (that may be or may be not implemented in a particular robotic platform) started with startWatchdog()
Implements mrpt::nav::CRobot2NavInterface.
Definition at line 110 of file CRobot2NavInterfaceForSimulator.h.
References mrpt::kinematics::CVehicleSimul_DiffDriven::sendVelCmd().
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virtualinherited |
Just like changeSpeeds(), but will be called when the last velocity command is still the preferred solution, so there is no need to change that past command.
The unique effect of this callback would be resetting the watchdog timer.
Definition at line 23 of file CRobot2NavInterface.cpp.
References MRPT_LOG_THROTTLE_INFO.
Referenced by mrpt::nav::CAbstractNavigator::changeSpeedsNOP().
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virtualinherited |
Gets a motion command to make the robot to align with a given relative heading, without translating.
Only for circular robots that can rotate in place; otherwise, return an empty smart pointer to indicate that the operation is not possible (this is what the default implementation does).
Reimplemented in mrpt::nav::CRobot2NavInterfaceForSimulator_Holo.
Definition at line 29 of file CRobot2NavInterface.cpp.
Referenced by mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().
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inlinevirtual |
Get the current pose and velocity of the robot.
The implementation should not take too much time to return, so if it might take more than ~10ms to ask the robot for the instantaneous data, it may be good enough to return the latest values from a cache which is updated in a parallel thread.
Implements mrpt::nav::CRobot2NavInterface.
Definition at line 101 of file CRobot2NavInterfaceForSimulator.h.
References mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentGTPose(), mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentGTVel(), mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentOdometricPose(), and mrpt::system::now().
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inlinevirtual |
Gets the emergency stop command for the current robot.
Implements mrpt::nav::CRobot2NavInterface.
Definition at line 131 of file CRobot2NavInterfaceForSimulator.h.
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inlinevirtual |
See CRobot2NavInterface::getNavigationTime().
In this class, simulation time is returned instead of wall-clock time.
Reimplemented from mrpt::nav::CRobot2NavInterface.
Definition at line 137 of file CRobot2NavInterfaceForSimulator.h.
References mrpt::kinematics::CVehicleSimulVirtualBase::getTime().
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inlinevirtual |
Gets the emergency stop command for the current robot.
Implements mrpt::nav::CRobot2NavInterface.
Definition at line 125 of file CRobot2NavInterfaceForSimulator.h.
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inlinevirtual |
See CRobot2NavInterface::resetNavigationTimer()
Reimplemented from mrpt::nav::CRobot2NavInterface.
Definition at line 141 of file CRobot2NavInterfaceForSimulator.h.
References mrpt::kinematics::CVehicleSimulVirtualBase::getTime().
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virtualinherited |
Callback: Apparent collision event (i.e.
there is at least one obstacle point inside the robot shape)
Definition at line 70 of file CRobot2NavInterface.cpp.
References MRPT_LOG_THROTTLE_INFO.
Referenced by mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep().
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virtualinherited |
Callback: Target seems to be blocked by an obstacle.
If user sets do_abort_nav
to true
(default is false
), after this callback returns, navigation will end with an ERROR state and another call to sendWaySeemsBlockedEvent() will be done.
Definition at line 74 of file CRobot2NavInterface.cpp.
References MRPT_LOG_THROTTLE_INFO.
Referenced by mrpt::nav::CAbstractNavigator::dispatchPendingNavEvents().
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virtualinherited |
Callback: Error asking sensory data from robot or sending motor commands.
Definition at line 62 of file CRobot2NavInterface.cpp.
References MRPT_LOG_THROTTLE_INFO.
Referenced by mrpt::nav::CAbstractNavigator::navigationStep().
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virtualinherited |
Callback: End of navigation command (reach of single goal, or final waypoint of waypoint list)
Definition at line 50 of file CRobot2NavInterface.cpp.
References MRPT_LOG_INFO.
Referenced by mrpt::nav::CAbstractNavigator::performNavigationStepNavigating().
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virtualinherited |
Callback: Start of navigation command.
Definition at line 46 of file CRobot2NavInterface.cpp.
References MRPT_LOG_INFO.
Referenced by mrpt::nav::CAbstractNavigator::performNavigationStepNavigating().
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virtualinherited |
Callback: Heading towards a new intermediary/final waypoint in waypoint list navigation.
Definition at line 58 of file CRobot2NavInterface.cpp.
References MRPT_LOG_INFO_STREAM.
Referenced by mrpt::nav::CAbstractNavigator::dispatchPendingNavEvents().
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virtualinherited |
Callback: Reached an intermediary waypoint in waypoint list navigation.
reached_nSkipped will be true
if the waypoint was physically reached; false
if it was actually "skipped".
Definition at line 54 of file CRobot2NavInterface.cpp.
References MRPT_LOG_INFO_STREAM.
Referenced by mrpt::nav::CAbstractNavigator::dispatchPendingNavEvents().
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virtualinherited |
Callback: No progression made towards target for a predefined period of time.
Definition at line 66 of file CRobot2NavInterface.cpp.
References MRPT_LOG_THROTTLE_INFO.
Referenced by mrpt::nav::CAbstractNavigator::dispatchPendingNavEvents(), and mrpt::nav::CAbstractNavigator::performNavigationStepNavigating().
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pure virtualinherited |
Return the current set of obstacle points, as seen from the local coordinate frame of the robot.
[out] | obstacles | A representation of obstacles in robot-centric coordinates. |
[out] | timestamp | The timestamp for the read obstacles. Use mrpt::system::now() unless you have something more accurate. |
Referenced by mrpt::nav::CReactiveNavigationSystem::implementSenseObstacles(), and mrpt::nav::CReactiveNavigationSystem3D::implementSenseObstacles().
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virtualinherited |
Start the watchdog timer of the robot platform, if any, for maximum expected delay between consecutive calls to changeSpeeds().
T_ms | Period, in ms. |
Definition at line 34 of file CRobot2NavInterface.cpp.
References MRPT_LOG_INFO_FMT.
Referenced by mrpt::nav::CAbstractNavigator::internal_onStartNewNavigation().
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inlinevirtual |
Stop the robot right now.
[in] | isEmergencyStop | true if stop is due to some unexpected error. false if "stop" happens as part of a normal operation (e.g. target reached). |
Implements mrpt::nav::CRobot2NavInterface.
Definition at line 116 of file CRobot2NavInterfaceForSimulator.h.
References mrpt::kinematics::CVehicleSimul_DiffDriven::sendVelCmd(), and mrpt::kinematics::CVehicleVelCmd_DiffDriven::setToStop().
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virtualinherited |
Stop the watchdog timer.
Definition at line 40 of file CRobot2NavInterface.cpp.
References MRPT_LOG_INFO.
Referenced by mrpt::nav::CAbstractNavigator::navigationStep().
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private |
Definition at line 95 of file CRobot2NavInterfaceForSimulator.h.
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private |
for getNavigationTime
Definition at line 96 of file CRobot2NavInterfaceForSimulator.h.
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