CHolonomicVFF.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
#ifndef CHolonomicVFF_H
#define CHolonomicVFF_H

#include "CAbstractHolonomicReactiveMethod.h"
#include "CHolonomicLogFileRecord.h"
#include <mrpt/utils/CLoadableOptions.h>


namespace mrpt
{
  namespace nav
  {
         DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CLogFileRecord_VFF, CHolonomicLogFileRecord, NAV_IMPEXP )
        /** \addtogroup nav_holo Holonomic navigation methods
          * \ingroup mrpt_nav_grp
          * @{ */

        /** A class for storing extra information about the execution of
         *    CHolonomicVFF navigation.
         * \sa CHolonomicVFF, CHolonomicLogFileRecord
         */
        class NAV_IMPEXP CLogFileRecord_VFF : public CHolonomicLogFileRecord
        {
                DEFINE_SERIALIZABLE( CLogFileRecord_VFF )
         public:

        };
         DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( CLogFileRecord_VFF, CHolonomicLogFileRecord, NAV_IMPEXP )


         DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CHolonomicVFF, CAbstractHolonomicReactiveMethod, NAV_IMPEXP )
        /** A holonomic reactive navigation method, based on Virtual Force Fields (VFF).
         *
         * These are the optional parameters of the method which can be set by means of a configuration file passed to the constructor or to CHolonomicND::initialize (see also the field CHolonomicVFF::options).
         *
         * \code
         * # Section name can be changed via setConfigFileSectionName()
         * [VFF_CONFIG]
         * TARGET_SLOW_APPROACHING_DISTANCE = 0.10  // For stopping gradually
         * TARGET_ATTRACTIVE_FORCE          = 20    // Dimension-less (may have to be tuned depending on the density of obstacle sampling)
         * \endcode
         *
         *  \sa CAbstractHolonomicReactiveMethod,CReactiveNavigationSystem
         */
        class NAV_IMPEXP CHolonomicVFF : public CAbstractHolonomicReactiveMethod
        {
                DEFINE_SERIALIZABLE( CHolonomicVFF )
        public:
                /**  Initialize the parameters of the navigator, from some configuration file, or default values if set to NULL. */
                CHolonomicVFF(const mrpt::utils::CConfigFileBase *INI_FILE=NULL);

                // See base class docs
                void navigate(const NavInput & ni, NavOutput &no) MRPT_OVERRIDE;

                void initialize(const mrpt::utils::CConfigFileBase &INI_FILE) MRPT_OVERRIDE; // See base class docs
                virtual void saveConfigFile(mrpt::utils::CConfigFileBase &c) const MRPT_OVERRIDE; // See base class docs

                /** Algorithm options */
                struct NAV_IMPEXP TOptions : public mrpt::utils::CLoadableOptions
                {
                        double TARGET_SLOW_APPROACHING_DISTANCE; //!< For stopping gradually (Default: 0.10)
                        double TARGET_ATTRACTIVE_FORCE;          //!< Dimension-less (may have to be tuned depending on the density of obstacle sampling) (Default: 20)

                        TOptions();
                        void loadFromConfigFile(const mrpt::utils::CConfigFileBase &source,const std::string &section) MRPT_OVERRIDE; // See base docs
                        void saveToConfigFile(mrpt::utils::CConfigFileBase &cfg ,const std::string &section) const MRPT_OVERRIDE; // See base docs
                };

                TOptions options;  //!< Parameters of the algorithm (can be set manually or loaded from CHolonomicVFF::initialize or options.loadFromConfigFile(), etc.)

                double getTargetApproachSlowDownDistance() const MRPT_OVERRIDE { return options.TARGET_SLOW_APPROACHING_DISTANCE; }
                void setTargetApproachSlowDownDistance(const double dist) MRPT_OVERRIDE { options.TARGET_SLOW_APPROACHING_DISTANCE = dist; }

        };
         DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( CHolonomicVFF, CAbstractHolonomicReactiveMethod, NAV_IMPEXP )
          /** @} */
  }
}


#endif