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mrpt::nav::CHolonomicFullEval Class Reference

Detailed Description

Full evaluation of all possible directions within the discrete set of input directions.

These are the optional parameters of the method which can be set by means of a configuration file passed to the constructor or to CHolonomicFullEval::initialize() or directly in CHolonomicFullEval::options

# Section name can be changed via setConfigFileSectionName()
[FULL_EVAL_CONFIG]
factorWeights = 1.0 1.0 1.0 0.05 1.0
factorNormalizeOrNot = 0 0 0 0 1
// 0: Clearness in direction
// 1: Closest approach to target along straight line (Euclidean)
// 2: Distance of end collision-free point to target (Euclidean)
// 3: Hysteresis
// 4: Clearness to nearest obstacle along path
TARGET_SLOW_APPROACHING_DISTANCE = 0.20 // Start to reduce speed when closer than this to target [m]
TOO_CLOSE_OBSTACLE = 0.02 // Directions with collision-free distances below this threshold are not elegible.
HYSTERESIS_SECTOR_COUNT = 5 // Range of "sectors" (directions) for hysteresis over successive timesteps
PHASE1_FACTORS = 0 1 2 // Indices of the factors above to be considered in phase 1
PHASE2_FACTORS = 3 4 // Indices of the factors above to be considered in phase 2
PHASE1_THRESHOLD = 0.75 // Phase1 scores must be above this relative range threshold [0,1] to be considered in phase 2 (Default:`0.75`)
See Also
CAbstractHolonomicReactiveMethod,CReactiveNavigationSystem

Definition at line 50 of file CHolonomicFullEval.h.

#include <mrpt/nav/holonomic/CHolonomicFullEval.h>

Inheritance diagram for mrpt::nav::CHolonomicFullEval:
Inheritance graph

Classes

struct  EvalOutput
 
struct  TOptions
 Algorithm options. More...
 

Public Member Functions

voidoperator new (size_t size)
 
voidoperator new[] (size_t size)
 
void operator delete (void *ptr) throw ()
 
void operator delete[] (void *ptr) throw ()
 
void operator delete (void *memory, void *ptr) throw ()
 
voidoperator new (size_t size, const std::nothrow_t &) throw ()
 
void operator delete (void *ptr, const std::nothrow_t &) throw ()
 
 CHolonomicFullEval (const mrpt::utils::CConfigFileBase *INI_FILE=NULL)
 Initialize the parameters of the navigator, from some configuration file, or default values if set to NULL. More...
 
void navigate (const NavInput &ni, NavOutput &no) MRPT_OVERRIDE
 Invokes the holonomic navigation algorithm itself. More...
 
virtual void initialize (const mrpt::utils::CConfigFileBase &INI_FILE) MRPT_OVERRIDE
 Initialize the parameters of the navigator, reading from the default section name (see derived classes) or the one set via setConfigFileSectionName() More...
 
virtual void saveConfigFile (mrpt::utils::CConfigFileBase &c) const MRPT_OVERRIDE
 saves all available parameters, in a forma loadable by initialize() More...
 
double getTargetApproachSlowDownDistance () const MRPT_OVERRIDE
 Returns the actual value of this parameter [m], as set via the children class options structure. More...
 
void setTargetApproachSlowDownDistance (const double dist) MRPT_OVERRIDE
 Sets the actual value of this parameter [m]. More...
 
void setConfigFileSectionName (const std::string &sectName)
 Defines the name of the section used in initialize() More...
 
std::string getConfigFileSectionName () const
 Gets the name of the section used in initialize() More...
 
void setAssociatedPTG (mrpt::nav::CParameterizedTrajectoryGenerator *ptg)
 Optionally, sets the associated PTG, just in case a derived class requires this info (not required for methods where the robot kinematics are totally abstracted) More...
 
mrpt::nav::CParameterizedTrajectoryGeneratorgetAssociatedPTG () const
 Returns the pointer set by setAssociatedPTG() More...
 
void enableApproachTargetSlowDown (bool enable)
 
virtual mxArraywriteToMatlab () const
 Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More...
 
mrpt::utils::CObjectPtr duplicateGetSmartPtr () const
 Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...
 
CObjectclone () const
 Cloning interface for smart pointers. More...
 

