Detailed Description

Definition at line 172 of file CAbstractPTGBasedReactive.h.

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

Inheritance diagram for mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams:

Public Member Functions
void	loadFromConfigFile (const mrpt::config::CConfigFileBase &c, const std::string &s) override
	This method load the options from a ".ini"-like file or memory-stored string list. More...

void	saveToConfigFile (mrpt::config::CConfigFileBase &c, const std::string &s) const override
	This method saves the options to a ".ini"-like file or memory-stored string list. More...

	TAbstractPTGNavigatorParams ()

void	loadFromConfigFileName (const std::string &config_file, const std::string &section)
	Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file. More...

void	saveToConfigFileName (const std::string &config_file, const std::string &section) const
	Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file. More...

void	dumpToConsole () const
	Just like dumpToTextStream() but sending the text to the console (std::cout) More...

virtual void	dumpToTextStream (std::ostream &out) const
	This method should clearly display all the contents of the structure in textual form, sending it to a std::ostream. More...

Public Attributes
std::string	holonomic_method
	C++ class name of the holonomic navigation method to run in the transformed TP-Space. More...

std::string	motion_decider_method
	C++ class name of the motion chooser. More...

std::string	ptg_cache_files_directory
	(Default: ".") More...

double	ref_distance {4.0}
	Maximum distance up to obstacles will be considered (D_{max} in papers). More...

double	speedfilter_tau {0.0}
	Time constant (in seconds) for the low-pass filter applied to kinematic velocity commands (default=0: no filtering) More...

double	secure_distance_start {0.05}
	In normalized distances, the start and end of a ramp function that scales the velocity output from the holonomic navigator: More...

double	secure_distance_end {0.20}

bool	use_delays_model {false}

double	max_distance_predicted_actual_path {0.15}
	Max distance [meters] to discard current PTG and issue a new vel cmd (default= 0.05) More...

double	min_normalized_free_space_for_ptg_continuation {0.2}
	Min normalized dist [0,1] after current pose in a PTG continuation to allow it. More...

mrpt::kinematics::CVehicleVelCmd::TVelCmdParams	robot_absolute_speed_limits
	Params related to speed limits. More...

bool	enable_obstacle_filtering {true}

bool	evaluate_clearance {false}
	Default: false. More...

double	max_dist_for_timebased_path_prediction {2.0}
	Max dist [meters] to use time-based path prediction for NOP evaluation. More...

Static Protected Member Functions
static void	dumpVar_int (std::ostream &out, const char *varName, int v)
	Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. More...

static void	dumpVar_float (std::ostream &out, const char *varName, float v)

static void	dumpVar_double (std::ostream &out, const char *varName, double v)

static void	dumpVar_bool (std::ostream &out, const char *varName, bool v)

static void	dumpVar_string (std::ostream &out, const char *varName, const std::string &v)

Constructor & Destructor Documentation

◆ TAbstractPTGNavigatorParams()

CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::TAbstractPTGNavigatorParams ( )

Definition at line 1882 of file CAbstractPTGBasedReactive.cpp.

Member Function Documentation

◆ dumpToConsole()

void CLoadableOptions::dumpToConsole ( ) const

inherited

Just like dumpToTextStream() but sending the text to the console (std::cout)

Definition at line 43 of file CLoadableOptions.cpp.

References mrpt::config::CLoadableOptions::dumpToTextStream().

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), mrpt::ros1bridge::MapHdl::loadMap(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::printParams(), and mrpt::apps::CGridMapAlignerApp::run().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ dumpToTextStream()

void CLoadableOptions::dumpToTextStream ( std::ostream & out ) const

virtualinherited

This method should clearly display all the contents of the structure in textual form, sending it to a std::ostream.

The default implementation in this base class relies on saveToConfigFile() to generate a plain text representation of all the parameters.

Definition at line 76 of file CLoadableOptions.cpp.

References mrpt::config::CConfigFileMemory::getContent(), out, and mrpt::config::CLoadableOptions::saveToConfigFile().

