mrpt::nav::CAbstractPTGBasedReactive Class Reference

Detailed Description

Base class for reactive navigator systems based on TP-Space, with an arbitrary holonomic reactive method running on it and any number of PTGs for transforming the navigation space.

Both, the holonomic method and the PTGs can be customized by the apropriate user derived classes.

How to use:

• Instantiate a reactive navigation object (one of the derived classes of this virtual class).
• A class with callbacks must be defined by the user and provided to the constructor (derived from CRobot2NavInterface)
• loadConfigFile() must be called to set up the bunch of parameters from a config file (could be a memory-based virtual config file).
• navigationStep() must be called periodically in order to effectively run the navigation. This method will internally call the callbacks to gather sensor data and robot positioning data.

For working examples, refer to the source code of the apps:

• ReactiveNavigationDemo
• ReactiveNav3D-Demo

Publications:

• See derived classes for papers on each specific method.

Available "variables" or "score names" for each motion candidate (these can be used in runtime-compiled expressions in the configuration files of motion deciders):

• clearance: Clearance (larger means larger distances to obstacles) for the path from "current pose" up to "end of trajectory".
• collision_free_distance: Normalized [0,1] collision-free distance in selected path. For NOP candidates, the traveled distances is substracted.
• dist_eucl_final: Euclidean distance (in the real-world WordSpace) between "end of trajectory" and target.
• eta: Estimated Time of Arrival at "end of trajectory".
• holo_stage_eval: Final evaluation of the selected direction from inside of the holonomic algorithm.
• hysteresis: Measure of similarity with previous command [0,1]
• is_PTG_cont: 1 (is "NOP" motion command), 0 otherwise
• is_slowdown: 1 if PTG returns true in CParameterizedTrajectoryGenerator::supportSpeedAtTarget() for this step.
• move_cur_d: Normalized distance already traveled over the selected PTG. Normally 0, unless in a "NOP motion".
• move_k: Motion candidate path 0-based index.
• num_paths: Number of paths in the PTG
• original_col_free_dist: Only for "NOP motions", the collision-free distance when the motion command was originally issued.
• ptg_idx: PTG index (0-based)
• ptg_priority: Product of PTG getScorePriority() times PTG evalPathRelativePriority()
• ref_dist: PTG ref distance [m]
• robpose_x, robpose_y, robpose_phi: Robot pose ([m] and [rad]) at the "end of trajectory": at collision or at target distance.
• target_d_norm: Normalized target distance. Can be >1 if distance is larger than ref_distance.
• target_dir: Angle of target in TP-Space [rad]
• target_k: Same as target_dir but in discrete path 0-based indices.
• WS_target_x, WS_target_y: Target coordinates in realworld [m]

See also

CReactiveNavigationSystem, CReactiveNavigationSystem3D

Definition at line 74 of file CAbstractPTGBasedReactive.h.

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

Inheritance diagram for mrpt::nav::CAbstractPTGBasedReactive:

Classes
struct	PTGTarget
struct	TAbstractPTGNavigatorParams
struct	TInfoPerPTG
struct	TNavigationParamsPTG
	The struct for configuring navigation requests to CAbstractPTGBasedReactive and derived classes. More...
struct	TSentVelCmd

Public Member Functions
	CAbstractPTGBasedReactive (CRobot2NavInterface &react_iterf_impl, bool enableConsoleOutput=true, bool enableLogFile=false, const std::string &logFileDirectory=std::string("./reactivenav.logs"))
	Constructor. More...
virtual	~CAbstractPTGBasedReactive ()
void	initialize () MRPT_OVERRIDE
	Must be called for loading collision grids, or the first navigation command may last a long time to be executed. More...
void	setHolonomicMethod (const std::string &method, const mrpt::utils::CConfigFileBase &cfgBase)
	Selects which one from the set of available holonomic methods will be used into transformed TP-Space, and sets its configuration from a configuration file. More...
void	setHolonomicMethod (THolonomicMethod method, const mrpt::utils::CConfigFileBase &cfgBase)
void	getLastLogRecord (CLogFileRecord &o)
	Provides a copy of the last log record with information about execution. More...
void	enableKeepLogRecords (bool enable=true)
	Enables keeping an internal registry of navigation logs that can be queried with getLastLogRecord() More...
void	enableLogFile (bool enable)
	Enables/disables saving log files. More...
void	setLogFileDirectory (const std::string &sDir)
	Changes the prefix for new log files. More...
std::string	getLogFileDirectory () const
virtual void	loadConfigFile (const mrpt::utils::CConfigFileBase &c) MRPT_OVERRIDE
	Loads all params from a file. More...
virtual void	saveConfigFile (mrpt::utils::CConfigFileBase &c) const MRPT_OVERRIDE
	Saves all current options to a config file. More...
void	enableTimeLog (bool enable=true)
	Enables/disables the detailed time logger (default:disabled upon construction) When enabled, a report will be dumped to std::cout upon destruction. More...
const mrpt::utils::CTimeLogger &	getTimeLogger () const
	Gives access to a const-ref to the internal time logger. More...
virtual size_t	getPTG_count () const =0
	Returns the number of different PTGs that have been setup. More...
virtual CParameterizedTrajectoryGenerator *	getPTG (size_t i)=0
	Gets the i'th PTG. More...
virtual const CParameterizedTrajectoryGenerator *	getPTG (size_t i) const =0
	Gets the i'th PTG. More...
const mrpt::kinematics::CVehicleVelCmd::TVelCmdParams &	getCurrentRobotSpeedLimits () const
	Get the current, global (honored for all PTGs) robot speed limits. More...
mrpt::kinematics::CVehicleVelCmd::TVelCmdParams &	changeCurrentRobotSpeedLimits ()
	Changes the current, global (honored for all PTGs) robot speed limits, via returning a reference to a structure that holds those limits. More...
void	setTargetApproachSlowDownDistance (const double dist)
	Changes this parameter in all inner holonomic navigator instances [m]. More...
double	getTargetApproachSlowDownDistance () const
	Returns this parameter for the first inner holonomic navigator instances [m] (should be the same in all of them?) More...
virtual void	navigationStep () MRPT_OVERRIDE
	This method must be called periodically in order to effectively run the navigation. More...
virtual void	cancel () MRPT_OVERRIDE
	Cancel current navegation. More...
bool	isRelativePointReachable (const mrpt::math::TPoint2D &wp_local_wrt_robot) const
	Returns true if, according to the information gathered at the last navigation step, there is a free path to the given point; false otherwise: if way is blocked or there is missing information, the point is out of range for the existing PTGs, etc. More...
const mrpt::utils::CTimeLogger &	getDelaysTimeLogger () const
	Gives access to a const-ref to the internal time logger used to estimate delays. More...
Waypoint navigation control API
virtual void	navigateWaypoints (const TWaypointSequence &nav_request)
	Waypoint navigation request. More...
virtual void	getWaypointNavStatus (TWaypointStatusSequence &out_nav_status) const
	Get a copy of the control structure which describes the progress status of the waypoint navigation. More...
TWaypointStatusSequence	getWaypointNavStatus () const
	Get a copy of the control structure which describes the progress status of the waypoint navigation. More...

Public Attributes
TAbstractPTGNavigatorParams	params_abstract_ptg_navigator
TWaypointsNavigatorParams	params_waypoints_navigator
TAbstractNavigatorParams	params_abstract_navigator

Protected Member Functions
virtual void	performNavigationStep () MRPT_OVERRIDE
	The main method for the navigator. More...
virtual CAbstractHolonomicReactiveMethod *	getHoloMethod (int idx)
virtual bool	impl_waypoint_is_reachable (const mrpt::math::TPoint2D &wp_local_wrt_robot) const MRPT_OVERRIDE
	Implements the way to waypoint is free function in children classes: true must be returned if, according to the information gathered at the last navigation step, there is a free path to the given point; false otherwise: if way is blocked or there is missing information, the point is out of range, etc. More...
virtual void	STEP1_InitPTGs ()=0
virtual bool	implementSenseObstacles (mrpt::system::TTimeStamp &obs_timestamp)=0
	Return false on any fatal error. More...
bool	STEP2_SenseObstacles ()
virtual void	STEP3_WSpaceToTPSpace (const size_t ptg_idx, std::vector< double > &out_TPObstacles, mrpt::nav::ClearanceDiagram &out_clearance, const mrpt::math::TPose2D &rel_pose_PTG_origin_wrt_sense, const bool eval_clearance)=0
	Builds TP-Obstacles from Workspace obstacles for the given PTG. More...
virtual void	loggingGetWSObstaclesAndShape (CLogFileRecord &out_log)=0
	Generates a pointcloud of obstacles, and the robot shape, to be saved in the logging record for the current timestep. More...
void	calc_move_candidate_scores (TCandidateMovementPTG &holonomicMovement, const std::vector< double > &in_TPObstacles, const mrpt::nav::ClearanceDiagram &in_clearance, const std::vector< mrpt::math::TPose2D > &WS_Targets, const std::vector< PTGTarget > &TP_Targets, CLogFileRecord::TInfoPerPTG &log, CLogFileRecord &newLogRec, const bool this_is_PTG_continuation, const mrpt::math::TPose2D &relPoseVelCmd_NOP, const unsigned int ptg_idx4weights, const mrpt::system::TTimeStamp tim_start_iteration, const mrpt::nav::CHolonomicLogFileRecordPtr &hlfr)
	Scores holonomicMovement. More...
virtual double	generate_vel_cmd (const TCandidateMovementPTG &in_movement, mrpt::kinematics::CVehicleVelCmdPtr &new_vel_cmd)
	Return the [0,1] velocity scale of raw PTG cmd_vel. More...
void	STEP8_GenerateLogRecord (CLogFileRecord &newLogRec, const std::vector< mrpt::math::TPose2D > &relTargets, int nSelectedPTG, const mrpt::kinematics::CVehicleVelCmdPtr &new_vel_cmd, int nPTGs, const bool best_is_NOP_cmdvel, const math::TPose2D &rel_cur_pose_wrt_last_vel_cmd_NOP, const math::TPose2D &rel_pose_PTG_origin_wrt_sense_NOP, const double executionTimeValue, const double tim_changeSpeed, const mrpt::system::TTimeStamp &tim_start_iteration)
void	preDestructor ()
	To be called during children destructors to assure thread-safe destruction, and free of shared objects. More...
virtual void	onStartNewNavigation () MRPT_OVERRIDE
	Called whenever a new navigation has been started. More...
void	build_movement_candidate (CParameterizedTrajectoryGenerator *ptg, const size_t indexPTG, const std::vector< mrpt::math::TPose2D > &relTargets, const mrpt::math::TPose2D &rel_pose_PTG_origin_wrt_sense, TInfoPerPTG &ipf, TCandidateMovementPTG &holonomicMovement, CLogFileRecord &newLogRec, const bool this_is_PTG_continuation, mrpt::nav::CAbstractHolonomicReactiveMethod *holoMethod, const mrpt::system::TTimeStamp tim_start_iteration, const TNavigationParams &navp=TNavigationParams(), const mrpt::math::TPose2D &relPoseVelCmd_NOP=mrpt::poses::CPose2D())
virtual void	onNavigateCommandReceived () MRPT_OVERRIDE
	Called after each call to CAbstractNavigator::navigate() More...
virtual bool	checkHasReachedTarget (const double targetDist) const MRPT_OVERRIDE
	Default implementation: check if target_dist is below the accepted distance. More...
virtual void	waypoints_navigationStep ()
	The waypoints-specific part of navigationStep() More...
bool	waypoints_isAligning () const
void	dispatchPendingNavEvents ()
virtual void	processNavigateCommand (const TNavigationParams *params)
	Does the job of navigate(), except the call to onNavigateCommandReceived() More...
virtual void	updateCurrentPoseAndSpeeds ()
	Call to the robot getCurrentPoseAndSpeeds() and updates members m_curPoseVel accordingly. More...
virtual void	performNavigationStepNavigating (bool call_virtual_nav_method=true)
	Factorization of the part inside navigationStep(), for the case of state being NAVIGATING. More...
virtual void	doEmergencyStop (const std::string &msg)
	Stops the robot and set navigation state to error. More...
virtual bool	changeSpeeds (const mrpt::kinematics::CVehicleVelCmd &vel_cmd)
	Default: forward call to m_robot.changeSpeed(). Can be overriden. More...
virtual bool	changeSpeedsNOP ()
	Default: forward call to m_robot.changeSpeedsNOP(). Can be overriden. More...
virtual bool	stop (bool isEmergencyStop)
	Default: forward call to m_robot.stop(). Can be overriden. More...
virtual bool	checkCollisionWithLatestObstacles (const mrpt::math::TPose2D &relative_robot_pose) const
	Checks whether the robot shape, when placed at the given pose (relative to the current pose), is colliding with any of the latest known obstacles. More...

