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 () override
	Overriden in this class to ignore the cancel/pause/... More...

const mrpt::system::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::config::CConfigFileBase &c) override
	Loads all params from a file. More...

virtual void	saveConfigFile (mrpt::config::CConfigFileBase &c) const override
	Saves all current options to a config file. More...

void	initialize () override
	Must be called for loading collision grids, etc. More...

Static Public Member Functions
static std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > &	logging_levels_to_colors ()
	Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor. More...

static std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > &	logging_levels_to_names ()
	Map from VerbosityLevels to their corresponding names. 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 () override
	Called whenever a new navigation has been started. More...

void	dispatchPendingNavEvents ()

virtual void	onNavigateCommandReceived ()
	Called after each call to CAbstractNavigator::navigate() More...

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...

void	processNavigateCommand (const TNavigationParams *params)
	Does the job of navigate(), except the call to onNavigateCommandReceived() More...

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(). More...

virtual bool	changeSpeedsNOP ()
	Default: forward call to m_robot.changeSpeedsNOP(). More...

virtual bool	stop (bool isEmergencyStop)
	Default: forward call to m_robot.stop(). 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::vector< std::function< void(void)> >	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...

std::unique_ptr< TNavigationParams >	m_navigationParams
	Current navigation parameters. More...

CRobot2NavInterface &	m_robot
	The navigator-robot interface. More...

std::weak_ptr< mrpt::poses::FrameTransformer< 2 > >	m_frame_tf
	Optional, user-provided frame transformer. More...

std::recursive_mutex	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
	Latest robot poses (updated in CAbstractNavigator::navigationStep() ) More...

mrpt::poses::CPose2DInterpolator	m_latestOdomPoses

mrpt::system::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

VerbosityLevel	m_min_verbosity_level
	Provided messages with VerbosityLevel smaller than this value shall be ignored. More...

Private Member Functions
virtual void	navigate (const TNavigationParams *params) override
	Navigation request to a single target location. More...

virtual void	performNavigationStep () 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...

void	setFrameTF (const std::weak_ptr< 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...

std::weak_ptr< mrpt::poses::FrameTransformer< 2 > >	getFrameTF () const
	Get the current frame tf object (defaults to nullptr) More...

enum	TState { IDLE = 0, NAVIGATING, SUSPENDED, NAV_ERROR }
	The different states for the navigation system. More...

Logging methods
bool	logging_enable_console_output
	[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically. More...

bool	logging_enable_keep_record
	[Default=false] Enables storing all messages into an internal list. More...

void	logStr (const VerbosityLevel level, const std::string &msg_str) const
	Main method to add the specified message string to the logger. More...

void	logFmt (const VerbosityLevel level, const char *fmt,...) const MRPT_printf_format_check(3
	Alternative logging method, which mimics the printf behavior. More...

void void	logCond (const VerbosityLevel level, bool cond, const std::string &msg_str) const
	Log the given message only if the condition is satisfied. More...

void	setLoggerName (const std::string &name)
	Set the name of the COutputLogger instance. More...

std::string	getLoggerName () const
	Return the name of the COutputLogger instance. More...

void	setMinLoggingLevel (const VerbosityLevel level)
	Set the minimum logging level for which the incoming logs are going to be taken into account. More...

void	setVerbosityLevel (const VerbosityLevel level)
	alias of setMinLoggingLevel() More...

VerbosityLevel	getMinLoggingLevel () const

bool	isLoggingLevelVisible (VerbosityLevel level) const

void	getLogAsString (std::string &log_contents) const
	Fill the provided string with the contents of the logger's history in std::string representation. More...

std::string	getLogAsString () const
	Get the history of COutputLogger instance in a string representation. More...

void	writeLogToFile (const std::string *fname_in=NULL) const
	Write the contents of the COutputLogger instance to an external file. More...

void	dumpLogToConsole () const
	Dump the current contents of the COutputLogger instance in the terminal window. More...

std::string	getLoggerLastMsg () const
	Return the last Tmsg instance registered in the logger history. More...

void	getLoggerLastMsg (std::string &msg_str) const
	Fill inputtted string with the contents of the last message in history. More...

void	loggerReset ()
	Reset the contents of the logger instance. More...

void	logRegisterCallback (output_logger_callback_t userFunc)

bool	logDeregisterCallback (output_logger_callback_t userFunc)

Member Enumeration Documentation

◆ TState

enum mrpt::nav::CAbstractNavigator::TState

inherited

The different states for the navigation system.