Static Public Member Functions

static voidoperator new (size_t size, void *ptr)
 
static
CAbstractHolonomicReactiveMethod
Create (const std::string &className) MRPT_NO_THROWS
 Class factory from class name, e.g. More...
 

Public Attributes

TOptions options
 Parameters of the algorithm (can be set manually or loaded from CHolonomicFullEval::initialize or options.loadFromConfigFile(), etc.) More...
 

Static Public Attributes

static const
mrpt::utils::TRuntimeClassId 
classCObject
 
RTTI stuff
static const
mrpt::utils::TRuntimeClassId 
classCAbstractHolonomicReactiveMethod
 
RTTI stuff
static const
mrpt::utils::TRuntimeClassId 
classCSerializable
 

Protected Member Functions

CSerializable virtual methods
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const
 Introduces a pure virtual method responsible for writing to a CStream. More...
 
void readFromStream (mrpt::utils::CStream &in, int version)
 Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...
 

Protected Attributes

mrpt::nav::CParameterizedTrajectoryGeneratorm_associatedPTG
 If applicable, this will contain the argument of the most recent call to setAssociatedPTG() More...
 
bool m_enableApproachTargetSlowDown
 Whether to decrease speed when approaching target. More...
 

Private Member Functions

unsigned int direction2sector (const double a, const unsigned int N)
 
virtual void postProcessDirectionEvaluations (std::vector< double > &dir_evals, const NavInput &ni, unsigned int trg_idx)
 
void evalSingleTarget (unsigned int target_idx, const NavInput &ni, EvalOutput &eo)
 Evals one single target of the potentially many of them in NavInput. More...
 

Private Attributes

unsigned int m_last_selected_sector
 
mrpt::math::CMatrixD m_dirs_scores
 Individual scores for each direction: (i,j), i (row) are directions, j (cols) are scores. Not all directions may have evaluations, in which case a "-1" value will be found. More...
 
mrpt::obs::CSinCosLookUpTableFor2DScans m_sincos_lut
 

RTTI stuff

typedef CHolonomicFullEvalPtr Ptr
 
typedef CHolonomicFullEvalPtr ConstPtr
 
static mrpt::utils::CLASSINIT _init_CHolonomicFullEval
 
static mrpt::utils::TRuntimeClassId classCHolonomicFullEval
 
static const
mrpt::utils::TRuntimeClassId
classinfo
 
static const
mrpt::utils::TRuntimeClassId
_GetBaseClass ()
 
virtual const
mrpt::utils::TRuntimeClassId
GetRuntimeClass () const
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::utils::CObjectduplicate () const
 Returns a copy of the object, indepently of its class. More...
 
static mrpt::utils::CObjectCreateObject ()
 
static CHolonomicFullEvalPtr Create ()
 

Member Typedef Documentation

typedef CHolonomicFullEvalPtr mrpt::nav::CHolonomicFullEval::ConstPtr

Definition at line 52 of file CHolonomicFullEval.h.

typedef CHolonomicFullEvalPtr mrpt::nav::CHolonomicFullEval::Ptr

A typedef for the associated smart pointer

Definition at line 52 of file CHolonomicFullEval.h.

Constructor & Destructor Documentation

CHolonomicFullEval::CHolonomicFullEval ( const mrpt::utils::CConfigFileBase INI_FILE = NULL)

Initialize the parameters of the navigator, from some configuration file, or default values if set to NULL.

Definition at line 33 of file CHolonomicFullEval.cpp.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::nav::CHolonomicFullEval::_GetBaseClass ( )
staticprotected
CObject* mrpt::utils::CObject::clone ( ) const
inlineinherited

Cloning interface for smart pointers.

Definition at line 143 of file CObject.h.

static CHolonomicFullEvalPtr mrpt::nav::CHolonomicFullEval::Create ( )
static
CAbstractHolonomicReactiveMethod * CAbstractHolonomicReactiveMethod::Create ( const std::string className)
staticinherited

Class factory from class name, e.g.

"CHolonomicVFF", etc.

Exceptions
std::logic_errorOn invalid or missing parameters.

Definition at line 50 of file CAbstractHolonomicReactiveMethod.cpp.

References mrpt::utils::TRuntimeClassId::createObject(), mrpt::utils::findRegisteredClass(), and mrpt::utils::registerAllPendingClasses().