Protected Attributes
std::vector< CAbstractHolonomicReactiveMethod * >	m_holonomicMethod
	The holonomic navigation algorithm (one object per PTG, so internal states are maintained) More...
mrpt::utils::CStream *	m_logFile
mrpt::utils::CStream *	m_prev_logfile
	The current log file stream, or NULL if not being used. More...
bool	m_enableKeepLogRecords
	See enableKeepLogRecords. More...
CLogFileRecord	lastLogRecord
	The last log. More...
mrpt::kinematics::CVehicleVelCmdPtr	m_last_vel_cmd
	Last velocity commands. More...
mrpt::synch::CCriticalSectionRecursive	m_critZoneLastLog
	Critical zones. More...
bool	m_enableConsoleOutput
	Enables / disables the console debug output. More...
bool	m_init_done
	Whether loadConfigFile() has been called or not. More...
mrpt::utils::CTicTac	timerForExecutionPeriod
mrpt::utils::CTimeLogger	m_timelogger
	A complete time logger. More...
bool	m_PTGsMustBeReInitialized
bool	m_closing_navigator
	Signal that the destructor has been called, so no more calls are accepted from other threads. More...
mrpt::system::TTimeStamp	m_WS_Obstacles_timestamp
mrpt::maps::CPointCloudFilterBasePtr	m_WS_filter
	Default: none. More...
mrpt::nav::CMultiObjectiveMotionOptimizerBasePtr	m_multiobjopt
std::vector< TInfoPerPTG >	m_infoPerPTG
	Temporary buffers for working with each PTG during a navigationStep() More...
mrpt::system::TTimeStamp	m_infoPerPTG_timestamp
TSentVelCmd	m_lastSentVelCmd
TWaypointStatusSequence	m_waypoint_nav_status
	The latest waypoints navigation command and the up-to-date control status. More...
mrpt::synch::CCriticalSectionRecursive	m_nav_waypoints_cs
bool	m_was_aligning
	Whether the last timestep was "is_aligning" in a waypoint with heading. More...
bool	m_is_aligning
mrpt::system::TTimeStamp	m_last_alignment_cmd
std::list< TPendingEvent >	m_pending_events
	Events generated during navigationStep(), enqueued to be called at the end of the method execution to avoid user code to change the navigator state. More...
TState	m_navigationState
	Current internal state of navigator: More...
TNavigationParams *	m_navigationParams
	Current navigation parameters. More...
CRobot2NavInterface &	m_robot
	The navigator-robot interface. More...
mrpt::poses::FrameTransformer< 2 > *	m_frame_tf
	Optional, user-provided frame transformer. More...
mrpt::synch::CCriticalSectionRecursive	m_nav_cs
	mutex for all navigation methods More...
TRobotPoseVel	m_curPoseVel
	Current robot pose (updated in CAbstractNavigator::navigationStep() ) More...
double	m_last_curPoseVelUpdate_robot_time
std::string	m_last_curPoseVelUpdate_pose_frame_id
mrpt::poses::CPose2DInterpolator	m_latestPoses
mrpt::poses::CPose2DInterpolator	m_latestOdomPoses
	Latest robot poses (updated in CAbstractNavigator::navigationStep() ) More...
mrpt::utils::CTimeLogger	m_timlog_delays
	Time logger to collect delay-related stats. More...
double	m_badNavAlarm_minDistTarget
	For sending an alarm (error event) when it seems that we are not approaching toward the target in a while... More...
mrpt::system::TTimeStamp	m_badNavAlarm_lastMinDistTime
Variables for CReactiveNavigationSystem::performNavigationStep
mrpt::utils::CTicTac	totalExecutionTime
mrpt::utils::CTicTac	executionTime
mrpt::utils::CTicTac	tictac
mrpt::math::LowPassFilter_IIR1	meanExecutionTime
mrpt::math::LowPassFilter_IIR1	meanTotalExecutionTime
mrpt::math::LowPassFilter_IIR1	meanExecutionPeriod
	Runtime estimation of execution period of the method. More...
mrpt::math::LowPassFilter_IIR1	tim_changeSpeed_avr
mrpt::math::LowPassFilter_IIR1	timoff_obstacles_avr
mrpt::math::LowPassFilter_IIR1	timoff_curPoseAndSpeed_avr
mrpt::math::LowPassFilter_IIR1	timoff_sendVelCmd_avr

Private Member Functions
void	deleteHolonomicObjects ()
	Delete m_holonomicMethod. More...

Private Attributes
std::string	m_navlogfiles_dir
	Default: "./reactivenav.logs". More...
double	m_expr_var_k
double	m_expr_var_k_target
double	m_expr_var_num_paths
TNavigationParams *	m_copy_prev_navParams
	A copy of last-iteration navparams, used to detect changes. More...

Navigation control API
virtual void	navigate (const TNavigationParams *params)
	Navigation request to a single target location. More...
virtual void	resume ()
	Continues with suspended navigation. More...
virtual void	suspend ()
	Suspend current navegation. More...
virtual void	resetNavError ()
	Resets a NAV_ERROR state back to IDLE More...
TState	getCurrentState () const
	Returns the current navigator state. More...
const TErrorReason &	getErrorReason () const
	In case of state=NAV_ERROR, this returns the reason for the error. More...
void	setFrameTF (mrpt::poses::FrameTransformer< 2 > *frame_tf)
	Sets a user-provided frame transformer object; used only if providing targets in a frame ID different than the one in which robot odometry is given (both IDs default to "map"). More...
const mrpt::poses::FrameTransformer< 2 > *	getFrameTF () const
	Get the current frame tf object (defaults to nullptr) More...
void	enableRethrowNavExceptions (const bool enable)
	By default, error exceptions on navigationStep() will dump an error message to the output logger interface. More...
bool	isRethrowNavExceptionsEnabled () const
enum	TState { IDLE =0, NAVIGATING, SUSPENDED, NAV_ERROR }
	The different states for the navigation system. More...
enum	TErrorCode { ERR_NONE =0, ERR_EMERGENCY_STOP, ERR_CANNOT_REACH_TARGET, ERR_OTHER }
	Explains the reason for the navigation error. More...

Member Enumeration Documentation

TErrorCode

enum mrpt::nav::CAbstractNavigator::TErrorCode

inherited

Explains the reason for the navigation error.

Enumerator
ERR_NONE
ERR_EMERGENCY_STOP
ERR_CANNOT_REACH_TARGET
ERR_OTHER

Definition at line 131 of file CAbstractNavigator.h.

TState

enum mrpt::nav::CAbstractNavigator::TState

inherited

The different states for the navigation system.

Enumerator
IDLE
NAVIGATING
SUSPENDED
NAV_ERROR	In this case, use getErrorReason()

Definition at line 120 of file CAbstractNavigator.h.

Constructor & Destructor Documentation

CAbstractPTGBasedReactive()

CAbstractPTGBasedReactive::CAbstractPTGBasedReactive	(	CRobot2NavInterface &	react_iterf_impl,
		bool	enableConsoleOutput = true,
		bool	enableLogFile = false,
		const std::string &	logFileDirectory = std::string("./reactivenav.logs")
	)

Constructor.

Parameters

[in]	react_iterf_impl	An instance of an object that implement all the required interfaces to read from and control a robot.
[in]	enableConsoleOutput	Can be set to false to reduce verbosity.
[in]	enableLogFile	Set to true to enable creation of navigation log files, useful for inspection and debugging.

Definition at line 57 of file CAbstractPTGBasedReactive.cpp.

References enableLogFile().

~CAbstractPTGBasedReactive()

CAbstractPTGBasedReactive::~CAbstractPTGBasedReactive ( )

virtual

Definition at line 105 of file CAbstractPTGBasedReactive.cpp.

References mrpt::mrpt::utils::delete_safe(), m_copy_prev_navParams, and preDestructor().

Member Function Documentation

build_movement_candidate()

void CAbstractPTGBasedReactive::build_movement_candidate ( CParameterizedTrajectoryGenerator *  ptg, const size_t  indexPTG, const std::vector< mrpt::math::TPose2D > &  relTargets, const mrpt::math::TPose2D &  rel_pose_PTG_origin_wrt_sense, TInfoPerPTG &  ipf, TCandidateMovementPTG &  holonomicMovement, CLogFileRecord &  newLogRec, const bool  this_is_PTG_continuation, mrpt::nav::CAbstractHolonomicReactiveMethod *  holoMethod, const mrpt::system::TTimeStamp  tim_start_iteration, const TNavigationParams &  navp = TNavigationParams(), const mrpt::math::TPose2D &  relPoseVelCmd_NOP = mrpt::poses::CPose2D()  )

protected

Definition at line 1277 of file CAbstractPTGBasedReactive.cpp.

References mrpt::nav::CLogFileRecord::additional_debug_msgs, mrpt::nav::CParameterizedTrajectoryGenerator::alpha2index(), ASSERT_, calc_move_candidate_scores(), mrpt::nav::CLogFileRecord::TInfoPerPTG::clearance, mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::clearance, mrpt::nav::CAbstractPTGBasedReactive::TInfoPerPTG::clearance, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::colfreedist_move_k, mrpt::utils::metaprogramming::copy_container_typecasting(), mrpt::nav::CLogFileRecord_VFF::Create(), mrpt::nav::CLogFileRecord::TInfoPerPTG::desiredDirection, mrpt::nav::CAbstractHolonomicReactiveMethod::NavOutput::desiredDirection, mrpt::nav::CLogFileRecord::TInfoPerPTG::desiredSpeed, mrpt::nav::CAbstractHolonomicReactiveMethod::NavOutput::desiredSpeed, mrpt::nav::TCandidateMovementPTG::direction, mrpt::nav::CAbstractHolonomicReactiveMethod::enableApproachTargetSlowDown(), mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::evaluate_clearance, mrpt::mrpt::format(), mrpt::nav::CParameterizedTrajectoryGenerator::getAlphaValuesCount(), mrpt::nav::CParameterizedTrajectoryGenerator::getDescription(), getPTG_count(), mrpt::nav::CParameterizedTrajectoryGenerator::getRefDistance(), mrpt::nav::CLogFileRecord::TInfoPerPTG::HLFR, mrpt::mrpt::math::hypot_fast(), mrpt::nav::CParameterizedTrajectoryGenerator::index2alpha(), mrpt::nav::CLogFileRecord::infoPerPTG, mrpt::nav::CParameterizedTrajectoryGenerator::initClearanceDiagram(), mrpt::nav::CParameterizedTrajectoryGenerator::initTPObstacles(), mrpt::nav::CParameterizedTrajectoryGenerator::inverseMap_WS2TP(), mrpt::utils::CTimeLogger::isEnabled(), mrpt::nav::CAbstractHolonomicReactiveMethod::NavOutput::logRecord, mrpt::nav::CAbstractNavigator::m_curPoseVel, m_enableKeepLogRecords, m_lastSentVelCmd, m_logFile, m_timelogger, mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::maxObstacleDist, mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::maxRobotSpeed, mrpt::nav::CParameterizedTrajectoryGenerator::maxTimeInVelCmdNOP(), min, mrpt::nav::CAbstractHolonomicReactiveMethod::navigate(), mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::obstacles, params_abstract_ptg_navigator, mrpt::nav::TCandidateMovementPTG::props, mrpt::nav::TCandidateMovementPTG::PTG, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::ptg_alpha_index, mrpt::nav::CLogFileRecord::TInfoPerPTG::PTG_desc, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::ptg_index, mrpt::utils::CTimeLogger::registerUserMeasure(), mrpt::nav::CAbstractPTGBasedReactive::TNavigationParamsPTG::restrict_PTG_indices, mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::secure_distance_end, mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::secure_distance_start, mrpt::nav::TCandidateMovementPTG::speed, STEP3_WSpaceToTPSpace(), mrpt::nav::CParameterizedTrajectoryGenerator::supportVelCmdNOP(), mrpt::utils::CTicTac::Tac(), mrpt::nav::CAbstractNavigator::TNavigationParams::target, mrpt::nav::CAbstractPTGBasedReactive::PTGTarget::target_alpha, mrpt::nav::CAbstractPTGBasedReactive::PTGTarget::target_dist, mrpt::nav::CAbstractPTGBasedReactive::PTGTarget::target_k, mrpt::nav::CAbstractNavigator::TargetInfo::targetDesiredRelSpeed, mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::targets, mrpt::nav::CAbstractPTGBasedReactive::TInfoPerPTG::targets, mrpt::utils::CTicTac::Tic(), tictac, mrpt::nav::CLogFileRecord::TInfoPerPTG::timeForHolonomicMethod, mrpt::nav::CLogFileRecord::TInfoPerPTG::timeForTPObsTransformation, mrpt::nav::CLogFileRecord::TInfoPerPTG::TP_Obstacles, mrpt::nav::CAbstractPTGBasedReactive::TInfoPerPTG::TP_Obstacles, mrpt::nav::CAbstractPTGBasedReactive::PTGTarget::TP_Target, mrpt::nav::CLogFileRecord::TInfoPerPTG::TP_Targets, mrpt::nav::CParameterizedTrajectoryGenerator::updateClearancePost(), mrpt::nav::CAbstractPTGBasedReactive::PTGTarget::valid_TP, mrpt::nav::CAbstractNavigator::TRobotPoseVel::velLocal, mrpt::math::TTwist2D::vx, mrpt::math::TTwist2D::vy, mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

Referenced by performNavigationStep().

calc_move_candidate_scores()

void CAbstractPTGBasedReactive::calc_move_candidate_scores ( TCandidateMovementPTG &  holonomicMovement, const std::vector< double > &  in_TPObstacles, const mrpt::nav::ClearanceDiagram &  in_clearance, const std::vector< mrpt::math::TPose2D > &  WS_Targets, const std::vector< PTGTarget > &  TP_Targets, CLogFileRecord::TInfoPerPTG &  log, CLogFileRecord &  newLogRec, const bool  this_is_PTG_continuation, const mrpt::math::TPose2D &  relPoseVelCmd_NOP, const unsigned int  ptg_idx4weights, const mrpt::system::TTimeStamp  tim_start_iteration, const mrpt::nav::CHolonomicLogFileRecordPtr &  hlfr  )

protected

Scores holonomicMovement.