Enumerator
IDLE
NAVIGATING
SUSPENDED
NAV_ERROR

Definition at line 170 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 27 of file CNavigatorManualSequence.cpp.

Member Function Documentation

◆ cancel()

void CAbstractNavigator::cancel ( )

virtualinherited

Cancel current navegation.

Reimplemented in mrpt::nav::CWaypointsNavigator.

Definition at line 113 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().

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◆ changeSpeeds()

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

protectedvirtualinherited

Default: forward call to m_robot.changeSpeed().

Can be overriden.

Definition at line 412 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().

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◆ 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().

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◆ 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 663 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 479 of file CAbstractNavigator.cpp.

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

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◆ dispatchPendingNavEvents()

void CAbstractNavigator::dispatchPendingNavEvents ( )

protectedinherited

Definition at line 249 of file CAbstractNavigator.cpp.

References mrpt::nav::CAbstractNavigator::m_pending_events.

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

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◆ doEmergencyStop()

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

protectedinherited

Stops the robot and set navigation state to error.

Definition at line 260 of file CAbstractNavigator.cpp.

References mrpt::nav::CAbstractNavigator::m_navigationState, MRPT_LOG_ERROR, mrpt::nav::CAbstractNavigator::NAV_ERROR, and mrpt::nav::CAbstractNavigator::stop().

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

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◆ dumpLogToConsole()

void COutputLogger::dumpLogToConsole ( ) const

inherited

Dump the current contents of the COutputLogger instance in the terminal window.

See also: writeToFile

Definition at line 190 of file COutputLogger.cpp.

◆ getCurrentState()

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

inlineinherited

Returns the current navigator state.

Definition at line 179 of file CAbstractNavigator.h.

References mrpt::nav::CAbstractNavigator::m_navigationState.

◆ getDelaysTimeLogger()

const mrpt::system::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 223 of file CAbstractNavigator.h.

References mrpt::nav::CAbstractNavigator::m_timlog_delays.

◆ getFrameTF()

std::weak_ptr<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 189 of file CAbstractNavigator.h.

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

◆ getLogAsString() [1/2]

void COutputLogger::getLogAsString ( std::string & log_contents ) const

inherited

Fill the provided string with the contents of the logger's history in std::string representation.

Definition at line 154 of file COutputLogger.cpp.

◆ getLogAsString() [2/2]

std::string COutputLogger::getLogAsString ( ) const

inherited

Get the history of COutputLogger instance in a string representation.

Definition at line 159 of file COutputLogger.cpp.

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

◆ getLoggerLastMsg() [1/2]

std::string COutputLogger::getLoggerLastMsg ( ) const

inherited

Return the last Tmsg instance registered in the logger history.

Definition at line 195 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::getAsString().

◆ getLoggerLastMsg() [2/2]

void COutputLogger::getLoggerLastMsg ( std::string & msg_str ) const

inherited

Fill inputtted string with the contents of the last message in history.

Definition at line 201 of file COutputLogger.cpp.

◆ getLoggerName()

std::string COutputLogger::getLoggerName ( ) const

inherited

Return the name of the COutputLogger instance.

See also: setLoggerName

Definition at line 143 of file COutputLogger.cpp.

◆ getMinLoggingLevel()

VerbosityLevel mrpt::system::COutputLogger::getMinLoggingLevel ( ) const

inlineinherited

See also: setMinLoggingLevel

Definition at line 200 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::maps::CRandomFieldGridMap2D::isEnabledVerbose(), and mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().