Referenced by mrpt::nav::CAbstractPTGBasedReactive::setHolonomicMethod().

static mrpt::utils::CObject* mrpt::nav::CHolonomicFullEval::CreateObject ( )
static
unsigned int CHolonomicFullEval::direction2sector ( const double  a,
const unsigned int  N 
)
private

Definition at line 505 of file CHolonomicFullEval.cpp.

References M_PI, mrpt::utils::round(), and mrpt::math::wrapToPi().

virtual mrpt::utils::CObject* mrpt::nav::CHolonomicFullEval::duplicate ( ) const
virtual

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const
inlineinherited

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 140 of file CObject.h.

Referenced by mrpt::obs::CRawlog::addActions(), mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), and mrpt::obs::CRawlog::addObservations().

void mrpt::nav::CAbstractHolonomicReactiveMethod::enableApproachTargetSlowDown ( bool  enable)
inlineinherited
void CHolonomicFullEval::evalSingleTarget ( unsigned int  target_idx,
const NavInput ni,
EvalOutput eo 
)
private

Evals one single target of the potentially many of them in NavInput.

Definition at line 74 of file CHolonomicFullEval.cpp.

References mrpt::mrpt::utils::abs_diff(), mrpt::nav::CParameterizedTrajectoryGenerator::alpha2index(), mrpt::obs::T2DScanProperties::aperture, ASSERT_, mrpt::nav::CHolonomicFullEval::EvalOutput::best_eval, mrpt::nav::CHolonomicFullEval::EvalOutput::best_k, mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::clearance, mrpt::nav::CHolonomicFullEval::TOptions::clearance_threshold_ratio, mrpt::math::TSegment2D::distance(), mrpt::nav::CHolonomicFullEval::TOptions::factorNormalizeOrNot, mrpt::nav::CHolonomicFullEval::TOptions::factorWeights, mrpt::nav::CHolonomicFullEval::TOptions::gap_width_ratio_threshold, mrpt::nav::CAbstractHolonomicReactiveMethod::getAssociatedPTG(), mrpt::nav::ClearanceDiagram::getClearance(), mrpt::obs::CSinCosLookUpTableFor2DScans::getSinCosForScan(), mrpt::nav::CHolonomicFullEval::TOptions::HYSTERESIS_SECTOR_COUNT, INVALID_K, TGap::k_from, TGap::k_to, mrpt::mrpt::utils::keep_max(), mrpt::mrpt::utils::keep_min(), m_dirs_scores, m_last_selected_sector, M_PI, m_sincos_lut, TGap::max_eval, min, mmin(), mrpt::math::norm(), mrpt::obs::T2DScanProperties::nRays, mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::obstacles, options, mrpt::nav::CHolonomicFullEval::TOptions::PHASE_FACTORS, mrpt::nav::CHolonomicFullEval::EvalOutput::phase_scores, mrpt::nav::CHolonomicFullEval::TOptions::PHASE_THRESHOLDS, mrpt::math::TSegment2D::point1, mrpt::math::TSegment2D::point2, postProcessDirectionEvaluations(), mrpt::obs::T2DScanProperties::rightToLeft, mrpt::utils::round(), mrpt::math::square(), mrpt::mrpt::math::square(), mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::targets, mrpt::nav::CHolonomicFullEval::TOptions::TOO_CLOSE_OBSTACLE, mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

Referenced by navigate().

mrpt::nav::CParameterizedTrajectoryGenerator * CAbstractHolonomicReactiveMethod::getAssociatedPTG ( ) const
inherited

Returns the pointer set by setAssociatedPTG()

Definition at line 45 of file CAbstractHolonomicReactiveMethod.cpp.

Referenced by evalSingleTarget(), and navigate().

std::string CAbstractHolonomicReactiveMethod::getConfigFileSectionName ( ) const
inherited

Gets the name of the section used in initialize()

Definition at line 37 of file CAbstractHolonomicReactiveMethod.cpp.

virtual const mrpt::utils::TRuntimeClassId* mrpt::nav::CHolonomicFullEval::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::nav::CAbstractHolonomicReactiveMethod.

double mrpt::nav::CHolonomicFullEval::getTargetApproachSlowDownDistance ( ) const
inlinevirtual

Returns the actual value of this parameter [m], as set via the children class options structure.

See Also
setTargetApproachSlowDownDistance()

Implements mrpt::nav::CAbstractHolonomicReactiveMethod.