Definition at line 856 of file CAbstractPTGBasedReactive.cpp.

References mrpt::nav::CLogFileRecord::additional_debug_msgs, mrpt::nav::CParameterizedTrajectoryGenerator::alpha2index(), mrpt::math::angDistance(), ASSERT_, ASSERT_EQUAL_, mrpt::math::TPose2D::asString(), mrpt::nav::TCandidateMovementPTG::direction, mrpt::nav::CParameterizedTrajectoryGenerator::directionToMotionCommand(), mrpt::nav::CParameterizedTrajectoryGenerator::evalClearanceSingleObstacle(), mrpt::nav::CParameterizedTrajectoryGenerator::evalPathRelativePriority(), mrpt::mrpt::format(), mrpt::nav::ClearanceDiagram::getClearance(), getHoloMethod(), mrpt::nav::CParameterizedTrajectoryGenerator::getPathDist(), mrpt::nav::CParameterizedTrajectoryGenerator::getPathPose(), mrpt::nav::CParameterizedTrajectoryGenerator::getPathStepDuration(), mrpt::nav::CParameterizedTrajectoryGenerator::getPathStepForDist(), mrpt::nav::CParameterizedTrajectoryGenerator::getRefDistance(), mrpt::nav::CParameterizedTrajectoryGenerator::getScorePriority(), mrpt::nav::CAbstractHolonomicReactiveMethod::getTargetApproachSlowDownDistance(), mrpt::mrpt::math::hypot_fast(), mrpt::nav::CParameterizedTrajectoryGenerator::index2alpha(), mrpt::nav::CParameterizedTrajectoryGenerator::inverseMap_WS2TP(), mrpt::nav::CParameterizedTrajectoryGenerator::isBijectiveAt(), mrpt::mrpt::utils::keep_min(), mrpt::nav::CAbstractNavigator::m_curPoseVel, m_holonomicMethod, m_last_vel_cmd, m_lastSentVelCmd, mrpt::nav::CAbstractNavigator::m_navigationParams, mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::max_dist_for_timebased_path_prediction, mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::max_distance_predicted_actual_path, min, MRPT_END, MRPT_START, mrpt::system::now(), mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::original_holo_eval, params_abstract_ptg_navigator, mrpt::math::TPose2D::phi, mrpt::nav::CAbstractNavigator::TRobotPoseVel::pose, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::poseVel, mrpt::nav::TCandidateMovementPTG::props, mrpt::nav::TCandidateMovementPTG::PTG, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::ptg_alpha_index, mrpt::nav::CAbstractNavigator::TRobotPoseVel::rawOdometry, mrpt::utils::round(), mrpt::nav::TCandidateMovementPTG::speed, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::speed_scale, mrpt::nav::TCandidateMovementPTG::starting_robot_dir, mrpt::nav::TCandidateMovementPTG::starting_robot_dist, mrpt::nav::CParameterizedTrajectoryGenerator::supportSpeedAtTarget(), mrpt::nav::CParameterizedTrajectoryGenerator::supportVelCmdNOP(), mrpt::nav::CAbstractNavigator::TNavigationParams::target, mrpt::nav::CAbstractNavigator::TargetInfo::targetDesiredRelSpeed, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::tim_send_cmd_vel, mrpt::system::timeDifference(), mrpt::nav::CLogFileRecord::TInfoPerPTG::TP_Robot, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::was_slowdown, mrpt::math::TPoint2D::x, mrpt::math::TPose2D::x, mrpt::math::TPoint2D::y, and mrpt::math::TPose2D::y.

Referenced by build_movement_candidate().

cancel()

void CWaypointsNavigator::cancel ( )

virtualinherited

Cancel current navegation.

Reimplemented from mrpt::nav::CAbstractNavigator.

Definition at line 96 of file CWaypointsNavigator.cpp.

References mrpt::nav::CAbstractNavigator::cancel(), mrpt::nav::CWaypointsNavigator::m_nav_waypoints_cs, and mrpt::nav::CWaypointsNavigator::m_waypoint_nav_status.

changeCurrentRobotSpeedLimits()

mrpt::kinematics::CVehicleVelCmd::TVelCmdParams& mrpt::nav::CAbstractPTGBasedReactive::changeCurrentRobotSpeedLimits ( )

inline

Changes the current, global (honored for all PTGs) robot speed limits, via returning a reference to a structure that holds those limits.

Definition at line 203 of file CAbstractPTGBasedReactive.h.

References mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::robot_absolute_speed_limits.

changeSpeeds()

bool CAbstractNavigator::changeSpeeds ( const mrpt::kinematics::CVehicleVelCmd &  vel_cmd )

protectedvirtualinherited

Default: forward call to m_robot.changeSpeed(). Can be overriden.

Definition at line 414 of file CAbstractNavigator.cpp.

References mrpt::nav::CRobot2NavInterface::changeSpeeds(), and mrpt::nav::CAbstractNavigator::m_robot.

Referenced by mrpt::nav::CNavigatorManualSequence::navigationStep(), performNavigationStep(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

changeSpeedsNOP()

bool CAbstractNavigator::changeSpeedsNOP ( )

protectedvirtualinherited

Default: forward call to m_robot.changeSpeedsNOP(). Can be overriden.

Definition at line 418 of file CAbstractNavigator.cpp.

References mrpt::nav::CRobot2NavInterface::changeSpeedsNOP(), and mrpt::nav::CAbstractNavigator::m_robot.

Referenced by performNavigationStep().

checkCollisionWithLatestObstacles()

bool CAbstractNavigator::checkCollisionWithLatestObstacles ( const mrpt::math::TPose2D &  relative_robot_pose ) const

protectedvirtualinherited

Checks whether the robot shape, when placed at the given pose (relative to the current pose), is colliding with any of the latest known obstacles.

Default implementation: always returns false.

Reimplemented in mrpt::nav::CReactiveNavigationSystem3D, and mrpt::nav::CReactiveNavigationSystem.

Definition at line 626 of file CAbstractNavigator.cpp.

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

checkHasReachedTarget()

bool CWaypointsNavigator::checkHasReachedTarget ( const double  targetDist ) const

protectedvirtualinherited

Default implementation: check if target_dist is below the accepted distance.

If true is returned here, the end-of-navigation event will be sent out (only for non-intermediary targets).

Reimplemented from mrpt::nav::CAbstractNavigator.

Definition at line 449 of file CWaypointsNavigator.cpp.

References mrpt::system::dateTimeLocalToString(), mrpt::nav::TWaypointStatus::getAsText(), INVALID_TIMESTAMP, mrpt::nav::CAbstractNavigator::m_navigationParams, mrpt::nav::CWaypointsNavigator::m_waypoint_nav_status, MRPT_LOG_DEBUG_STREAM, mrpt::nav::TWaypointStatus::reached, mrpt::nav::CAbstractNavigator::TNavigationParams::target, mrpt::nav::CAbstractNavigator::TargetInfo::targetAllowedDistance, and mrpt::nav::CAbstractNavigator::TargetInfo::targetIsIntermediaryWaypoint.

deleteHolonomicObjects()

void CAbstractPTGBasedReactive::deleteHolonomicObjects ( )

private

Delete m_holonomicMethod.

Definition at line 211 of file CAbstractPTGBasedReactive.cpp.

References m_holonomicMethod.

Referenced by preDestructor(), and setHolonomicMethod().

dispatchPendingNavEvents()

void CAbstractNavigator::dispatchPendingNavEvents ( )

protectedinherited

Definition at line 249 of file CAbstractNavigator.cpp.

References mrpt::nav::CAbstractNavigator::ERR_CANNOT_REACH_TARGET, mrpt::nav::CAbstractNavigator::TErrorReason::error_code, mrpt::nav::CAbstractNavigator::TErrorReason::error_msg, mrpt::nav::CAbstractNavigator::TPendingEvent::event_noargs, mrpt::nav::CAbstractNavigator::m_navErrorReason, mrpt::nav::CAbstractNavigator::m_navigationState, mrpt::nav::CAbstractNavigator::m_pending_events, mrpt::nav::CAbstractNavigator::m_robot, MRPT_LOG_WARN, mrpt::nav::CAbstractNavigator::NAV_ERROR, mrpt::nav::CRobot2NavInterface::sendCannotGetCloserToBlockedTargetEvent(), mrpt::nav::CRobot2NavInterface::sendNewWaypointTargetEvent(), mrpt::nav::CRobot2NavInterface::sendWaypointReachedEvent(), and mrpt::nav::CRobot2NavInterface::sendWaySeemsBlockedEvent().

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

doEmergencyStop()

void CAbstractNavigator::doEmergencyStop ( const std::string &  msg )

protectedvirtualinherited

Stops the robot and set navigation state to error.

Definition at line 284 of file CAbstractNavigator.cpp.

References mrpt::nav::CAbstractNavigator::ERR_EMERGENCY_STOP, mrpt::nav::CAbstractNavigator::ERR_NONE, mrpt::nav::CAbstractNavigator::TErrorReason::error_code, mrpt::nav::CAbstractNavigator::TErrorReason::error_msg, mrpt::nav::CAbstractNavigator::m_navErrorReason, mrpt::nav::CAbstractNavigator::m_navigationState, MRPT_LOG_ERROR, mrpt::nav::CAbstractNavigator::NAV_ERROR, and mrpt::nav::CAbstractNavigator::stop().

Referenced by performNavigationStep().

enableKeepLogRecords()

void mrpt::nav::CAbstractPTGBasedReactive::enableKeepLogRecords ( bool  enable = true )

inline

Enables keeping an internal registry of navigation logs that can be queried with getLastLogRecord()

Definition at line 126 of file CAbstractPTGBasedReactive.h.

enableLogFile()

void CAbstractPTGBasedReactive::enableLogFile

(

bool

enable

)

Enables/disables saving log files.

Definition at line 128 of file CAbstractPTGBasedReactive.cpp.

References CFileGZOutputStream, mrpt::system::createDirectory(), mrpt::system::directoryExists(), mrpt::system::fileExists(), mrpt::mrpt::format(), m_logFile, mrpt::nav::CAbstractNavigator::m_nav_cs, m_navlogfiles_dir, MRPT_LOG_DEBUG, MRPT_LOG_ERROR_FMT, mrpt::system::os::sprintf(), and THROW_EXCEPTION_FMT.

Referenced by CAbstractPTGBasedReactive().

enableRethrowNavExceptions()

void mrpt::nav::CAbstractNavigator::enableRethrowNavExceptions ( const bool  enable )

inlineinherited

By default, error exceptions on navigationStep() will dump an error message to the output logger interface.

If rethrow is enabled (default=false), the error message will be reported as well, but exceptions will be re-thrown.

Definition at line 167 of file CAbstractNavigator.h.

enableTimeLog()

void mrpt::nav::CAbstractPTGBasedReactive::enableTimeLog ( bool  enable = true )

inline

Enables/disables the detailed time logger (default:disabled upon construction) When enabled, a report will be dumped to std::cout upon destruction.

See also

getTimeLogger

Definition at line 186 of file CAbstractPTGBasedReactive.h.

generate_vel_cmd()

double CAbstractPTGBasedReactive::generate_vel_cmd ( const TCandidateMovementPTG &  in_movement, mrpt::kinematics::CVehicleVelCmdPtr &  new_vel_cmd  )

protectedvirtual

Return the [0,1] velocity scale of raw PTG cmd_vel.

Definition at line 1168 of file CAbstractPTGBasedReactive.cpp.

