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mrpt::nav::CRobot2NavInterface Class Referenceabstract

Detailed Description

The pure virtual interface between a real or simulated robot and any CAbstractNavigator-derived class.

The user must define a new class derived from CRobot2NavInterface and reimplement all pure virtual and the desired virtual methods according to the documentation in this class.

[New in MRPT 1.5.0] This class does not make assumptions about the kinematic model of the robot, so it can work with either Ackermann, differential-driven or holonomic robots. It will depend on the used PTGs, so checkout each PTG documentation for the lenght and meaning of velocity commands.

If used for a simulator, users may prefer to inherit from one of these classes, which already provide partial implementations:

See also
CReactiveNavigationSystem, CAbstractNavigator

Definition at line 39 of file CRobot2NavInterface.h.

#include <mrpt/nav/reactive/CRobot2NavInterface.h>

Inheritance diagram for mrpt::nav::CRobot2NavInterface:
Inheritance graph

Public Member Functions

 CRobot2NavInterface ()
 
virtual ~CRobot2NavInterface ()
 
virtual bool getCurrentPoseAndSpeeds (mrpt::math::TPose2D &curPose, mrpt::math::TTwist2D &curVelGlobal, mrpt::system::TTimeStamp &timestamp, mrpt::math::TPose2D &curOdometry, std::string &frame_id)=0
 Get the current pose and velocity of the robot. More...
 
virtual bool changeSpeeds (const mrpt::kinematics::CVehicleVelCmd &vel_cmd)=0
 Sends a velocity command to the robot. 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 bool stop (bool isEmergencyStop=true)=0
 Stop the robot right now. More...
 
virtual mrpt::kinematics::CVehicleVelCmdPtr getEmergencyStopCmd ()=0
 Gets the emergency stop command for the current robot. More...
 
virtual mrpt::kinematics::CVehicleVelCmdPtr getStopCmd ()=0
 Gets the emergency stop command for the current robot. 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...
 
virtual double getNavigationTime ()
 Returns the number of seconds ellapsed since the constructor of this class was invoked, or since the last call of resetNavigationTimer(). More...
 
virtual void resetNavigationTimer ()
 see getNavigationTime() 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::utils::CTicTac m_navtime
 For getNavigationTime. More...
 

Constructor & Destructor Documentation

◆ CRobot2NavInterface()

CRobot2NavInterface::CRobot2NavInterface ( )

Definition at line 16 of file CRobot2NavInterface.cpp.

◆ ~CRobot2NavInterface()

CRobot2NavInterface::~CRobot2NavInterface ( )
virtual

Definition at line 20 of file CRobot2NavInterface.cpp.

Member Function Documentation

◆ changeSpeeds()

virtual bool mrpt::nav::CRobot2NavInterface::changeSpeeds ( const mrpt::kinematics::CVehicleVelCmd vel_cmd)
pure virtual

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

Implemented in mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven, and mrpt::nav::CRobot2NavInterfaceForSimulator_Holo.

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

◆ changeSpeedsNOP()

bool CRobot2NavInterface::changeSpeedsNOP ( )
virtual

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)
virtual

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()

virtual bool mrpt::nav::CRobot2NavInterface::getCurrentPoseAndSpeeds ( mrpt::math::TPose2D curPose,
mrpt::math::TTwist2D curVelGlobal,
mrpt::system::TTimeStamp timestamp,
mrpt::math::TPose2D curOdometry,
std::string frame_id 
)
pure virtual

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.
Parameters
curPose(output) The latest robot pose (typically from a mapping/localization module), in world coordinates. (x,y: meters, phi: radians)
curVelGlobal(output) The latest robot velocity vector, in world coordinates. (vx,vy: m/s, omega: rad/s)
timestamp(output) The timestamp for the read pose and velocity values. Use mrpt::system::now() unless you have something more accurate.
curOdometry(output) The latest robot raw odometry pose; may have long-time drift should be more locally consistent than curPose (x,y: meters, phi: radians)
frame_id(output) ID of the coordinate frame for curPose. Default is not modified is "map". [Only for future support to submapping,etc.]

Implemented in mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven, and mrpt::nav::CRobot2NavInterfaceForSimulator_Holo.

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

◆ getEmergencyStopCmd()

virtual mrpt::kinematics::CVehicleVelCmdPtr mrpt::nav::CRobot2NavInterface::getEmergencyStopCmd ( )
pure virtual

Gets the emergency stop command for the current robot.

Returns
the emergency stop command

Implemented in mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven, and mrpt::nav::CRobot2NavInterfaceForSimulator_Holo.

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

◆ getNavigationTime()

double CRobot2NavInterface::getNavigationTime ( )
virtual

Returns the number of seconds ellapsed since the constructor of this class was invoked, or since the last call of resetNavigationTimer().

This will be normally wall-clock time, except in simulators where this method will return simulation time.

Reimplemented in mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven, and mrpt::nav::CRobot2NavInterfaceForSimulator_Holo.

Definition at line 79 of file CRobot2NavInterface.cpp.

References m_navtime, and mrpt::utils::CTicTac::Tac().

Referenced by mrpt::nav::CNavigatorManualSequence::navigationStep(), and mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds().

◆ getStopCmd()

virtual mrpt::kinematics::CVehicleVelCmdPtr mrpt::nav::CRobot2NavInterface::getStopCmd ( )
pure virtual

Gets the emergency stop command for the current robot.

Returns
the emergency stop command

Implemented in mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven, and mrpt::nav::CRobot2NavInterfaceForSimulator_Holo.

◆ resetNavigationTimer()

void CRobot2NavInterface::resetNavigationTimer ( )
virtual

◆ sendApparentCollisionEvent()

void CRobot2NavInterface::sendApparentCollisionEvent ( )
virtual

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)
virtual

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 ( )
virtual

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 ( )
virtual

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 ( )
virtual

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)
virtual

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 
)
virtual

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 ( )
virtual

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 virtual

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)
virtual

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()

virtual bool mrpt::nav::CRobot2NavInterface::stop ( bool  isEmergencyStop = true)
pure virtual

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.

Implemented in mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven, and mrpt::nav::CRobot2NavInterfaceForSimulator_Holo.

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

◆ stopWatchdog()

bool CRobot2NavInterface::stopWatchdog ( )
virtual

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_navtime

mrpt::utils::CTicTac mrpt::nav::CRobot2NavInterface::m_navtime
private

For getNavigationTime.

Definition at line 150 of file CRobot2NavInterface.h.

Referenced by getNavigationTime(), and resetNavigationTimer().




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