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mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven Class Referenceabstract

Detailed Description

CRobot2NavInterface implemented for a simulator object based on mrpt::kinematics::CVehicleSimul_DiffDriven Only senseObstacles() remains virtual for the user to implement it.

See also
CReactiveNavigationSystem, CAbstractNavigator, mrpt::kinematics::CVehicleSimulVirtualBase

Definition at line 92 of file CRobot2NavInterfaceForSimulator.h.

#include <mrpt/nav/reactive/CRobot2NavInterfaceForSimulator.h>

Inheritance diagram for mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven:
Inheritance graph

Public Member Functions

 CRobot2NavInterfaceForSimulator_DiffDriven (mrpt::kinematics::CVehicleSimul_DiffDriven &simul)
 
bool getCurrentPoseAndSpeeds (mrpt::math::TPose2D &curPose, mrpt::math::TTwist2D &curVel, mrpt::system::TTimeStamp &timestamp, 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 &timestamp)=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_DiffDrivenm_simul
 
double m_simul_time_start
 for getNavigationTime More...
 

Constructor & Destructor Documentation

◆ CRobot2NavInterfaceForSimulator_DiffDriven()

mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven::CRobot2NavInterfaceForSimulator_DiffDriven ( mrpt::kinematics::CVehicleSimul_DiffDriven simul)
inline

Definition at line 99 of file CRobot2NavInterfaceForSimulator.h.

Member Function Documentation

◆ changeSpeeds()

bool mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven::changeSpeeds ( const mrpt::kinematics::CVehicleVelCmd vel_cmd)
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()

Returns
false on any error.
See also
startWatchdog

Implements mrpt::nav::CRobot2NavInterface.

Definition at line 110 of file CRobot2NavInterfaceForSimulator.h.

References mrpt::kinematics::CVehicleSimul_DiffDriven::sendVelCmd().

◆ changeSpeedsNOP()

bool CRobot2NavInterface::changeSpeedsNOP ( )
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.

Returns
false on any error.
See also
changeSpeeds(), startWatchdog()

Definition at line 23 of file CRobot2NavInterface.cpp.

References MRPT_LOG_THROTTLE_INFO.

Referenced by mrpt::nav::CAbstractNavigator::changeSpeedsNOP().

◆ getAlignCmd()

mrpt::kinematics::CVehicleVelCmdPtr CRobot2NavInterface::getAlignCmd ( const double  relative_heading_radians)
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().

◆ getCurrentPoseAndSpeeds()

bool mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven::getCurrentPoseAndSpeeds ( mrpt::math::TPose2D curPose,
mrpt::math::TTwist2D curVelGlobal,
mrpt::system::TTimeStamp timestamp,
mrpt::math::TPose2D curOdometry,
std::string frame_id 
)
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.

Returns
false on any error retrieving these values from the robot.

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().

◆ getEmergencyStopCmd()

mrpt::kinematics::CVehicleVelCmdPtr mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven::getEmergencyStopCmd ( )
inlinevirtual

Gets the emergency stop command for the current robot.

Returns
the emergency stop command

Implements mrpt::nav::CRobot2NavInterface.

Definition at line 131 of file CRobot2NavInterfaceForSimulator.h.

◆ getNavigationTime()

double mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven::getNavigationTime ( )
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().

◆ getStopCmd()

mrpt::kinematics::CVehicleVelCmdPtr mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven::getStopCmd ( )
inlinevirtual

Gets the emergency stop command for the current robot.

Returns
the emergency stop command

Implements mrpt::nav::CRobot2NavInterface.

Definition at line 125 of file CRobot2NavInterfaceForSimulator.h.

◆ resetNavigationTimer()

void mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven::resetNavigationTimer ( )
inlinevirtual

◆ sendApparentCollisionEvent()

void CRobot2NavInterface::sendApparentCollisionEvent ( )
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().

◆ sendCannotGetCloserToBlockedTargetEvent()

void CRobot2NavInterface::sendCannotGetCloserToBlockedTargetEvent ( bool &  do_abort_nav)
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().

◆ sendNavigationEndDueToErrorEvent()

void CRobot2NavInterface::sendNavigationEndDueToErrorEvent ( )
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().

◆ sendNavigationEndEvent()

void CRobot2NavInterface::sendNavigationEndEvent ( )
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().

◆ sendNavigationStartEvent()

void CRobot2NavInterface::sendNavigationStartEvent ( )
virtualinherited

Callback: Start of navigation command.

Definition at line 46 of file CRobot2NavInterface.cpp.

References MRPT_LOG_INFO.

Referenced by mrpt::nav::CAbstractNavigator::performNavigationStepNavigating().

◆ sendNewWaypointTargetEvent()

void CRobot2NavInterface::sendNewWaypointTargetEvent ( int  waypoint_index)
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().

◆ sendWaypointReachedEvent()

void CRobot2NavInterface::sendWaypointReachedEvent ( int  waypoint_index,
bool  reached_nSkipped 
)
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().

◆ sendWaySeemsBlockedEvent()

void CRobot2NavInterface::sendWaySeemsBlockedEvent ( )
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().

◆ senseObstacles()

virtual bool mrpt::nav::CRobot2NavInterface::senseObstacles ( mrpt::maps::CSimplePointsMap obstacles,
mrpt::system::TTimeStamp timestamp 
)
pure virtualinherited

Return the current set of obstacle points, as seen from the local coordinate frame of the robot.

Returns
false on any error.
Parameters
[out]obstaclesA representation of obstacles in robot-centric coordinates.
[out]timestampThe 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().

◆ startWatchdog()

bool CRobot2NavInterface::startWatchdog ( float  T_ms)
virtualinherited

Start the watchdog timer of the robot platform, if any, for maximum expected delay between consecutive calls to changeSpeeds().

Parameters
T_msPeriod, in ms.
Returns
false on any error.

Definition at line 34 of file CRobot2NavInterface.cpp.

References MRPT_LOG_INFO_FMT.

Referenced by mrpt::nav::CAbstractNavigator::internal_onStartNewNavigation().

◆ stop()

bool mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven::stop ( bool  isEmergencyStop)
inlinevirtual

Stop the robot right now.

Parameters
[in]isEmergencyStoptrue if stop is due to some unexpected error. false if "stop" happens as part of a normal operation (e.g. target reached).
Returns
false on any error.

Implements mrpt::nav::CRobot2NavInterface.

Definition at line 116 of file CRobot2NavInterfaceForSimulator.h.

References mrpt::kinematics::CVehicleSimul_DiffDriven::sendVelCmd(), and mrpt::kinematics::CVehicleVelCmd_DiffDriven::setToStop().

◆ stopWatchdog()

bool CRobot2NavInterface::stopWatchdog ( )
virtualinherited

Stop the watchdog timer.

Returns
false on any error.
See also
startWatchdog

Definition at line 40 of file CRobot2NavInterface.cpp.

References MRPT_LOG_INFO.

Referenced by mrpt::nav::CAbstractNavigator::navigationStep().

Member Data Documentation

◆ m_simul

mrpt::kinematics::CVehicleSimul_DiffDriven& mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven::m_simul
private

Definition at line 95 of file CRobot2NavInterfaceForSimulator.h.

◆ m_simul_time_start

double mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven::m_simul_time_start
private

for getNavigationTime

Definition at line 96 of file CRobot2NavInterfaceForSimulator.h.




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