mrpt::nav::CNavigatorManualSequence Class Reference

Detailed Description

"Fake navigator" for tests: it just sends out a pre-programmed sequence of commands to the robot.

For a short discussion of the API, see CNavigatorVirtualBase

Definition at line 21 of file CNavigatorManualSequence.h.

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

Inheritance diagram for mrpt::nav::CNavigatorManualSequence:

Classes
struct	TVelCmd

Public Member Functions
	CNavigatorManualSequence (CRobot2NavInterface &react_iterf_impl)
virtual	~CNavigatorManualSequence ()
void	navigationStep () MRPT_OVERRIDE
	Overriden in this class to ignore the cancel/pause/... More...
const mrpt::utils::CTimeLogger &	getDelaysTimeLogger () const
	Gives access to a const-ref to the internal time logger used to estimate delays. More...
Initialization API
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	initialize () MRPT_OVERRIDE
	Must be called for loading collision grids, etc. before invoking any navigation command. More...

Public Attributes
std::map< double, TVelCmd >	programmed_orders
	map [time_in_secs_since_beginning] -> orders. More...
TAbstractNavigatorParams	params_abstract_navigator

Protected Member Functions
virtual void	onStartNewNavigation () MRPT_OVERRIDE
	Called whenever a new navigation has been started. More...
void	dispatchPendingNavEvents ()
virtual void	onNavigateCommandReceived ()
	Called after each call to CAbstractNavigator::navigate() More...
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	checkHasReachedTarget (const double targetDist) const
	Default implementation: check if target_dist is below the accepted distance. 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::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

Private Member Functions
virtual void	navigate (const TNavigationParams *params) MRPT_OVERRIDE
	Navigation request to a single target location. More...
virtual void	performNavigationStep () MRPT_OVERRIDE
	To be implemented in derived classes. More...

Navigation control API
virtual void	cancel ()
	Cancel current navegation. 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

CNavigatorManualSequence()

CNavigatorManualSequence::CNavigatorManualSequence

(

CRobot2NavInterface &

react_iterf_impl

)

Definition at line 20 of file CNavigatorManualSequence.cpp.

~CNavigatorManualSequence()

CNavigatorManualSequence::~CNavigatorManualSequence ( )

virtual

Definition at line 26 of file CNavigatorManualSequence.cpp.

Member Function Documentation

cancel()

void CAbstractNavigator::cancel ( )

virtualinherited

Cancel current navegation.

Reimplemented in mrpt::nav::CWaypointsNavigator.

Definition at line 116 of file CAbstractNavigator.cpp.

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

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

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 navigationStep(), mrpt::nav::CAbstractPTGBasedReactive::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 mrpt::nav::CAbstractPTGBasedReactive::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 CAbstractNavigator::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 in mrpt::nav::CWaypointsNavigator.

Definition at line 454 of file CAbstractNavigator.cpp.

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

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

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.

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.

initialize()

void CNavigatorManualSequence::initialize ( void  )

virtual

Must be called for loading collision grids, etc. before invoking any navigation command.

Implements mrpt::nav::CAbstractNavigator.

Definition at line 69 of file CNavigatorManualSequence.cpp.

References ASSERT_, mrpt::nav::CAbstractNavigator::m_robot, programmed_orders, and mrpt::nav::CRobot2NavInterface::resetNavigationTimer().

isRethrowNavExceptionsEnabled()

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

inlineinherited

Definition at line 170 of file CAbstractNavigator.h.

loadConfigFile()

void CNavigatorManualSequence::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::CAbstractNavigator.

Definition at line 34 of file CNavigatorManualSequence.cpp.

References ASSERTMSG_, mrpt::nav::CNavigatorManualSequence::TVelCmd::cmd_vel, mrpt::kinematics::CVehicleVelCmd_DiffDriven::Create(), mrpt::kinematics::CVehicleVelCmd_Holo::Create(), programmed_orders, THROW_EXCEPTION, and mrpt::system::tokenize().

navigate()

virtual void mrpt::nav::CNavigatorManualSequence::navigate ( const TNavigationParams *  params )

inlineprivatevirtual

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 from mrpt::nav::CAbstractNavigator.

Definition at line 49 of file CNavigatorManualSequence.h.

navigationStep()

void CNavigatorManualSequence::navigationStep ( )

virtual

Overriden in this class to ignore the cancel/pause/...

commands

Reimplemented from mrpt::nav::CAbstractNavigator.

Definition at line 76 of file CNavigatorManualSequence.cpp.

References mrpt::nav::CAbstractNavigator::changeSpeeds(), mrpt::nav::CNavigatorManualSequence::TVelCmd::cmd_vel, mrpt::nav::CRobot2NavInterface::getNavigationTime(), mrpt::nav::CAbstractNavigator::m_robot, programmed_orders, and mrpt::nav::CAbstractNavigator::stop().

onNavigateCommandReceived()

void CAbstractNavigator::onNavigateCommandReceived ( )

protectedvirtualinherited

Called after each call to CAbstractNavigator::navigate()

Reimplemented in mrpt::nav::CWaypointsNavigator.

Definition at line 301 of file CAbstractNavigator.cpp.

References mrpt::mrpt::utils::delete_safe(), mrpt::nav::CAbstractNavigator::m_nav_cs, mrpt::nav::CAbstractNavigator::m_navigationEndEventSent, and mrpt::nav::CAbstractNavigator::m_navigationParams.

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

onStartNewNavigation()

virtual void mrpt::nav::CNavigatorManualSequence::onStartNewNavigation ( )

inlineprotectedvirtual

Called whenever a new navigation has been started.

Can be used to reset state variables, etc.

Implements mrpt::nav::CAbstractNavigator.

Definition at line 45 of file CNavigatorManualSequence.h.

performNavigationStep()

virtual void mrpt::nav::CNavigatorManualSequence::performNavigationStep ( )

inlineprivatevirtual

To be implemented in derived classes.

Implements mrpt::nav::CAbstractNavigator.

Definition at line 50 of file CNavigatorManualSequence.h.

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().

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 CNavigatorManualSequence::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::CAbstractNavigator.

Definition at line 30 of file CNavigatorManualSequence.cpp.

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.

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(), navigationStep(), mrpt::nav::CAbstractNavigator::navigationStep(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), mrpt::nav::CAbstractPTGBasedReactive::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().

Member Data Documentation

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

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 mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), and mrpt::nav::CAbstractNavigator::setFrameTF().

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 mrpt::nav::CAbstractPTGBasedReactive::onStartNewNavigation(), and mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds().

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(), mrpt::nav::CAbstractPTGBasedReactive::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(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), and mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds().

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

m_navigationParams

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

protectedinherited

Current navigation parameters.

Definition at line 266 of file CAbstractNavigator.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), mrpt::nav::CWaypointsNavigator::checkHasReachedTarget(), mrpt::nav::CAbstractNavigator::onNavigateCommandReceived(), mrpt::nav::CAbstractPTGBasedReactive::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_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(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

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(), initialize(), mrpt::nav::CAbstractNavigator::internal_onStartNewNavigation(), navigationStep(), mrpt::nav::CAbstractNavigator::navigationStep(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::nav::CAbstractNavigator::stop(), mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

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(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::nav::CAbstractPTGBasedReactive::STEP8_GenerateLogRecord(), mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

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().

programmed_orders

std::map<double,TVelCmd> mrpt::nav::CNavigatorManualSequence::programmed_orders

map [time_in_secs_since_beginning] -> orders.

Definition at line 42 of file CNavigatorManualSequence.h.

Referenced by initialize(), loadConfigFile(), and navigationStep().