References mrpt::nav::CParameterizedTrajectoryGenerator::alpha2index(), mrpt::nav::TCandidateMovementPTG::direction, mrpt::nav::CParameterizedTrajectoryGenerator::directionToMotionCommand(), mrpt::math::LowPassFilter_IIR1::getLastOutput(), mrpt::nav::CParameterizedTrajectoryGenerator::getSupportedKinematicVelocityCommand(), m_last_vel_cmd, m_timelogger, meanExecutionPeriod, MRPT_LOG_ERROR_STREAM, params_abstract_ptg_navigator, mrpt::nav::TCandidateMovementPTG::PTG, mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::robot_absolute_speed_limits, mrpt::nav::TCandidateMovementPTG::speed, and mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::speedfilter_tau.

Referenced by performNavigationStep().

getCurrentRobotSpeedLimits()

const mrpt::kinematics::CVehicleVelCmd::TVelCmdParams& mrpt::nav::CAbstractPTGBasedReactive::getCurrentRobotSpeedLimits ( ) const

inline

Get the current, global (honored for all PTGs) robot speed limits.

Definition at line 198 of file CAbstractPTGBasedReactive.h.

References mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::robot_absolute_speed_limits.

getCurrentState()

TState mrpt::nav::CAbstractNavigator::getCurrentState ( ) const

inlineinherited

Returns the current navigator state.

Definition at line 128 of file CAbstractNavigator.h.

getDelaysTimeLogger()

const mrpt::utils::CTimeLogger& mrpt::nav::CAbstractNavigator::getDelaysTimeLogger ( ) const

inlineinherited

Gives access to a const-ref to the internal time logger used to estimate delays.

See also

getTimeLogger() in derived classes

Definition at line 190 of file CAbstractNavigator.h.

getErrorReason()

const TErrorReason& mrpt::nav::CAbstractNavigator::getErrorReason ( ) const

inlineinherited

In case of state=NAV_ERROR, this returns the reason for the error.

Error state is reseted everytime a new navigation starts with a call to navigate(), or when resetNavError() is called.

Definition at line 150 of file CAbstractNavigator.h.

getFrameTF()

const mrpt::poses::FrameTransformer<2>* mrpt::nav::CAbstractNavigator::getFrameTF ( ) const

inlineinherited

Get the current frame tf object (defaults to nullptr)

See also

setFrameTF

Definition at line 161 of file CAbstractNavigator.h.

getHoloMethod()

CAbstractHolonomicReactiveMethod * CAbstractPTGBasedReactive::getHoloMethod ( int  idx )

protectedvirtual

Definition at line 1672 of file CAbstractPTGBasedReactive.cpp.

References m_holonomicMethod.

Referenced by calc_move_candidate_scores(), and performNavigationStep().

getLastLogRecord()

void CAbstractPTGBasedReactive::getLastLogRecord

(

CLogFileRecord &

o

)

Provides a copy of the last log record with information about execution.

Parameters

o	An object where the log will be stored into.

Note

Log records are not prepared unless either "enableLogFile" is enabled in the constructor or "enableLogFile()" has been called.

Definition at line 191 of file CAbstractPTGBasedReactive.cpp.

References lastLogRecord, and m_critZoneLastLog.

getLogFileDirectory()

std::string mrpt::nav::CAbstractPTGBasedReactive::getLogFileDirectory ( ) const

inline

Definition at line 133 of file CAbstractPTGBasedReactive.h.

getPTG() [1/2]

virtual CParameterizedTrajectoryGenerator* mrpt::nav::CAbstractPTGBasedReactive::getPTG ( size_t  i )

pure virtual

Gets the i'th PTG.

Implemented in mrpt::nav::CReactiveNavigationSystem3D, and mrpt::nav::CReactiveNavigationSystem.

Referenced by impl_waypoint_is_reachable(), performNavigationStep(), and setHolonomicMethod().

getPTG() [2/2]

virtual const CParameterizedTrajectoryGenerator* mrpt::nav::CAbstractPTGBasedReactive::getPTG ( size_t  i ) const

pure virtual

Gets the i'th PTG.

Implemented in mrpt::nav::CReactiveNavigationSystem3D, and mrpt::nav::CReactiveNavigationSystem.

getPTG_count()

virtual size_t mrpt::nav::CAbstractPTGBasedReactive::getPTG_count ( ) const

pure virtual

Returns the number of different PTGs that have been setup.

Implemented in mrpt::nav::CReactiveNavigationSystem3D, and mrpt::nav::CReactiveNavigationSystem.

Referenced by build_movement_candidate(), impl_waypoint_is_reachable(), performNavigationStep(), and setHolonomicMethod().

getTargetApproachSlowDownDistance()

double CAbstractPTGBasedReactive::getTargetApproachSlowDownDistance

(

)

const

Returns this parameter for the first inner holonomic navigator instances [m] (should be the same in all of them?)

Definition at line 1666 of file CAbstractPTGBasedReactive.cpp.

References ASSERT_, and m_holonomicMethod.

getTimeLogger()

const mrpt::utils::CTimeLogger& mrpt::nav::CAbstractPTGBasedReactive::getTimeLogger ( ) const

inline

Gives access to a const-ref to the internal time logger.

See also

enableTimeLog

Definition at line 191 of file CAbstractPTGBasedReactive.h.

getWaypointNavStatus() [1/2]

void CWaypointsNavigator::getWaypointNavStatus ( TWaypointStatusSequence &  out_nav_status ) const

virtualinherited

Get a copy of the control structure which describes the progress status of the waypoint navigation.

Definition at line 90 of file CWaypointsNavigator.cpp.

References mrpt::nav::CWaypointsNavigator::m_waypoint_nav_status.

getWaypointNavStatus() [2/2]

TWaypointStatusSequence mrpt::nav::CWaypointsNavigator::getWaypointNavStatus ( ) const

inlineinherited

Get a copy of the control structure which describes the progress status of the waypoint navigation.

Definition at line 69 of file CWaypointsNavigator.h.

Referenced by mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

impl_waypoint_is_reachable()

bool CAbstractPTGBasedReactive::impl_waypoint_is_reachable ( const mrpt::math::TPoint2D &  wp_local_wrt_robot ) const

protectedvirtual

Implements the way to waypoint is free function in children classes: true must be returned if, according to the information gathered at the last navigation step, there is a free path to the given point; false otherwise: if way is blocked or there is missing information, the point is out of range, etc.

Implements mrpt::nav::CWaypointsNavigator.

Definition at line 1206 of file CAbstractPTGBasedReactive.cpp.

References ASSERT_, mrpt::nav::CParameterizedTrajectoryGenerator::getPathCount(), getPTG(), getPTG_count(), INVALID_TIMESTAMP, mrpt::nav::CParameterizedTrajectoryGenerator::inverseMap_WS2TP(), m_infoPerPTG, m_infoPerPTG_timestamp, MRPT_END, MRPT_START, mrpt::system::now(), mrpt::system::timeDifference(), mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

implementSenseObstacles()

virtual bool mrpt::nav::CAbstractPTGBasedReactive::implementSenseObstacles ( mrpt::system::TTimeStamp &  obs_timestamp )

protectedpure virtual

Return false on any fatal error.

Implemented in mrpt::nav::CReactiveNavigationSystem3D, and mrpt::nav::CReactiveNavigationSystem.

Referenced by STEP2_SenseObstacles().

initialize()

void CAbstractPTGBasedReactive::initialize ( void  )

virtual

Must be called for loading collision grids, or the first navigation command may last a long time to be executed.

Internally, it just calls STEP1_CollisionGridsBuilder().

Implements mrpt::nav::CAbstractNavigator.

Definition at line 112 of file CAbstractPTGBasedReactive.cpp.

References ASSERT_, INVALID_TIMESTAMP, m_infoPerPTG_timestamp, m_multiobjopt, mrpt::nav::CAbstractNavigator::m_nav_cs, and STEP1_InitPTGs().

isRelativePointReachable()

bool CWaypointsNavigator::isRelativePointReachable ( const mrpt::math::TPoint2D &  wp_local_wrt_robot ) const

inherited

Returns true if, according to the information gathered at the last navigation step, there is a free path to the given point; false otherwise: if way is blocked or there is missing information, the point is out of range for the existing PTGs, etc.

Definition at line 404 of file CWaypointsNavigator.cpp.

References mrpt::nav::CWaypointsNavigator::impl_waypoint_is_reachable().

isRethrowNavExceptionsEnabled()

bool mrpt::nav::CAbstractNavigator::isRethrowNavExceptionsEnabled ( ) const

inlineinherited

Definition at line 170 of file CAbstractNavigator.h.

loadConfigFile()

void CAbstractPTGBasedReactive::loadConfigFile ( const mrpt::utils::CConfigFileBase &  c )

virtual

Loads all params from a file.

To be called before initialize(). Each derived class MUST load its own parameters, and then call ITS PARENT'S overriden method to ensure all params are loaded.

Reimplemented from mrpt::nav::CWaypointsNavigator.

Reimplemented in mrpt::nav::CReactiveNavigationSystem3D, and mrpt::nav::CReactiveNavigationSystem.

Definition at line 1568 of file CAbstractPTGBasedReactive.cpp.

References ASSERT_, mrpt::nav::CMultiObjectiveMotionOptimizerBase::Create(), mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::enable_obstacle_filtering, mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::holonomic_method, mrpt::nav::CWaypointsNavigator::loadConfigFile(), mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::loadFromConfigFile(), m_holonomicMethod, m_init_done, m_multiobjopt, m_PTGsMustBeReInitialized, m_WS_filter, mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::motion_decider_method, MRPT_END, MRPT_START, params_abstract_ptg_navigator, setHolonomicMethod(), and THROW_EXCEPTION_FMT.

Referenced by mrpt::nav::CReactiveNavigationSystem::loadConfigFile(), and mrpt::nav::CReactiveNavigationSystem3D::loadConfigFile().

loggingGetWSObstaclesAndShape()

virtual void mrpt::nav::CAbstractPTGBasedReactive::loggingGetWSObstaclesAndShape ( CLogFileRecord &  out_log )

protectedpure virtual

Generates a pointcloud of obstacles, and the robot shape, to be saved in the logging record for the current timestep.

Implemented in mrpt::nav::CReactiveNavigationSystem3D, and mrpt::nav::CReactiveNavigationSystem.

Referenced by STEP8_GenerateLogRecord().

navigate()

void CAbstractNavigator::navigate ( const TNavigationParams *  params )

virtualinherited

Navigation request to a single target location.

It starts a new navigation.

Parameters

[in]

params

Pointer to structure with navigation info (its contents will be copied, so the original can be freely destroyed upon return if it was dynamically allocated.)

Note

A pointer is used so the passed object can be polymorphic with derived types.

Reimplemented in mrpt::nav::CNavigatorManualSequence.

Definition at line 341 of file CAbstractNavigator.cpp.

References MRPT_END, MRPT_START, mrpt::nav::CAbstractNavigator::onNavigateCommandReceived(), and mrpt::nav::CAbstractNavigator::processNavigateCommand().

navigateWaypoints()

void CWaypointsNavigator::navigateWaypoints ( const TWaypointSequence &  nav_request )

virtualinherited

Waypoint navigation request.

This immediately cancels any other previous on-going navigation.

See also

CAbstractNavigator::navigate() for single waypoint navigation requests.

Definition at line 66 of file CWaypointsNavigator.cpp.

References ASSERT_, ASSERTMSG_, mrpt::nav::CWaypointsNavigator::m_nav_waypoints_cs, mrpt::nav::CWaypointsNavigator::m_waypoint_nav_status, MRPT_END, MRPT_START, mrpt::system::now(), mrpt::nav::CWaypointsNavigator::onNavigateCommandReceived(), mrpt::nav::TWaypointStatusSequence::timestamp_nav_started, mrpt::nav::TWaypointSequence::waypoints, and mrpt::nav::TWaypointStatusSequence::waypoints.

navigationStep()

void CWaypointsNavigator::navigationStep ( )

virtualinherited

This method must be called periodically in order to effectively run the navigation.

Reimplemented from mrpt::nav::CAbstractNavigator.

Definition at line 373 of file CWaypointsNavigator.cpp.

References mrpt::nav::CAbstractNavigator::dispatchPendingNavEvents(), mrpt::nav::CAbstractNavigator::IDLE, mrpt::nav::CWaypointsNavigator::m_is_aligning, mrpt::nav::CAbstractNavigator::m_navigationState, MRPT_END, MRPT_START, mrpt::nav::CAbstractNavigator::NAVIGATING, mrpt::nav::CAbstractNavigator::navigationStep(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

onNavigateCommandReceived()

void CWaypointsNavigator::onNavigateCommandReceived ( )

protectedvirtualinherited

Called after each call to CAbstractNavigator::navigate()

Reimplemented from mrpt::nav::CAbstractNavigator.

Definition at line 54 of file CWaypointsNavigator.cpp.

References INVALID_TIMESTAMP, mrpt::nav::CWaypointsNavigator::m_nav_waypoints_cs, mrpt::nav::CWaypointsNavigator::m_was_aligning, mrpt::nav::CWaypointsNavigator::m_waypoint_nav_status, mrpt::nav::CAbstractNavigator::onNavigateCommandReceived(), mrpt::nav::TWaypointStatusSequence::timestamp_nav_started, and mrpt::nav::TWaypointStatusSequence::waypoint_index_current_goal.