Referenced by mrpt::config::CLoadableOptions::dumpToConsole(), mrpt::maps::TMetricMapInitializer::dumpToTextStream(), mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams::dumpToTextStream(), mrpt::maps::COccupancyGridMap3D::TMapDefinition::dumpToTextStream_map_specific(), and mrpt::apps::ICP_SLAM_App_Base::run().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ dumpVar_bool()

void CLoadableOptions::dumpVar_bool	(	std::ostream &	out,
		const char *	varName,
		bool	v
	)

staticprotectedinherited

Definition at line 62 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

Here is the call graph for this function:

◆ dumpVar_double()

void CLoadableOptions::dumpVar_double	(	std::ostream &	out,
		const char *	varName,
		double	v
	)

staticprotectedinherited

Definition at line 56 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

Here is the call graph for this function:

◆ dumpVar_float()

void CLoadableOptions::dumpVar_float	(	std::ostream &	out,
		const char *	varName,
		float	v
	)

staticprotectedinherited

Definition at line 50 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

Here is the call graph for this function:

◆ dumpVar_int()

void CLoadableOptions::dumpVar_int	(	std::ostream &	out,
		const char *	varName,
		int	v
	)

staticprotectedinherited

Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.

Definition at line 44 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

Here is the call graph for this function:

◆ dumpVar_string()

void CLoadableOptions::dumpVar_string	(	std::ostream &	out,
		const char *	varName,
		const std::string &	v
	)

staticprotectedinherited

Definition at line 69 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

Here is the call graph for this function:

◆ loadFromConfigFile()

void CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::loadFromConfigFile	(	const mrpt::config::CConfigFileBase &	source,
		const std::string &	section
	)

overridevirtual

This method load the options from a ".ini"-like file or memory-stored string list.

Only those parameters found in the given "section" and having the same name that the variable are loaded. Those not found in the file will stay with their previous values (usually the default values loaded at initialization). An example of an ".ini" file:

[section]
resolution    = 0.10   // blah blah...
modeSelection = 1      // 0=blah, 1=blah,...

See also: loadFromConfigFileName, saveToConfigFile

Implements mrpt::config::CLoadableOptions.

Definition at line 1783 of file CAbstractPTGBasedReactive.cpp.

References MRPT_END, MRPT_LOAD_CONFIG_VAR_CS, MRPT_LOAD_CONFIG_VAR_REQUIRED_CS, and MRPT_START.

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

Here is the caller graph for this function:

◆ loadFromConfigFileName()

void CLoadableOptions::loadFromConfigFileName	(	const std::string &	config_file,
		const std::string &	section
	)

inherited

Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file.

See also: loadFromConfigFile

Definition at line 22 of file CLoadableOptions.cpp.

References mrpt::config::CLoadableOptions::loadFromConfigFile().

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ saveToConfigFile()

void CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::saveToConfigFile	(	mrpt::config::CConfigFileBase &	target,
		const std::string &	section
	)		const

overridevirtual

This method saves the options to a ".ini"-like file or memory-stored string list.

See also: loadFromConfigFile, saveToConfigFileName

Reimplemented from mrpt::config::CLoadableOptions.

Definition at line 1807 of file CAbstractPTGBasedReactive.cpp.

References CLASS_ID, mrpt::rtti::getAllRegisteredClassesChildrenOf(), and MRPT_SAVE_CONFIG_VAR_COMMENT.

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

Here is the call graph for this function:

Here is the caller graph for this function:

◆ saveToConfigFileName()

void CLoadableOptions::saveToConfigFileName	(	const std::string &	config_file,
		const std::string &	section
	)		const

inherited

Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file.

See also: saveToConfigFile, loadFromConfigFileName

Definition at line 36 of file CLoadableOptions.cpp.

References mrpt::config::CLoadableOptions::saveToConfigFile().

Here is the call graph for this function:

Member Data Documentation

◆ enable_obstacle_filtering

bool mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::enable_obstacle_filtering {true}

Definition at line 218 of file CAbstractPTGBasedReactive.h.

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

◆ evaluate_clearance

bool mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::evaluate_clearance {false}

Default: false.

Definition at line 220 of file CAbstractPTGBasedReactive.h.

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

◆ holonomic_method

std::string mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::holonomic_method

C++ class name of the holonomic navigation method to run in the transformed TP-Space.

