Detailed Description

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

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

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

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

See also: CReactiveNavigationSystem, CAbstractNavigator

Definition at line 39 of file CRobot2NavInterface.h.

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

Inheritance diagram for mrpt::nav::CRobot2NavInterface:

Public Member Functions
	CRobot2NavInterface ()

virtual	~CRobot2NavInterface ()

virtual bool	getCurrentPoseAndSpeeds (mrpt::math::TPose2D &curPose, mrpt::math::TTwist2D &curVelGlobal, mrpt::system::TTimeStamp &timestamp, mrpt::math::TPose2D &curOdometry, std::string &frame_id)=0
	Get the current pose and velocity of the robot. More...

virtual bool	changeSpeeds (const mrpt::kinematics::CVehicleVelCmd &vel_cmd)=0
	Sends a velocity command to the robot. More...

virtual bool	changeSpeedsNOP ()
	Just like changeSpeeds(), but will be called when the last velocity command is still the preferred solution, so there is no need to change that past command. More...

virtual bool	stop (bool isEmergencyStop=true)=0
	Stop the robot right now. More...

virtual mrpt::kinematics::CVehicleVelCmdPtr	getEmergencyStopCmd ()=0
	Gets the emergency stop command for the current robot. More...

virtual mrpt::kinematics::CVehicleVelCmdPtr	getStopCmd ()=0
	Gets the emergency stop command for the current robot. More...

virtual mrpt::kinematics::CVehicleVelCmdPtr	getAlignCmd (const double relative_heading_radians)
	Gets a motion command to make the robot to align with a given relative heading, without translating. More...

virtual bool	startWatchdog (float T_ms)
	Start the watchdog timer of the robot platform, if any, for maximum expected delay between consecutive calls to changeSpeeds(). More...

virtual bool	stopWatchdog ()
	Stop the watchdog timer. More...

virtual bool	senseObstacles (mrpt::maps::CSimplePointsMap &obstacles, mrpt::system::TTimeStamp &timestamp)=0
	Return the current set of obstacle points, as seen from the local coordinate frame of the robot. More...

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

virtual void	resetNavigationTimer ()
	see getNavigationTime() More...

Navigation event callbacks
virtual void	sendNavigationStartEvent ()
	Callback: Start of navigation command. More...

virtual void	sendNavigationEndEvent ()
	Callback: End of navigation command (reach of single goal, or final waypoint of waypoint list) More...

virtual void	sendWaypointReachedEvent (int waypoint_index, bool reached_nSkipped)
	Callback: Reached an intermediary waypoint in waypoint list navigation. More...

virtual void	sendNewWaypointTargetEvent (int waypoint_index)
	Callback: Heading towards a new intermediary/final waypoint in waypoint list navigation. More...

virtual void	sendNavigationEndDueToErrorEvent ()
	Callback: Error asking sensory data from robot or sending motor commands. More...

virtual void	sendWaySeemsBlockedEvent ()
	Callback: No progression made towards target for a predefined period of time. More...

virtual void	sendApparentCollisionEvent ()
	Callback: Apparent collision event (i.e. More...

virtual void	sendCannotGetCloserToBlockedTargetEvent (bool &do_abort_nav)
	Callback: Target seems to be blocked by an obstacle. More...

Private Attributes
mrpt::utils::CTicTac	m_navtime
	For getNavigationTime. More...

Constructor & Destructor Documentation

◆ CRobot2NavInterface()

CRobot2NavInterface::CRobot2NavInterface ( )

Definition at line 16 of file CRobot2NavInterface.cpp.

◆ ~CRobot2NavInterface()

CRobot2NavInterface::~CRobot2NavInterface ( )

virtual

Definition at line 20 of file CRobot2NavInterface.cpp.

Member Function Documentation

◆ changeSpeeds()

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

pure virtual

Sends a velocity command to the robot.

The number components in each command depends on children classes of mrpt::kinematics::CVehicleVelCmd. One robot may accept one or more different CVehicleVelCmd classes. This method resets the watchdog timer (that may be or may be not implemented in a particular robotic platform) started with startWatchdog()

Returns: false on any error.

See also: startWatchdog

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

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

◆ changeSpeedsNOP()

bool CRobot2NavInterface::changeSpeedsNOP ( )

virtual

Just like changeSpeeds(), but will be called when the last velocity command is still the preferred solution, so there is no need to change that past command.

The unique effect of this callback would be resetting the watchdog timer.

Returns: false on any error.

See also: changeSpeeds(), startWatchdog()

Definition at line 23 of file CRobot2NavInterface.cpp.

References MRPT_LOG_THROTTLE_INFO.

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

◆ getAlignCmd()

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

virtual

Gets a motion command to make the robot to align with a given relative heading, without translating.

Only for circular robots that can rotate in place; otherwise, return an empty smart pointer to indicate that the operation is not possible (this is what the default implementation does).

Reimplemented in mrpt::nav::CRobot2NavInterfaceForSimulator_Holo.

Definition at line 29 of file CRobot2NavInterface.cpp.

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

◆ getCurrentPoseAndSpeeds()

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

pure virtual

Get the current pose and velocity of the robot.

The implementation should not take too much time to return, so if it might take more than ~10ms to ask the robot for the instantaneous data, it may be good enough to return the latest values from a cache which is updated in a parallel thread.

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

Parameters

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

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

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

◆ getEmergencyStopCmd()

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

pure virtual

Gets the emergency stop command for the current robot.

Returns: the emergency stop command

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

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

◆ getNavigationTime()

double CRobot2NavInterface::getNavigationTime ( )

virtual

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

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

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

Definition at line 79 of file CRobot2NavInterface.cpp.