Referenced by mrpt::nav::CWaypointsNavigator::navigateWaypoints().

onStartNewNavigation()

void CAbstractPTGBasedReactive::onStartNewNavigation ( )

protectedvirtual

Called whenever a new navigation has been started.

Can be used to reset state variables, etc.

Reimplemented from mrpt::nav::CWaypointsNavigator.

Definition at line 1247 of file CAbstractPTGBasedReactive.cpp.

References mrpt::nav::CAbstractNavigator::m_last_curPoseVelUpdate_robot_time, m_lastSentVelCmd, mrpt::nav::CWaypointsNavigator::onStartNewNavigation(), and mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::reset().

performNavigationStep()

void CAbstractPTGBasedReactive::performNavigationStep ( )

protectedvirtual

The main method for the navigator.

< Allow PTGs to be responsive to target location, dynamics, etc.

Implements mrpt::nav::CAbstractNavigator.

Definition at line 244 of file CAbstractPTGBasedReactive.cpp.

References mrpt::nav::CLogFileRecord::additional_debug_msgs, mrpt::nav::CParameterizedTrajectoryGenerator::alpha2index(), ASSERT_, ASSERT_EQUAL_, mrpt::math::TPose2D::asString(), build_movement_candidate(), mrpt::nav::CAbstractNavigator::changeSpeeds(), mrpt::nav::CAbstractNavigator::changeSpeedsNOP(), mrpt::nav::CAbstractNavigator::TNavigationParams::clone(), mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::colfreedist_move_k, mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::curVelLocal, mrpt::mrpt::utils::delete_safe(), mrpt::nav::TCandidateMovementPTG::direction, mrpt::nav::CAbstractNavigator::doEmergencyStop(), mrpt::nav::CAbstractNavigator::TPendingEvent::event_noargs, executionTime, mrpt::math::LowPassFilter_IIR1::filter(), mrpt::nav::CMultiObjectiveMotionOptimizerBase::TResultInfo::final_evaluation, mrpt::mrpt::format(), generate_vel_cmd(), mrpt::nav::CRobot2NavInterface::getEmergencyStopCmd(), getHoloMethod(), mrpt::math::LowPassFilter_IIR1::getLastOutput(), mrpt::utils::CTimeLogger::getLastTime(), getPTG(), getPTG_count(), mrpt::nav::CLogFileRecord::infoPerPTG, mrpt::poses::CPoseInterpolatorBase< DIM >::interpolate(), mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::isValid(), mrpt::nav::CMultiObjectiveMotionOptimizerBase::TResultInfo::log_entries, mrpt::poses::FrameTransformer< DIM >::lookupTransform(), m_closing_navigator, m_copy_prev_navParams, mrpt::nav::CAbstractNavigator::m_curPoseVel, m_enableConsoleOutput, m_enableKeepLogRecords, mrpt::nav::CAbstractNavigator::m_frame_tf, m_holonomicMethod, m_infoPerPTG, m_infoPerPTG_timestamp, m_init_done, m_lastSentVelCmd, mrpt::nav::CAbstractNavigator::m_latestOdomPoses, mrpt::nav::CAbstractNavigator::m_latestPoses, m_logFile, m_multiobjopt, mrpt::nav::CAbstractNavigator::m_navigationParams, mrpt::nav::CAbstractNavigator::m_pending_events, m_prev_logfile, mrpt::nav::CAbstractNavigator::m_robot, m_timelogger, mrpt::nav::CAbstractNavigator::m_timlog_delays, m_WS_Obstacles_timestamp, mrpt::nav::CParameterizedTrajectoryGenerator::maxTimeInVelCmdNOP(), meanExecutionPeriod, meanExecutionTime, meanTotalExecutionTime, MRPT_LOG_DEBUG, MRPT_LOG_DEBUG_FMT, MRPT_LOG_WARN_FMT, mrpt::nav::CLogFileRecord::navDynState, mrpt::system::now(), mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::original_holo_eval, params_abstract_ptg_navigator, mrpt::nav::CAbstractNavigator::TRobotPoseVel::pose, mrpt::nav::CAbstractNavigator::TRobotPoseVel::pose_frame_id, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::poseVel, mrpt::nav::TCandidateMovementPTG::props, mrpt::nav::TCandidateMovementPTG::PTG, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::ptg_alpha_index, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::ptg_dynState, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::ptg_index, mrpt::nav::CAbstractNavigator::TRobotPoseVel::rawOdometry, mrpt::utils::CStream::ReadObject(), mrpt::nav::CLogFileRecord::relPoseSense, mrpt::nav::CLogFileRecord::relPoseVelCmd, mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::relTarget, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::reset(), mrpt::utils::CMemoryStream::Seek(), mrpt::nav::CRobot2NavInterface::sendApparentCollisionEvent(), mrpt::nav::TCandidateMovementPTG::speed, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::speed_scale, STEP1_InitPTGs(), STEP2_SenseObstacles(), STEP8_GenerateLogRecord(), mrpt::nav::CAbstractNavigator::stop(), mrpt::nav::CParameterizedTrajectoryGenerator::supportSpeedAtTarget(), mrpt::nav::CParameterizedTrajectoryGenerator::supportVelCmdNOP(), mrpt::utils::CTicTac::Tac(), mrpt::nav::CAbstractNavigator::TNavigationParams::target, mrpt::nav::CAbstractNavigator::TargetInfo::targetDesiredRelSpeed, mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::targetRelSpeed, THROW_EXCEPTION, THROW_EXCEPTION_FMT, mrpt::utils::CTicTac::Tic(), tim_changeSpeed_avr, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::tim_send_cmd_vel, mrpt::system::timeDifference(), timerForExecutionPeriod, mrpt::nav::CAbstractNavigator::TRobotPoseVel::timestamp, mrpt::system::timestampAdd(), mrpt::nav::CLogFileRecord::timestamps, timoff_curPoseAndSpeed_avr, timoff_obstacles_avr, timoff_sendVelCmd_avr, totalExecutionTime, mrpt::nav::CParameterizedTrajectoryGenerator::updateNavDynamicState(), mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::use_delays_model, mrpt::nav::CLogFileRecord::values, mrpt::nav::CAbstractNavigator::TRobotPoseVel::velLocal, and mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::was_slowdown.

performNavigationStepNavigating()

void CAbstractNavigator::performNavigationStepNavigating ( bool  call_virtual_nav_method = true )

protectedvirtualinherited

Factorization of the part inside navigationStep(), for the case of state being NAVIGATING.

Performs house-hold tasks like raising events in case of starting/ending navigation, timeout reaching destination, etc. call_virtual_nav_method can be set to false to avoid calling the virtual method performNavigationStep()

Definition at line 467 of file CAbstractNavigator.cpp.

References mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams::alarm_seems_not_approaching_target_timeout, ASSERT_, mrpt::nav::CAbstractNavigator::checkCollisionWithLatestObstacles(), mrpt::nav::CAbstractNavigator::checkHasReachedTarget(), mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams::dist_check_target_is_blocked, mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams::dist_to_target_for_sending_event, mrpt::math::TSegment2D::distance(), mrpt::poses::CPoseInterpolatorBase< DIM >::empty(), mrpt::nav::CAbstractNavigator::ERR_CANNOT_REACH_TARGET, mrpt::nav::CAbstractNavigator::ERR_NONE, mrpt::nav::CAbstractNavigator::ERR_OTHER, mrpt::nav::CAbstractNavigator::TErrorReason::error_code, mrpt::nav::CAbstractNavigator::TErrorReason::error_msg, mrpt::nav::CAbstractNavigator::TPendingEvent::event_cannot_get_closer_target, mrpt::nav::CAbstractNavigator::TPendingEvent::event_noargs, mrpt::mrpt::format(), mrpt::nav::CAbstractNavigator::TNavigationParams::getAsText(), mrpt::system::getCurrentTime(), mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams::hysteresis_check_target_is_blocked, mrpt::nav::CAbstractNavigator::IDLE, mrpt::nav::CAbstractNavigator::internal_onStartNewNavigation(), mrpt::nav::CAbstractNavigator::m_badNavAlarm_lastMinDistTime, mrpt::nav::CAbstractNavigator::m_badNavAlarm_minDistTarget, mrpt::nav::CAbstractNavigator::m_counter_check_target_is_blocked, mrpt::nav::CAbstractNavigator::m_curPoseVel, mrpt::nav::CAbstractNavigator::m_lastNavigationState, mrpt::nav::CAbstractNavigator::m_latestPoses, mrpt::nav::CAbstractNavigator::m_navErrorReason, mrpt::nav::CAbstractNavigator::m_navigationEndEventSent, mrpt::nav::CAbstractNavigator::m_navigationParams, mrpt::nav::CAbstractNavigator::m_navigationState, mrpt::nav::CAbstractNavigator::m_pending_events, mrpt::nav::CAbstractNavigator::m_rethrow_exceptions, MRPT_LOG_DEBUG, MRPT_LOG_ERROR, MRPT_LOG_ERROR_FMT, MRPT_LOG_INFO, MRPT_LOG_THROTTLE_WARN, MRPT_LOG_WARN, mrpt::nav::CAbstractNavigator::NAV_ERROR, mrpt::nav::CAbstractNavigator::NAVIGATING, mrpt::nav::CAbstractNavigator::params_abstract_navigator, mrpt::nav::CAbstractNavigator::performNavigationStep(), mrpt::nav::CAbstractNavigator::TRobotPoseVel::pose, mrpt::poses::CPoseInterpolatorBase< DIM >::rbegin(), mrpt::nav::CRobot2NavInterface::sendNavigationEndEvent(), mrpt::nav::CRobot2NavInterface::sendNavigationStartEvent(), mrpt::nav::CRobot2NavInterface::sendWaySeemsBlockedEvent(), mrpt::poses::CPoseInterpolatorBase< DIM >::size(), mrpt::nav::CAbstractNavigator::stop(), mrpt::nav::CAbstractNavigator::TNavigationParams::target, mrpt::nav::CAbstractNavigator::TargetInfo::target_coords, mrpt::nav::CAbstractNavigator::TargetInfo::targetIsIntermediaryWaypoint, mrpt::system::timeDifference(), mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds(), mrpt::math::TPose2D::x, and mrpt::math::TPose2D::y.

Referenced by mrpt::nav::CAbstractNavigator::navigationStep(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

preDestructor()

void CAbstractPTGBasedReactive::preDestructor ( )

protected

To be called during children destructors to assure thread-safe destruction, and free of shared objects.

Definition at line 83 of file CAbstractPTGBasedReactive.cpp.

References mrpt::mrpt::utils::delete_safe(), deleteHolonomicObjects(), mrpt::synch::CCriticalSectionRecursive::enter(), mrpt::synch::CCriticalSectionRecursive::leave(), m_closing_navigator, m_logFile, mrpt::nav::CAbstractNavigator::m_nav_cs, and mrpt::nav::CAbstractNavigator::stop().

Referenced by ~CAbstractPTGBasedReactive(), mrpt::nav::CReactiveNavigationSystem::~CReactiveNavigationSystem(), and mrpt::nav::CReactiveNavigationSystem3D::~CReactiveNavigationSystem3D().

processNavigateCommand()

void CAbstractNavigator::processNavigateCommand ( const TNavigationParams *  params )

protectedvirtualinherited

Does the job of navigate(), except the call to onNavigateCommandReceived()

Definition at line 309 of file CAbstractNavigator.cpp.

References ASSERT_, mrpt::nav::CAbstractNavigator::TNavigationParams::clone(), mrpt::mrpt::utils::delete_safe(), mrpt::system::getCurrentTime(), mrpt::nav::CAbstractNavigator::m_badNavAlarm_lastMinDistTime, mrpt::nav::CAbstractNavigator::m_badNavAlarm_minDistTarget, mrpt::nav::CAbstractNavigator::m_curPoseVel, mrpt::nav::CAbstractNavigator::m_nav_cs, mrpt::nav::CAbstractNavigator::m_navErrorReason, mrpt::nav::CAbstractNavigator::m_navigationParams, mrpt::nav::CAbstractNavigator::m_navigationState, MRPT_END, MRPT_START, mrpt::nav::CAbstractNavigator::NAVIGATING, mrpt::nav::CAbstractNavigator::TRobotPoseVel::pose, mrpt::nav::CAbstractNavigator::TNavigationParams::target, mrpt::nav::CAbstractNavigator::TargetInfo::target_coords, mrpt::nav::CAbstractNavigator::TargetInfo::targetIsRelative, and mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds().

Referenced by mrpt::nav::CAbstractNavigator::navigate(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

resetNavError()

void CAbstractNavigator::resetNavError ( )

virtualinherited

Resets a NAV_ERROR state back to IDLE

Definition at line 155 of file CAbstractNavigator.cpp.