Definition at line 87 of file CHolonomicFullEval.h.

References mrpt::nav::CHolonomicFullEval::TOptions::TARGET_SLOW_APPROACHING_DISTANCE.

void CHolonomicFullEval::initialize ( const mrpt::utils::CConfigFileBase c)
virtual

Initialize the parameters of the navigator, reading from the default section name (see derived classes) or the one set via setConfigFileSectionName()

Implements mrpt::nav::CAbstractHolonomicReactiveMethod.

Definition at line 46 of file CHolonomicFullEval.cpp.

void CHolonomicFullEval::navigate ( const NavInput ni,
NavOutput no 
)
virtual
void mrpt::nav::CHolonomicFullEval::operator delete ( void ptr)
throw (
)
inline

Definition at line 52 of file CHolonomicFullEval.h.

void mrpt::nav::CHolonomicFullEval::operator delete ( void memory,
void ptr 
)
throw (
)
inline

Definition at line 52 of file CHolonomicFullEval.h.

void mrpt::nav::CHolonomicFullEval::operator delete ( void ptr,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 52 of file CHolonomicFullEval.h.

void mrpt::nav::CHolonomicFullEval::operator delete[] ( void ptr)
throw (
)
inline

Definition at line 52 of file CHolonomicFullEval.h.

static void* mrpt::nav::CHolonomicFullEval::operator new ( size_t  size,
void ptr 
)
inlinestatic

Definition at line 52 of file CHolonomicFullEval.h.

void* mrpt::nav::CHolonomicFullEval::operator new ( size_t  size)
inline

Definition at line 52 of file CHolonomicFullEval.h.

void* mrpt::nav::CHolonomicFullEval::operator new ( size_t  size,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 52 of file CHolonomicFullEval.h.

void* mrpt::nav::CHolonomicFullEval::operator new[] ( size_t  size)
inline

Definition at line 52 of file CHolonomicFullEval.h.

void CHolonomicFullEval::postProcessDirectionEvaluations ( std::vector< double > &  dir_evals,
const NavInput ni,
unsigned int  trg_idx 
)
privatevirtual

Definition at line 723 of file CHolonomicFullEval.cpp.

Referenced by evalSingleTarget().

void CHolonomicFullEval::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters
inThe input binary stream where the object data must read from.
versionThe version of the object stored in the stream: use this version number in your code to know how to read the incoming data.
Exceptions
std::exceptionOn any error, see CStream::ReadBuffer
See Also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 675 of file CHolonomicFullEval.cpp.

References mrpt::nav::CHolonomicFullEval::TOptions::clearance_threshold_ratio, mrpt::nav::CHolonomicFullEval::TOptions::factorNormalizeOrNot, mrpt::nav::CHolonomicFullEval::TOptions::factorWeights, mrpt::nav::CHolonomicFullEval::TOptions::gap_width_ratio_threshold, mrpt::nav::CHolonomicFullEval::TOptions::HYSTERESIS_SECTOR_COUNT, m_last_selected_sector, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, mrpt::nav::CHolonomicFullEval::TOptions::OBSTACLE_SLOW_DOWN_DISTANCE, options, mrpt::nav::CHolonomicFullEval::TOptions::PHASE_FACTORS, mrpt::nav::CHolonomicFullEval::TOptions::PHASE_THRESHOLDS, mrpt::nav::CHolonomicFullEval::TOptions::TARGET_SLOW_APPROACHING_DISTANCE, and mrpt::nav::CHolonomicFullEval::TOptions::TOO_CLOSE_OBSTACLE.

void CHolonomicFullEval::saveConfigFile ( mrpt::utils::CConfigFileBase c) const
virtual

saves all available parameters, in a forma loadable by initialize()

Implements mrpt::nav::CAbstractHolonomicReactiveMethod.