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

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

◆ getStopCmd()

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

pure virtual

Gets the emergency stop command for the current robot.

Returns: the emergency stop command

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

◆ resetNavigationTimer()

void CRobot2NavInterface::resetNavigationTimer ( )

virtual

see getNavigationTime()

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

Definition at line 82 of file CRobot2NavInterface.cpp.

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

Referenced by mrpt::nav::CNavigatorManualSequence::initialize().

◆ sendApparentCollisionEvent()

void CRobot2NavInterface::sendApparentCollisionEvent ( )

virtual

Callback: Apparent collision event (i.e.

there is at least one obstacle point inside the robot shape)

Definition at line 70 of file CRobot2NavInterface.cpp.

References MRPT_LOG_THROTTLE_INFO.

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

◆ sendCannotGetCloserToBlockedTargetEvent()

void CRobot2NavInterface::sendCannotGetCloserToBlockedTargetEvent ( bool & do_abort_nav )

virtual

Callback: Target seems to be blocked by an obstacle.

If user sets do_abort_nav to true (default is false), after this callback returns, navigation will end with an ERROR state and another call to sendWaySeemsBlockedEvent() will be done.

Definition at line 74 of file CRobot2NavInterface.cpp.

References MRPT_LOG_THROTTLE_INFO.

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

◆ sendNavigationEndDueToErrorEvent()

void CRobot2NavInterface::sendNavigationEndDueToErrorEvent ( )

virtual

Callback: Error asking sensory data from robot or sending motor commands.

Definition at line 62 of file CRobot2NavInterface.cpp.

References MRPT_LOG_THROTTLE_INFO.

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

◆ sendNavigationEndEvent()

void CRobot2NavInterface::sendNavigationEndEvent ( )

virtual

Callback: End of navigation command (reach of single goal, or final waypoint of waypoint list)

Definition at line 50 of file CRobot2NavInterface.cpp.

References MRPT_LOG_INFO.

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

◆ sendNavigationStartEvent()

void CRobot2NavInterface::sendNavigationStartEvent ( )

virtual

Callback: Start of navigation command.

Definition at line 46 of file CRobot2NavInterface.cpp.

References MRPT_LOG_INFO.

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

◆ sendNewWaypointTargetEvent()

void CRobot2NavInterface::sendNewWaypointTargetEvent ( int waypoint_index )

virtual

Callback: Heading towards a new intermediary/final waypoint in waypoint list navigation.

Definition at line 58 of file CRobot2NavInterface.cpp.

References MRPT_LOG_INFO_STREAM.

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

◆ sendWaypointReachedEvent()

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

virtual

Callback: Reached an intermediary waypoint in waypoint list navigation.

reached_nSkipped will be true if the waypoint was physically reached; false if it was actually "skipped".

Definition at line 54 of file CRobot2NavInterface.cpp.

References MRPT_LOG_INFO_STREAM.

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

◆ sendWaySeemsBlockedEvent()

void CRobot2NavInterface::sendWaySeemsBlockedEvent ( )

virtual

Callback: No progression made towards target for a predefined period of time.

Definition at line 66 of file CRobot2NavInterface.cpp.

References MRPT_LOG_THROTTLE_INFO.

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

◆ senseObstacles()

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

pure virtual

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

Returns: false on any error.

Parameters

[out]	obstacles	A representation of obstacles in robot-centric coordinates.
[out]	timestamp	The timestamp for the read obstacles. Use mrpt::system::now() unless you have something more accurate.

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

◆ startWatchdog()

bool CRobot2NavInterface::startWatchdog ( float T_ms )

virtual

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

Parameters

T_ms	Period, in ms.

Returns: false on any error.

Definition at line 34 of file CRobot2NavInterface.cpp.

References MRPT_LOG_INFO_FMT.

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

◆ stop()

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

pure virtual

Stop the robot right now.

Parameters

[in] isEmergencyStop true if stop is due to some unexpected error. false if "stop" happens as part of a normal operation (e.g. target reached).

Returns: false on any error.

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

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

◆ stopWatchdog()

bool CRobot2NavInterface::stopWatchdog ( )

virtual

Stop the watchdog timer.

Returns: false on any error.

See also: startWatchdog

Definition at line 40 of file CRobot2NavInterface.cpp.

References MRPT_LOG_INFO.

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

Member Data Documentation

◆ m_navtime

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

private

For getNavigationTime.

Definition at line 150 of file CRobot2NavInterface.h.

Referenced by getNavigationTime(), and resetNavigationTimer().

Detailed Description

Public Member Functions

Private Attributes

Constructor & Destructor Documentation

◆ CRobot2NavInterface()

◆ ~CRobot2NavInterface()

Member Function Documentation

◆ changeSpeeds()

◆ changeSpeedsNOP()

◆ getAlignCmd()

◆ getCurrentPoseAndSpeeds()

◆ getEmergencyStopCmd()

◆ getNavigationTime()

◆ getStopCmd()

◆ resetNavigationTimer()

◆ sendApparentCollisionEvent()

◆ sendCannotGetCloserToBlockedTargetEvent()

◆ sendNavigationEndDueToErrorEvent()

◆ sendNavigationEndEvent()

◆ sendNavigationStartEvent()

◆ sendNewWaypointTargetEvent()

◆ sendWaypointReachedEvent()

◆ sendWaySeemsBlockedEvent()

◆ senseObstacles()

◆ startWatchdog()

◆ stop()

◆ stopWatchdog()

Member Data Documentation

◆ m_navtime