References mrpt::nav::CAbstractNavigator::IDLE, mrpt::nav::CAbstractNavigator::m_nav_cs, mrpt::nav::CAbstractNavigator::m_navErrorReason, mrpt::nav::CAbstractNavigator::m_navigationState, MRPT_LOG_DEBUG, and mrpt::nav::CAbstractNavigator::NAV_ERROR.

resume()

void CAbstractNavigator::resume ( )

virtualinherited

Continues with suspended navigation.

See also

suspend

Definition at line 128 of file CAbstractNavigator.cpp.

References mrpt::nav::CAbstractNavigator::m_nav_cs, mrpt::nav::CAbstractNavigator::m_navigationState, MRPT_LOG_DEBUG, mrpt::nav::CAbstractNavigator::NAVIGATING, and mrpt::nav::CAbstractNavigator::SUSPENDED.

saveConfigFile()

void CAbstractPTGBasedReactive::saveConfigFile ( mrpt::utils::CConfigFileBase &  c ) const

virtual

Saves all current options to a config file.

Each derived class MUST save its own parameters, and then call ITS PARENT'S overriden method to ensure all params are saved.

Reimplemented from mrpt::nav::CWaypointsNavigator.

Reimplemented in mrpt::nav::CReactiveNavigationSystem3D, and mrpt::nav::CReactiveNavigationSystem.

Definition at line 1609 of file CAbstractPTGBasedReactive.cpp.

References CLASS_ID, mrpt::utils::CObjectPtr, mrpt::utils::getAllRegisteredClassesChildrenOf(), m_holonomicMethod, m_multiobjopt, params_abstract_ptg_navigator, mrpt::nav::CMultiObjectiveMotionOptimizerBase::saveConfigFile(), mrpt::nav::CAbstractHolonomicReactiveMethod::saveConfigFile(), mrpt::nav::CWaypointsNavigator::saveConfigFile(), and mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::saveToConfigFile().

Referenced by mrpt::nav::CReactiveNavigationSystem::saveConfigFile().

setFrameTF()

void CAbstractNavigator::setFrameTF ( mrpt::poses::FrameTransformer< 2 > *  frame_tf )

inherited

Sets a user-provided frame transformer object; used only if providing targets in a frame ID different than the one in which robot odometry is given (both IDs default to "map").

Ownership of the pointee object remains belonging to the user, which is responsible of deleting it and ensuring its a valid pointer during the lifetime of this navigator object.

Todo:

[MRPT 2.0: Make this a weak_ptr]

Definition at line 167 of file CAbstractNavigator.cpp.

References mrpt::nav::CAbstractNavigator::m_frame_tf.

setHolonomicMethod() [1/2]

void CAbstractPTGBasedReactive::setHolonomicMethod	(	const std::string &	method,
		const mrpt::utils::CConfigFileBase &	cfgBase
	)

Selects which one from the set of available holonomic methods will be used into transformed TP-Space, and sets its configuration from a configuration file.

Available methods: class names of those derived from CAbstractHolonomicReactiveMethod

Definition at line 218 of file CAbstractPTGBasedReactive.cpp.

References ASSERT_, mrpt::nav::CAbstractHolonomicReactiveMethod::Create(), deleteHolonomicObjects(), getPTG(), getPTG_count(), m_holonomicMethod, mrpt::nav::CAbstractNavigator::m_nav_cs, and THROW_EXCEPTION_FMT.

Referenced by loadConfigFile(), and setHolonomicMethod().

setHolonomicMethod() [2/2]

void CAbstractPTGBasedReactive::setHolonomicMethod	(	THolonomicMethod	method,
		const mrpt::utils::CConfigFileBase &	cfgBase
	)

Definition at line 238 of file CAbstractPTGBasedReactive.cpp.

References holoMethodEnum2ClassName(), and setHolonomicMethod().

setLogFileDirectory()

void mrpt::nav::CAbstractPTGBasedReactive::setLogFileDirectory ( const std::string &  sDir )

inline

Changes the prefix for new log files.

Definition at line 132 of file CAbstractPTGBasedReactive.h.

setTargetApproachSlowDownDistance()

void CAbstractPTGBasedReactive::setTargetApproachSlowDownDistance

(

const double

dist

)

Changes this parameter in all inner holonomic navigator instances [m].

Definition at line 1659 of file CAbstractPTGBasedReactive.cpp.

References m_holonomicMethod.

STEP1_InitPTGs()

virtual void mrpt::nav::CAbstractPTGBasedReactive::STEP1_InitPTGs ( )

protectedpure virtual

Implemented in mrpt::nav::CReactiveNavigationSystem3D, and mrpt::nav::CReactiveNavigationSystem.

Referenced by initialize(), and performNavigationStep().

STEP2_SenseObstacles()

bool CAbstractPTGBasedReactive::STEP2_SenseObstacles ( )

protected

Definition at line 1242 of file CAbstractPTGBasedReactive.cpp.

References implementSenseObstacles(), and m_WS_Obstacles_timestamp.

Referenced by performNavigationStep().

STEP3_WSpaceToTPSpace()

virtual void mrpt::nav::CAbstractPTGBasedReactive::STEP3_WSpaceToTPSpace ( const size_t  ptg_idx, std::vector< double > &  out_TPObstacles, mrpt::nav::ClearanceDiagram &  out_clearance, const mrpt::math::TPose2D &  rel_pose_PTG_origin_wrt_sense, const bool  eval_clearance  )

protectedpure virtual

Builds TP-Obstacles from Workspace obstacles for the given PTG.

"out_TPObstacles" is already initialized to the proper length and maximum collision-free distance for each "k" trajectory index. Distances are in "pseudo-meters". They will be normalized automatically to [0,1] upon return.

Implemented in mrpt::nav::CReactiveNavigationSystem3D, and mrpt::nav::CReactiveNavigationSystem.

Referenced by build_movement_candidate().

STEP8_GenerateLogRecord()

void CAbstractPTGBasedReactive::STEP8_GenerateLogRecord ( CLogFileRecord &  newLogRec, const std::vector< mrpt::math::TPose2D > &  relTargets, int  nSelectedPTG, const mrpt::kinematics::CVehicleVelCmdPtr &  new_vel_cmd, int  nPTGs, const bool  best_is_NOP_cmdvel, const math::TPose2D &  rel_cur_pose_wrt_last_vel_cmd_NOP, const math::TPose2D &  rel_pose_PTG_origin_wrt_sense_NOP, const double  executionTimeValue, const double  tim_changeSpeed, const mrpt::system::TTimeStamp &  tim_start_iteration  )

protected

Definition at line 801 of file CAbstractPTGBasedReactive.cpp.

References mrpt::nav::CLogFileRecord::cmd_vel, mrpt::nav::CLogFileRecord_VFF::Create(), mrpt::nav::CLogFileRecord::cur_vel, mrpt::nav::CLogFileRecord::cur_vel_local, mrpt::utils::CTimeLogger::enter(), mrpt::math::LowPassFilter_IIR1::getLastOutput(), mrpt::utils::CTimeLogger::getLastTime(), mrpt::nav::CLogFileRecord::TInfoPerPTG::HLFR, mrpt::nav::CLogFileRecord::infoPerPTG, lastLogRecord, mrpt::utils::CTimeLogger::leave(), loggingGetWSObstaclesAndShape(), m_critZoneLastLog, mrpt::nav::CAbstractNavigator::m_curPoseVel, m_lastSentVelCmd, m_logFile, m_timelogger, mrpt::nav::CAbstractNavigator::m_timlog_delays, meanExecutionPeriod, meanExecutionTime, mrpt::nav::CLogFileRecord::nPTGs, mrpt::nav::CLogFileRecord::nSelectedPTG, mrpt::nav::CAbstractNavigator::TRobotPoseVel::pose, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::ptg_alpha_index, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::ptg_dynState, mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::ptg_index, mrpt::nav::CLogFileRecord::ptg_index_NOP, mrpt::nav::CLogFileRecord::ptg_last_k_NOP, mrpt::nav::CLogFileRecord::ptg_last_navDynState, mrpt::nav::CAbstractNavigator::TRobotPoseVel::rawOdometry, mrpt::nav::CLogFileRecord::rel_cur_pose_wrt_last_vel_cmd_NOP, mrpt::nav::CLogFileRecord::rel_pose_PTG_origin_wrt_sense_NOP, mrpt::nav::CLogFileRecord::robotPoseLocalization, mrpt::nav::CLogFileRecord::robotPoseOdometry, tim_changeSpeed_avr, mrpt::nav::CAbstractNavigator::TRobotPoseVel::timestamp, mrpt::nav::CLogFileRecord::timestamps, mrpt::nav::CLogFileRecord::values, mrpt::nav::CAbstractNavigator::TRobotPoseVel::velGlobal, mrpt::nav::CAbstractNavigator::TRobotPoseVel::velLocal, and mrpt::nav::CLogFileRecord::WS_targets_relative.

Referenced by performNavigationStep().

stop()

bool CAbstractNavigator::stop ( bool  isEmergencyStop )

protectedvirtualinherited

Default: forward call to m_robot.stop(). Can be overriden.

Definition at line 422 of file CAbstractNavigator.cpp.

References mrpt::nav::CAbstractNavigator::m_robot, and mrpt::nav::CRobot2NavInterface::stop().

Referenced by mrpt::nav::CAbstractNavigator::cancel(), mrpt::nav::CAbstractNavigator::doEmergencyStop(), mrpt::nav::CNavigatorManualSequence::navigationStep(), mrpt::nav::CAbstractNavigator::navigationStep(), performNavigationStep(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), preDestructor(), mrpt::nav::CAbstractNavigator::suspend(), mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

suspend()

void CAbstractNavigator::suspend ( )

virtualinherited

Suspend current navegation.

See also

resume

Definition at line 141 of file CAbstractNavigator.cpp.

References mrpt::nav::CAbstractNavigator::m_nav_cs, mrpt::nav::CAbstractNavigator::m_navigationState, MRPT_LOG_DEBUG, mrpt::nav::CAbstractNavigator::NAVIGATING, mrpt::nav::CAbstractNavigator::stop(), and mrpt::nav::CAbstractNavigator::SUSPENDED.

updateCurrentPoseAndSpeeds()

void CAbstractNavigator::updateCurrentPoseAndSpeeds ( )

protectedvirtualinherited

Call to the robot getCurrentPoseAndSpeeds() and updates members m_curPoseVel accordingly.

If an error is returned by the user callback, first, it calls robot.stop() ,then throws an std::runtime_error exception.

Definition at line 349 of file CAbstractNavigator.cpp.

References mrpt::poses::CPoseInterpolatorBase< DIM >::begin(), mrpt::poses::CPoseInterpolatorBase< DIM >::clear(), mrpt::poses::CPoseInterpolatorBase< DIM >::erase(), mrpt::nav::CAbstractNavigator::ERR_EMERGENCY_STOP, mrpt::nav::CAbstractNavigator::TErrorReason::error_code, mrpt::nav::CAbstractNavigator::TErrorReason::error_msg, mrpt::nav::CRobot2NavInterface::getCurrentPoseAndSpeeds(), mrpt::nav::CRobot2NavInterface::getNavigationTime(), mrpt::poses::CPoseInterpolatorBase< DIM >::insert(), mrpt::nav::CAbstractNavigator::m_curPoseVel, mrpt::nav::CAbstractNavigator::m_last_curPoseVelUpdate_pose_frame_id, mrpt::nav::CAbstractNavigator::m_last_curPoseVelUpdate_robot_time, mrpt::nav::CAbstractNavigator::m_latestOdomPoses, mrpt::nav::CAbstractNavigator::m_latestPoses, mrpt::nav::CAbstractNavigator::m_navErrorReason, mrpt::nav::CAbstractNavigator::m_navigationState, mrpt::nav::CAbstractNavigator::m_robot, mrpt::nav::CAbstractNavigator::m_timlog_delays, MRPT_LOG_ERROR, MRPT_LOG_THROTTLE_DEBUG_FMT, mrpt::nav::CAbstractNavigator::NAV_ERROR, mrpt::math::TPose2D::phi, mrpt::nav::CAbstractNavigator::TRobotPoseVel::pose, mrpt::nav::CAbstractNavigator::TRobotPoseVel::pose_frame_id, PREVIOUS_POSES_MAX_AGE, mrpt::nav::CAbstractNavigator::TRobotPoseVel::rawOdometry, mrpt::poses::CPoseInterpolatorBase< DIM >::rbegin(), mrpt::math::TTwist2D::rotate(), mrpt::poses::CPoseInterpolatorBase< DIM >::size(), mrpt::nav::CAbstractNavigator::stop(), mrpt::system::timeDifference(), mrpt::nav::CAbstractNavigator::TRobotPoseVel::timestamp, mrpt::nav::CAbstractNavigator::TRobotPoseVel::velGlobal, and mrpt::nav::CAbstractNavigator::TRobotPoseVel::velLocal.