Definition at line 176 of file CAbstractPTGBasedReactive.h.

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

◆ max_dist_for_timebased_path_prediction

double mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::max_dist_for_timebased_path_prediction {2.0}

Max dist [meters] to use time-based path prediction for NOP evaluation.

Definition at line 223 of file CAbstractPTGBasedReactive.h.

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

◆ max_distance_predicted_actual_path

double mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::max_distance_predicted_actual_path {0.15}

Max distance [meters] to discard current PTG and issue a new vel cmd (default= 0.05)

Definition at line 210 of file CAbstractPTGBasedReactive.h.

◆ min_normalized_free_space_for_ptg_continuation

double mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::min_normalized_free_space_for_ptg_continuation {0.2}

Min normalized dist [0,1] after current pose in a PTG continuation to allow it.

Definition at line 213 of file CAbstractPTGBasedReactive.h.

◆ motion_decider_method

std::string mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::motion_decider_method

C++ class name of the motion chooser.

Definition at line 178 of file CAbstractPTGBasedReactive.h.

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

◆ ptg_cache_files_directory

std::string mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::ptg_cache_files_directory

(Default: ".")

Definition at line 181 of file CAbstractPTGBasedReactive.h.

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

◆ ref_distance

double mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::ref_distance {4.0}

Maximum distance up to obstacles will be considered (D_{max} in papers).

Definition at line 184 of file CAbstractPTGBasedReactive.h.

Referenced by mrpt::nav::CReactiveNavigationSystem3D::implementSenseObstacles(), and mrpt::nav::CReactiveNavigationSystem::STEP3_WSpaceToTPSpace().

◆ robot_absolute_speed_limits

mrpt::kinematics::CVehicleVelCmd::TVelCmdParams mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::robot_absolute_speed_limits

Params related to speed limits.

Definition at line 217 of file CAbstractPTGBasedReactive.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::changeCurrentRobotSpeedLimits(), mrpt::nav::CAbstractPTGBasedReactive::generate_vel_cmd(), and mrpt::nav::CAbstractPTGBasedReactive::getCurrentRobotSpeedLimits().

◆ secure_distance_end

double mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::secure_distance_end {0.20}

Definition at line 206 of file CAbstractPTGBasedReactive.h.

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

◆ secure_distance_start

double mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::secure_distance_start {0.05}

In normalized distances, the start and end of a ramp function that scales the velocity output from the holonomic navigator:

 velocity scale
  ^
  |           _____________
  |          /
1 |         /
  |        /
0 +-------+---|----------------> normalized distance
        Start
             End

Definition at line 206 of file CAbstractPTGBasedReactive.h.

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

◆ speedfilter_tau

double mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::speedfilter_tau {0.0}

Time constant (in seconds) for the low-pass filter applied to kinematic velocity commands (default=0: no filtering)

Definition at line 187 of file CAbstractPTGBasedReactive.h.

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

◆ use_delays_model

bool mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::use_delays_model {false}

Definition at line 207 of file CAbstractPTGBasedReactive.h.

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

Detailed Description

Public Member Functions

Public Attributes

Static Protected Member Functions

Constructor & Destructor Documentation

◆ TAbstractPTGNavigatorParams()

Member Function Documentation

◆ dumpToConsole()

◆ dumpToTextStream()

◆ dumpVar_bool()

◆ dumpVar_double()

◆ dumpVar_float()

◆ dumpVar_int()

◆ dumpVar_string()

◆ loadFromConfigFile()

◆ loadFromConfigFileName()

◆ saveToConfigFile()

◆ saveToConfigFileName()

Member Data Documentation

◆ enable_obstacle_filtering

◆ evaluate_clearance

◆ holonomic_method

◆ max_dist_for_timebased_path_prediction

◆ max_distance_predicted_actual_path

◆ min_normalized_free_space_for_ptg_continuation

◆ motion_decider_method

◆ ptg_cache_files_directory

◆ ref_distance

◆ robot_absolute_speed_limits

◆ secure_distance_end

◆ secure_distance_start

◆ speedfilter_tau

◆ use_delays_model