Definition at line 41 of file CHolonomicFullEval.cpp.

void CAbstractHolonomicReactiveMethod::setAssociatedPTG ( mrpt::nav::CParameterizedTrajectoryGenerator ptg)
inherited

Optionally, sets the associated PTG, just in case a derived class requires this info (not required for methods where the robot kinematics are totally abstracted)

Definition at line 41 of file CAbstractHolonomicReactiveMethod.cpp.

void CAbstractHolonomicReactiveMethod::setConfigFileSectionName ( const std::string sectName)
inherited

Defines the name of the section used in initialize()

Defines the name of the section (Default: "FULL_EVAL_CONFIG")

Definition at line 33 of file CAbstractHolonomicReactiveMethod.cpp.

void mrpt::nav::CHolonomicFullEval::setTargetApproachSlowDownDistance ( const double  dist)
inlinevirtual
virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const
inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns
A new mxArray (caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

void CHolonomicFullEval::writeToStream ( mrpt::utils::CStream out,
int getVersion 
) const
protectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters
outThe output binary stream where object must be dumped.
getVersionIf NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.
Exceptions
std::exceptionOn any error, see CStream::WriteBuffer
See Also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 657 of file CHolonomicFullEval.cpp.

References mrpt::nav::CHolonomicFullEval::TOptions::clearance_threshold_ratio, mrpt::nav::CHolonomicFullEval::TOptions::factorNormalizeOrNot, mrpt::nav::CHolonomicFullEval::TOptions::factorWeights, mrpt::nav::CHolonomicFullEval::TOptions::gap_width_ratio_threshold, mrpt::nav::CHolonomicFullEval::TOptions::HYSTERESIS_SECTOR_COUNT, m_last_selected_sector, mrpt::nav::CHolonomicFullEval::TOptions::OBSTACLE_SLOW_DOWN_DISTANCE, options, mrpt::nav::CHolonomicFullEval::TOptions::PHASE_FACTORS, mrpt::nav::CHolonomicFullEval::TOptions::PHASE_THRESHOLDS, mrpt::nav::CHolonomicFullEval::TOptions::TARGET_SLOW_APPROACHING_DISTANCE, and mrpt::nav::CHolonomicFullEval::TOptions::TOO_CLOSE_OBSTACLE.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::nav::CHolonomicFullEval::_init_CHolonomicFullEval
staticprotected

Definition at line 52 of file CHolonomicFullEval.h.

const mrpt::utils::TRuntimeClassId mrpt::nav::CAbstractHolonomicReactiveMethod::classCAbstractHolonomicReactiveMethod
staticinherited

Definition at line 47 of file CAbstractHolonomicReactiveMethod.h.

mrpt::utils::TRuntimeClassId mrpt::nav::CHolonomicFullEval::classCHolonomicFullEval
static

Definition at line 52 of file CHolonomicFullEval.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject
staticinherited

Definition at line 128 of file CObject.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable
staticinherited

Definition at line 42 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId* mrpt::nav::CHolonomicFullEval::classinfo
static

Definition at line 52 of file CHolonomicFullEval.h.

mrpt::nav::CParameterizedTrajectoryGenerator* mrpt::nav::CAbstractHolonomicReactiveMethod::m_associatedPTG
protectedinherited

If applicable, this will contain the argument of the most recent call to setAssociatedPTG()

Definition at line 102 of file CAbstractHolonomicReactiveMethod.h.

mrpt::math::CMatrixD mrpt::nav::CHolonomicFullEval::m_dirs_scores
private

Individual scores for each direction: (i,j), i (row) are directions, j (cols) are scores. Not all directions may have evaluations, in which case a "-1" value will be found.

Definition at line 93 of file CHolonomicFullEval.h.

Referenced by evalSingleTarget(), and navigate().

bool mrpt::nav::CAbstractHolonomicReactiveMethod::m_enableApproachTargetSlowDown
protectedinherited

Whether to decrease speed when approaching target.

Definition at line 103 of file CAbstractHolonomicReactiveMethod.h.

Referenced by navigate().

unsigned int mrpt::nav::CHolonomicFullEval::m_last_selected_sector
private

Definition at line 91 of file CHolonomicFullEval.h.

Referenced by evalSingleTarget(), navigate(), readFromStream(), and writeToStream().

mrpt::obs::CSinCosLookUpTableFor2DScans mrpt::nav::CHolonomicFullEval::m_sincos_lut
private

Definition at line 106 of file CHolonomicFullEval.h.

Referenced by evalSingleTarget().

TOptions mrpt::nav::CHolonomicFullEval::options

Parameters of the algorithm (can be set manually or loaded from CHolonomicFullEval::initialize or options.loadFromConfigFile(), etc.)

Definition at line 85 of file CHolonomicFullEval.h.

Referenced by evalSingleTarget(), navigate(), readFromStream(), and writeToStream().




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