Referenced by mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), mrpt::nav::CAbstractNavigator::processNavigateCommand(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

waypoints_isAligning()

bool mrpt::nav::CWaypointsNavigator::waypoints_isAligning ( ) const

inlineprotectedinherited

Definition at line 113 of file CWaypointsNavigator.h.

waypoints_navigationStep()

void CWaypointsNavigator::waypoints_navigationStep ( )

protectedvirtualinherited

The waypoints-specific part of navigationStep()

Definition at line 105 of file CWaypointsNavigator.cpp.

References mrpt::nav::TWaypoint::allowed_distance, mrpt::math::angDistance(), ASSERT_, mrpt::nav::CAbstractNavigator::changeSpeeds(), mrpt::math::TSegment2D::distance(), mrpt::nav::CAbstractNavigator::TPendingEvent::event_new_wp, mrpt::nav::CAbstractNavigator::TPendingEvent::event_new_wp_index, mrpt::nav::CAbstractNavigator::TPendingEvent::event_wp_reached, mrpt::nav::CAbstractNavigator::TPendingEvent::event_wp_reached_index, mrpt::nav::CAbstractNavigator::TPendingEvent::event_wp_reached_reached, mrpt::nav::TWaypointStatusSequence::final_goal_reached, mrpt::nav::CRobot2NavInterface::getAlignCmd(), mrpt::nav::CWaypointsNavigator::getWaypointNavStatus(), mrpt::nav::CWaypointsNavigator::impl_waypoint_is_reachable(), mrpt::nav::TWaypoint::INVALID_NUM, mrpt::poses::CPose2D::inverseComposePoint(), mrpt::nav::TWaypointStatusSequence::last_robot_pose, mrpt::nav::CAbstractNavigator::m_curPoseVel, mrpt::nav::CWaypointsNavigator::m_is_aligning, mrpt::nav::CWaypointsNavigator::m_last_alignment_cmd, mrpt::nav::CWaypointsNavigator::m_nav_waypoints_cs, mrpt::nav::CAbstractNavigator::m_pending_events, mrpt::nav::CAbstractNavigator::m_robot, mrpt::nav::CAbstractNavigator::m_timlog_delays, mrpt::nav::CWaypointsNavigator::m_was_aligning, mrpt::nav::CWaypointsNavigator::m_waypoint_nav_status, mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams::max_distance_to_allow_skip_waypoint, mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams::min_timesteps_confirm_skip_waypoints, MRPT_END, MRPT_LOG_DEBUG_STREAM, MRPT_LOG_INFO_FMT, MRPT_LOG_THROTTLE_INFO_FMT, MRPT_START, mrpt::nav::CWaypointsNavigator::TNavigationParamsWaypoints::multiple_targets, mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams::multitarget_look_ahead, mrpt::math::TPoint2D::norm(), mrpt::system::now(), mrpt::nav::CWaypointsNavigator::params_waypoints_navigator, mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), mrpt::math::TPose2D::phi, mrpt::math::TSegment2D::point1, mrpt::math::TSegment2D::point2, mrpt::nav::CAbstractNavigator::TRobotPoseVel::pose, mrpt::nav::CAbstractNavigator::processNavigateCommand(), mrpt::mrpt::utils::RAD2DEG(), mrpt::nav::TWaypoint::speed_ratio, mrpt::mrpt::math::square(), mrpt::nav::CAbstractNavigator::stop(), mrpt::nav::TWaypoint::target, mrpt::nav::CAbstractNavigator::TNavigationParams::target, mrpt::nav::CAbstractNavigator::TargetInfo::target_coords, mrpt::nav::TWaypoint::target_frame_id, mrpt::nav::CAbstractNavigator::TargetInfo::target_frame_id, mrpt::nav::TWaypoint::target_heading, mrpt::nav::CAbstractNavigator::TargetInfo::targetAllowedDistance, mrpt::nav::CAbstractNavigator::TargetInfo::targetDesiredRelSpeed, mrpt::nav::CAbstractNavigator::TargetInfo::targetIsIntermediaryWaypoint, mrpt::nav::CAbstractNavigator::TargetInfo::targetIsRelative, mrpt::system::timeDifference(), mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds(), mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams::waypoint_angle_tolerance, mrpt::nav::TWaypointStatusSequence::waypoint_index_current_goal, mrpt::nav::TWaypointStatusSequence::waypoints, mrpt::math::TPoint2D::x, mrpt::math::TPose2D::x, mrpt::math::TPoint2D::y, and mrpt::math::TPose2D::y.

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

Member Data Documentation

executionTime

mrpt::utils::CTicTac mrpt::nav::CAbstractPTGBasedReactive::executionTime

protected

Definition at line 232 of file CAbstractPTGBasedReactive.h.

Referenced by performNavigationStep().

lastLogRecord

CLogFileRecord mrpt::nav::CAbstractPTGBasedReactive::lastLogRecord

protected

The last log.

Definition at line 218 of file CAbstractPTGBasedReactive.h.

Referenced by getLastLogRecord(), and STEP8_GenerateLogRecord().

m_badNavAlarm_lastMinDistTime

mrpt::system::TTimeStamp mrpt::nav::CAbstractNavigator::m_badNavAlarm_lastMinDistTime

protectedinherited

Definition at line 295 of file CAbstractNavigator.h.

Referenced by mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), and mrpt::nav::CAbstractNavigator::processNavigateCommand().

m_badNavAlarm_minDistTarget

double mrpt::nav::CAbstractNavigator::m_badNavAlarm_minDistTarget

protectedinherited

For sending an alarm (error event) when it seems that we are not approaching toward the target in a while...

Definition at line 294 of file CAbstractNavigator.h.

Referenced by mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), and mrpt::nav::CAbstractNavigator::processNavigateCommand().

m_closing_navigator

bool mrpt::nav::CAbstractPTGBasedReactive::m_closing_navigator

protected

Signal that the destructor has been called, so no more calls are accepted from other threads.

Definition at line 287 of file CAbstractPTGBasedReactive.h.

Referenced by performNavigationStep(), and preDestructor().

m_copy_prev_navParams

TNavigationParams* mrpt::nav::CAbstractPTGBasedReactive::m_copy_prev_navParams

private

A copy of last-iteration navparams, used to detect changes.

Definition at line 344 of file CAbstractPTGBasedReactive.h.

Referenced by performNavigationStep(), and ~CAbstractPTGBasedReactive().

m_critZoneLastLog

mrpt::synch::CCriticalSectionRecursive mrpt::nav::CAbstractPTGBasedReactive::m_critZoneLastLog

protected

Critical zones.

Definition at line 221 of file CAbstractPTGBasedReactive.h.

Referenced by getLastLogRecord(), and STEP8_GenerateLogRecord().

m_curPoseVel

TRobotPoseVel mrpt::nav::CAbstractNavigator::m_curPoseVel

protectedinherited

Current robot pose (updated in CAbstractNavigator::navigationStep() )

Definition at line 286 of file CAbstractNavigator.h.

Referenced by build_movement_candidate(), calc_move_candidate_scores(), mrpt::nav::CReactiveNavigationSystem::implementSenseObstacles(), performNavigationStep(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), mrpt::nav::CAbstractNavigator::processNavigateCommand(), STEP8_GenerateLogRecord(), mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

m_enableConsoleOutput

bool mrpt::nav::CAbstractPTGBasedReactive::m_enableConsoleOutput

protected

Enables / disables the console debug output.

Definition at line 223 of file CAbstractPTGBasedReactive.h.

Referenced by performNavigationStep(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), and mrpt::nav::CReactiveNavigationSystem3D::STEP1_InitPTGs().

m_enableKeepLogRecords

bool mrpt::nav::CAbstractPTGBasedReactive::m_enableKeepLogRecords

protected

See enableKeepLogRecords.

Definition at line 217 of file CAbstractPTGBasedReactive.h.

Referenced by build_movement_candidate(), and performNavigationStep().

m_expr_var_k

double mrpt::nav::CAbstractPTGBasedReactive::m_expr_var_k

private

Definition at line 343 of file CAbstractPTGBasedReactive.h.

m_expr_var_k_target

double mrpt::nav::CAbstractPTGBasedReactive::m_expr_var_k_target

private

Definition at line 343 of file CAbstractPTGBasedReactive.h.

m_expr_var_num_paths

double mrpt::nav::CAbstractPTGBasedReactive::m_expr_var_num_paths

private

Definition at line 343 of file CAbstractPTGBasedReactive.h.

m_frame_tf

mrpt::poses::FrameTransformer<2>* mrpt::nav::CAbstractNavigator::m_frame_tf

protectedinherited

Optional, user-provided frame transformer.

Note: We dont have ownership of the pointee object!

Definition at line 272 of file CAbstractNavigator.h.

Referenced by performNavigationStep(), and mrpt::nav::CAbstractNavigator::setFrameTF().

m_holonomicMethod

std::vector<CAbstractHolonomicReactiveMethod*> mrpt::nav::CAbstractPTGBasedReactive::m_holonomicMethod

protected

The holonomic navigation algorithm (one object per PTG, so internal states are maintained)

Definition at line 215 of file CAbstractPTGBasedReactive.h.

Referenced by calc_move_candidate_scores(), deleteHolonomicObjects(), getHoloMethod(), getTargetApproachSlowDownDistance(), loadConfigFile(), performNavigationStep(), saveConfigFile(), setHolonomicMethod(), and setTargetApproachSlowDownDistance().

m_infoPerPTG

std::vector<TInfoPerPTG> mrpt::nav::CAbstractPTGBasedReactive::m_infoPerPTG

protected

Temporary buffers for working with each PTG during a navigationStep()

Definition at line 302 of file CAbstractPTGBasedReactive.h.

Referenced by impl_waypoint_is_reachable(), and performNavigationStep().

m_infoPerPTG_timestamp

mrpt::system::TTimeStamp mrpt::nav::CAbstractPTGBasedReactive::m_infoPerPTG_timestamp

protected

Definition at line 303 of file CAbstractPTGBasedReactive.h.

Referenced by impl_waypoint_is_reachable(), initialize(), and performNavigationStep().

m_init_done

bool mrpt::nav::CAbstractPTGBasedReactive::m_init_done

protected

Whether loadConfigFile() has been called or not.

Definition at line 224 of file CAbstractPTGBasedReactive.h.

Referenced by loadConfigFile(), and performNavigationStep().

m_is_aligning

bool mrpt::nav::CWaypointsNavigator::m_is_aligning

protectedinherited

Definition at line 116 of file CWaypointsNavigator.h.

Referenced by mrpt::nav::CWaypointsNavigator::navigationStep(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

m_last_alignment_cmd

mrpt::system::TTimeStamp mrpt::nav::CWaypointsNavigator::m_last_alignment_cmd

protectedinherited

Definition at line 117 of file CWaypointsNavigator.h.

Referenced by mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

m_last_curPoseVelUpdate_pose_frame_id

std::string mrpt::nav::CAbstractNavigator::m_last_curPoseVelUpdate_pose_frame_id

protectedinherited

Definition at line 288 of file CAbstractNavigator.h.

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

m_last_curPoseVelUpdate_robot_time

double mrpt::nav::CAbstractNavigator::m_last_curPoseVelUpdate_robot_time

protectedinherited

Definition at line 287 of file CAbstractNavigator.h.

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

m_last_vel_cmd

mrpt::kinematics::CVehicleVelCmdPtr mrpt::nav::CAbstractPTGBasedReactive::m_last_vel_cmd

protected

Last velocity commands.

Definition at line 219 of file CAbstractPTGBasedReactive.h.

Referenced by calc_move_candidate_scores(), and generate_vel_cmd().

m_lastSentVelCmd

TSentVelCmd mrpt::nav::CAbstractPTGBasedReactive::m_lastSentVelCmd

protected

Definition at line 336 of file CAbstractPTGBasedReactive.h.

Referenced by build_movement_candidate(), calc_move_candidate_scores(), onStartNewNavigation(), performNavigationStep(), and STEP8_GenerateLogRecord().

m_latestOdomPoses

mrpt::poses::CPose2DInterpolator mrpt::nav::CAbstractNavigator::m_latestOdomPoses

protectedinherited

Latest robot poses (updated in CAbstractNavigator::navigationStep() )

Definition at line 289 of file CAbstractNavigator.h.

Referenced by mrpt::nav::CAbstractNavigator::CAbstractNavigator(), mrpt::nav::CAbstractNavigator::internal_onStartNewNavigation(), performNavigationStep(), and mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds().

m_latestPoses

mrpt::poses::CPose2DInterpolator mrpt::nav::CAbstractNavigator::m_latestPoses

protectedinherited

Definition at line 289 of file CAbstractNavigator.h.

Referenced by mrpt::nav::CAbstractNavigator::CAbstractNavigator(), mrpt::nav::CAbstractNavigator::internal_onStartNewNavigation(), performNavigationStep(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), and mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds().

m_logFile

mrpt::utils::CStream* mrpt::nav::CAbstractPTGBasedReactive::m_logFile

protected

Definition at line 216 of file CAbstractPTGBasedReactive.h.

