class mrpt::nav::CRobot2NavInterfaceForSimulator_Holo¶
CRobot2NavInterface implemented for a simulator object based on mrpt::kinematics::CVehicleSimul_Holo.
Only senseObstacles()
remains virtual for the user to implement it.
See also:
CReactiveNavigationSystem, CAbstractNavigator, mrpt::kinematics::CVehicleSimulVirtualBase
#include <mrpt/nav/reactive/CRobot2NavInterfaceForSimulator.h> class CRobot2NavInterfaceForSimulator_Holo: public mrpt::nav::CRobot2NavInterface { public: // construction CRobot2NavInterfaceForSimulator_Holo(mrpt::kinematics::CVehicleSimul_Holo& simul); // methods virtual bool getCurrentPoseAndSpeeds( mrpt::math::TPose2D& curPose, mrpt::math::TTwist2D& curVelGlobal, mrpt::system::TTimeStamp& timestamp, mrpt::math::TPose2D& curOdometry, std::string& frame_id ); virtual bool changeSpeeds(const mrpt::kinematics::CVehicleVelCmd& vel_cmd); virtual bool stop(bool isEmergencyStop); virtual mrpt::kinematics::CVehicleVelCmd::Ptr getEmergencyStopCmd(); virtual mrpt::kinematics::CVehicleVelCmd::Ptr getStopCmd(); virtual mrpt::kinematics::CVehicleVelCmd::Ptr getAlignCmd(const double relative_heading_radians); virtual double getNavigationTime(); virtual void resetNavigationTimer(); };
Inherited Members¶
public: // structs struct TMsg; // methods virtual void sendNavigationStartEvent(); virtual void sendNavigationEndEvent(); virtual void sendWaypointReachedEvent(int waypoint_index, bool reached_nSkipped); virtual void sendNewWaypointTargetEvent(int waypoint_index); virtual void sendNavigationEndDueToErrorEvent(); virtual void sendWaySeemsBlockedEvent(); virtual void sendApparentCollisionEvent(); virtual void sendCannotGetCloserToBlockedTargetEvent(); virtual bool getCurrentPoseAndSpeeds( mrpt::math::TPose2D& curPose, mrpt::math::TTwist2D& curVelGlobal, mrpt::system::TTimeStamp& timestamp, mrpt::math::TPose2D& curOdometry, std::string& frame_id ) = 0; virtual bool changeSpeeds(const mrpt::kinematics::CVehicleVelCmd& vel_cmd) = 0; virtual bool changeSpeedsNOP(); virtual bool stop(bool isEmergencyStop = true) = 0; virtual mrpt::kinematics::CVehicleVelCmd::Ptr getEmergencyStopCmd() = 0; virtual mrpt::kinematics::CVehicleVelCmd::Ptr getStopCmd() = 0; virtual mrpt::kinematics::CVehicleVelCmd::Ptr getAlignCmd(const double relative_heading_radians); virtual bool startWatchdog(float T_ms); virtual bool stopWatchdog(); virtual bool senseObstacles(mrpt::maps::CSimplePointsMap& obstacles, mrpt::system::TTimeStamp& timestamp) = 0; virtual double getNavigationTime(); virtual void resetNavigationTimer();
Methods¶
virtual bool getCurrentPoseAndSpeeds( mrpt::math::TPose2D& curPose, mrpt::math::TTwist2D& curVelGlobal, mrpt::system::TTimeStamp& timestamp, mrpt::math::TPose2D& curOdometry, std::string& frame_id )
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.
virtual bool changeSpeeds(const mrpt::kinematics::CVehicleVelCmd& vel_cmd)
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:
virtual bool stop(bool isEmergencyStop)
Stop the robot right now.
Parameters:
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.
virtual mrpt::kinematics::CVehicleVelCmd::Ptr getEmergencyStopCmd()
Gets the emergency stop command for the current robot.
Returns:
the emergency stop command
virtual mrpt::kinematics::CVehicleVelCmd::Ptr getStopCmd()
Gets the emergency stop command for the current robot.
Returns:
the emergency stop command
virtual mrpt::kinematics::CVehicleVelCmd::Ptr getAlignCmd(const double relative_heading_radians)
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).
virtual double getNavigationTime()
See CRobot2NavInterface::getNavigationTime().
In this class, simulation time is returned instead of wall-clock time.
virtual void resetNavigationTimer()