Referenced by build_movement_candidate(), enableLogFile(), performNavigationStep(), preDestructor(), and STEP8_GenerateLogRecord().

m_multiobjopt

mrpt::nav::CMultiObjectiveMotionOptimizerBasePtr mrpt::nav::CAbstractPTGBasedReactive::m_multiobjopt

protected

Definition at line 292 of file CAbstractPTGBasedReactive.h.

Referenced by initialize(), loadConfigFile(), performNavigationStep(), and saveConfigFile().

m_nav_cs

mrpt::synch::CCriticalSectionRecursive mrpt::nav::CAbstractNavigator::m_nav_cs

protectedinherited

mutex for all navigation methods

Definition at line 274 of file CAbstractNavigator.h.

Referenced by mrpt::nav::CAbstractNavigator::cancel(), enableLogFile(), initialize(), mrpt::nav::CAbstractNavigator::navigationStep(), mrpt::nav::CAbstractNavigator::onNavigateCommandReceived(), preDestructor(), mrpt::nav::CAbstractNavigator::processNavigateCommand(), mrpt::nav::CAbstractNavigator::resetNavError(), mrpt::nav::CAbstractNavigator::resume(), setHolonomicMethod(), and mrpt::nav::CAbstractNavigator::suspend().

m_nav_waypoints_cs

mrpt::synch::CCriticalSectionRecursive mrpt::nav::CWaypointsNavigator::m_nav_waypoints_cs

protectedinherited

Definition at line 100 of file CWaypointsNavigator.h.

Referenced by mrpt::nav::CWaypointsNavigator::cancel(), mrpt::nav::CWaypointsNavigator::navigateWaypoints(), mrpt::nav::CWaypointsNavigator::onNavigateCommandReceived(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

m_navigationParams

TNavigationParams* mrpt::nav::CAbstractNavigator::m_navigationParams

protectedinherited

Current navigation parameters.

Definition at line 266 of file CAbstractNavigator.h.

Referenced by calc_move_candidate_scores(), mrpt::nav::CWaypointsNavigator::checkHasReachedTarget(), mrpt::nav::CAbstractNavigator::onNavigateCommandReceived(), performNavigationStep(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), mrpt::nav::CAbstractNavigator::processNavigateCommand(), and mrpt::nav::CAbstractNavigator::~CAbstractNavigator().

m_navigationState

TState mrpt::nav::CAbstractNavigator::m_navigationState

protectedinherited

Current internal state of navigator:

Definition at line 265 of file CAbstractNavigator.h.

Referenced by mrpt::nav::CAbstractNavigator::cancel(), mrpt::nav::CAbstractNavigator::dispatchPendingNavEvents(), mrpt::nav::CAbstractNavigator::doEmergencyStop(), mrpt::nav::CWaypointsNavigator::navigationStep(), mrpt::nav::CAbstractNavigator::navigationStep(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), mrpt::nav::CAbstractNavigator::processNavigateCommand(), mrpt::nav::CAbstractNavigator::resetNavError(), mrpt::nav::CAbstractNavigator::resume(), mrpt::nav::CAbstractNavigator::suspend(), and mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds().

m_navlogfiles_dir

std::string mrpt::nav::CAbstractPTGBasedReactive::m_navlogfiles_dir

private

Default: "./reactivenav.logs".

Definition at line 341 of file CAbstractPTGBasedReactive.h.

Referenced by enableLogFile().

m_pending_events

std::list<TPendingEvent> mrpt::nav::CAbstractNavigator::m_pending_events

protectedinherited

Events generated during navigationStep(), enqueued to be called at the end of the method execution to avoid user code to change the navigator state.

Definition at line 222 of file CAbstractNavigator.h.

Referenced by mrpt::nav::CAbstractNavigator::dispatchPendingNavEvents(), mrpt::nav::CAbstractNavigator::navigationStep(), performNavigationStep(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

m_prev_logfile

mrpt::utils::CStream * mrpt::nav::CAbstractPTGBasedReactive::m_prev_logfile

protected

The current log file stream, or NULL if not being used.

Definition at line 216 of file CAbstractPTGBasedReactive.h.

Referenced by performNavigationStep().

m_PTGsMustBeReInitialized

bool mrpt::nav::CAbstractPTGBasedReactive::m_PTGsMustBeReInitialized

protected

Definition at line 228 of file CAbstractPTGBasedReactive.h.

Referenced by mrpt::nav::CReactiveNavigationSystem::changeRobotCircularShapeRadius(), mrpt::nav::CReactiveNavigationSystem::changeRobotShape(), mrpt::nav::CReactiveNavigationSystem3D::changeRobotShape(), mrpt::nav::CReactiveNavigationSystem3D::loadConfigFile(), loadConfigFile(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), and mrpt::nav::CReactiveNavigationSystem3D::STEP1_InitPTGs().

m_robot

CRobot2NavInterface& mrpt::nav::CAbstractNavigator::m_robot

protectedinherited

The navigator-robot interface.

Definition at line 268 of file CAbstractNavigator.h.

Referenced by mrpt::nav::CAbstractNavigator::changeSpeeds(), mrpt::nav::CAbstractNavigator::changeSpeedsNOP(), mrpt::nav::CAbstractNavigator::dispatchPendingNavEvents(), mrpt::nav::CReactiveNavigationSystem::implementSenseObstacles(), mrpt::nav::CReactiveNavigationSystem3D::implementSenseObstacles(), mrpt::nav::CNavigatorManualSequence::initialize(), mrpt::nav::CAbstractNavigator::internal_onStartNewNavigation(), mrpt::nav::CNavigatorManualSequence::navigationStep(), mrpt::nav::CAbstractNavigator::navigationStep(), performNavigationStep(), mrpt::nav::CAbstractNavigator::stop(), mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

m_timelogger

mrpt::utils::CTimeLogger mrpt::nav::CAbstractPTGBasedReactive::m_timelogger

protected

A complete time logger.

See also

enableTimeLog()

Definition at line 227 of file CAbstractPTGBasedReactive.h.

Referenced by build_movement_candidate(), generate_vel_cmd(), mrpt::nav::CReactiveNavigationSystem::implementSenseObstacles(), mrpt::nav::CReactiveNavigationSystem3D::implementSenseObstacles(), performNavigationStep(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), mrpt::nav::CReactiveNavigationSystem3D::STEP1_InitPTGs(), and STEP8_GenerateLogRecord().

m_timlog_delays

mrpt::utils::CTimeLogger mrpt::nav::CAbstractNavigator::m_timlog_delays

protectedinherited

Time logger to collect delay-related stats.

Definition at line 291 of file CAbstractNavigator.h.

Referenced by mrpt::nav::CReactiveNavigationSystem::implementSenseObstacles(), mrpt::nav::CReactiveNavigationSystem3D::implementSenseObstacles(), mrpt::nav::CAbstractNavigator::navigationStep(), performNavigationStep(), STEP8_GenerateLogRecord(), mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

m_was_aligning

bool mrpt::nav::CWaypointsNavigator::m_was_aligning

protectedinherited

Whether the last timestep was "is_aligning" in a waypoint with heading.

Definition at line 115 of file CWaypointsNavigator.h.

Referenced by mrpt::nav::CWaypointsNavigator::onNavigateCommandReceived(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

m_waypoint_nav_status

TWaypointStatusSequence mrpt::nav::CWaypointsNavigator::m_waypoint_nav_status

protectedinherited

The latest waypoints navigation command and the up-to-date control status.

Definition at line 99 of file CWaypointsNavigator.h.

Referenced by mrpt::nav::CWaypointsNavigator::cancel(), mrpt::nav::CWaypointsNavigator::checkHasReachedTarget(), mrpt::nav::CWaypointsNavigator::getWaypointNavStatus(), mrpt::nav::CWaypointsNavigator::navigateWaypoints(), mrpt::nav::CWaypointsNavigator::onNavigateCommandReceived(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

m_WS_filter

mrpt::maps::CPointCloudFilterBasePtr mrpt::nav::CAbstractPTGBasedReactive::m_WS_filter

protected

Default: none.

Definition at line 290 of file CAbstractPTGBasedReactive.h.

Referenced by mrpt::nav::CReactiveNavigationSystem::implementSenseObstacles(), and loadConfigFile().

m_WS_Obstacles_timestamp

mrpt::system::TTimeStamp mrpt::nav::CAbstractPTGBasedReactive::m_WS_Obstacles_timestamp

protected

Definition at line 289 of file CAbstractPTGBasedReactive.h.

Referenced by performNavigationStep(), and STEP2_SenseObstacles().

meanExecutionPeriod

mrpt::math::LowPassFilter_IIR1 mrpt::nav::CAbstractPTGBasedReactive::meanExecutionPeriod

protected

Runtime estimation of execution period of the method.

Definition at line 235 of file CAbstractPTGBasedReactive.h.

Referenced by generate_vel_cmd(), performNavigationStep(), and STEP8_GenerateLogRecord().

meanExecutionTime

mrpt::math::LowPassFilter_IIR1 mrpt::nav::CAbstractPTGBasedReactive::meanExecutionTime

protected

Definition at line 233 of file CAbstractPTGBasedReactive.h.

Referenced by performNavigationStep(), and STEP8_GenerateLogRecord().

meanTotalExecutionTime

mrpt::math::LowPassFilter_IIR1 mrpt::nav::CAbstractPTGBasedReactive::meanTotalExecutionTime

protected

Definition at line 234 of file CAbstractPTGBasedReactive.h.

Referenced by performNavigationStep().

params_abstract_navigator

TAbstractNavigatorParams mrpt::nav::CAbstractNavigator::params_abstract_navigator

inherited

Definition at line 187 of file CAbstractNavigator.h.

Referenced by mrpt::nav::CAbstractNavigator::loadConfigFile(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), and mrpt::nav::CAbstractNavigator::saveConfigFile().

params_abstract_ptg_navigator

TAbstractPTGNavigatorParams mrpt::nav::CAbstractPTGBasedReactive::params_abstract_ptg_navigator

Definition at line 176 of file CAbstractPTGBasedReactive.h.

Referenced by build_movement_candidate(), calc_move_candidate_scores(), generate_vel_cmd(), mrpt::nav::CReactiveNavigationSystem3D::implementSenseObstacles(), loadConfigFile(), performNavigationStep(), saveConfigFile(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), mrpt::nav::CReactiveNavigationSystem3D::STEP1_InitPTGs(), and mrpt::nav::CReactiveNavigationSystem::STEP3_WSpaceToTPSpace().

params_waypoints_navigator

TWaypointsNavigatorParams mrpt::nav::CWaypointsNavigator::params_waypoints_navigator

inherited

Definition at line 93 of file CWaypointsNavigator.h.

Referenced by mrpt::nav::CWaypointsNavigator::loadConfigFile(), mrpt::nav::CWaypointsNavigator::saveConfigFile(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

tictac

mrpt::utils::CTicTac mrpt::nav::CAbstractPTGBasedReactive::tictac

protected

Definition at line 232 of file CAbstractPTGBasedReactive.h.

Referenced by build_movement_candidate().

tim_changeSpeed_avr

mrpt::math::LowPassFilter_IIR1 mrpt::nav::CAbstractPTGBasedReactive::tim_changeSpeed_avr

protected

Definition at line 236 of file CAbstractPTGBasedReactive.h.

Referenced by performNavigationStep(), and STEP8_GenerateLogRecord().

timerForExecutionPeriod

mrpt::utils::CTicTac mrpt::nav::CAbstractPTGBasedReactive::timerForExecutionPeriod

protected

Definition at line 225 of file CAbstractPTGBasedReactive.h.

Referenced by performNavigationStep().

timoff_curPoseAndSpeed_avr

mrpt::math::LowPassFilter_IIR1 mrpt::nav::CAbstractPTGBasedReactive::timoff_curPoseAndSpeed_avr

protected

Definition at line 236 of file CAbstractPTGBasedReactive.h.

Referenced by performNavigationStep().

timoff_obstacles_avr

mrpt::math::LowPassFilter_IIR1 mrpt::nav::CAbstractPTGBasedReactive::timoff_obstacles_avr

protected

Definition at line 236 of file CAbstractPTGBasedReactive.h.

Referenced by performNavigationStep().

timoff_sendVelCmd_avr

mrpt::math::LowPassFilter_IIR1 mrpt::nav::CAbstractPTGBasedReactive::timoff_sendVelCmd_avr

protected

Definition at line 236 of file CAbstractPTGBasedReactive.h.

Referenced by performNavigationStep().

totalExecutionTime

mrpt::utils::CTicTac mrpt::nav::CAbstractPTGBasedReactive::totalExecutionTime

protected

Definition at line 232 of file CAbstractPTGBasedReactive.h.

Referenced by performNavigationStep().