◆ initialize()

void CNavigatorManualSequence::initialize ( void )

overridevirtual

Must be called for loading collision grids, etc.

before invoking any navigation command

Implements mrpt::nav::CAbstractNavigator.

Definition at line 79 of file CNavigatorManualSequence.cpp.

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

◆ isLoggingLevelVisible()

bool mrpt::system::COutputLogger::isLoggingLevelVisible ( VerbosityLevel level ) const

inlineinherited

Definition at line 201 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper().

◆ loadConfigFile()

void CNavigatorManualSequence::loadConfigFile ( const mrpt::config::CConfigFileBase & c )

overridevirtual

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 33 of file CNavigatorManualSequence.cpp.

References ASSERTMSG_, mrpt::nav::CNavigatorManualSequence::TVelCmd::cmd_vel, mrpt::make_aligned_shared(), programmed_orders, THROW_EXCEPTION, and mrpt::system::tokenize().

◆ logCond()

void COutputLogger::logCond	(	const VerbosityLevel	level,
		bool	cond,
		const std::string &	msg_str
	)		const

inherited

Log the given message only if the condition is satisfied.

See also: log, logFmt

Definition at line 131 of file COutputLogger.cpp.

◆ logDeregisterCallback()

bool COutputLogger::logDeregisterCallback ( output_logger_callback_t userFunc )

inherited

Returns: true if an entry was found and deleted.

Definition at line 290 of file COutputLogger.cpp.

References getAddress(), and mrpt::system::COutputLogger::m_listCallbacks.

◆ logFmt()

void COutputLogger::logFmt	(	const VerbosityLevel	level,
		const char *	fmt,
			...
	)		const

inherited

Alternative logging method, which mimics the printf behavior.

Handy for not having to first use mrpt::format to pass a std::string message to logStr

// instead of:
logStr(mrpt::format("Today is the %d of %s, %d", 15, "July", 2016));
// one can use:
logFmt("Today is the %d of %s, %d", 15, "July", 2016);

See also: logStr, logCond

Definition at line 91 of file COutputLogger.cpp.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::CICPCriteriaNRD(), mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), CGraphSlamHandler< GRAPH_T >::execute(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), CGraphSlamHandler< GRAPH_T >::initOutputDir(), CGraphSlamHandler< GRAPH_T >::initVisualization(), navigationStep(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), CGraphSlamHandler< GRAPH_T >::readConfigFname(), CGraphSlamHandler< GRAPH_T >::saveResults(), CGraphSlamHandler< GRAPH_T >::setResultsDirName(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), and CGraphSlamHandler< GRAPH_T >::~CGraphSlamHandler().

◆ loggerReset()

void COutputLogger::loggerReset ( )

inherited

Reset the contents of the logger instance.

Called upon construction.

Definition at line 206 of file COutputLogger.cpp.

References mrpt::system::LVL_INFO.

◆ logging_levels_to_colors()

std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_colors ( )

staticinherited

Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor.

Handy for coloring the input based on the verbosity of the message

Definition at line 47 of file COutputLogger.cpp.

References logging_levels_to_colors.

Referenced by mrpt::system::COutputLogger::TMsg::dumpToConsole().

◆ logging_levels_to_names()

std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_names ( )

staticinherited

Map from VerbosityLevels to their corresponding names.

Handy for printing the current message VerbosityLevel along with the actual content

Definition at line 60 of file COutputLogger.cpp.

References logging_levels_to_names.

Referenced by mrpt::system::COutputLogger::TMsg::getAsString().

◆ logRegisterCallback()

void COutputLogger::logRegisterCallback ( output_logger_callback_t userFunc )

inherited

Definition at line 277 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::m_listCallbacks.

◆ logStr()

void COutputLogger::logStr	(	const VerbosityLevel	level,
		const std::string &	msg_str
	)		const

inherited

Main method to add the specified message string to the logger.

See also: logCond, logFmt

Definition at line 72 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::body, mrpt::system::COutputLogger::TMsg::dumpToConsole(), mrpt::system::COutputLogger::TMsg::level, mrpt::system::COutputLogger::TMsg::name, and mrpt::system::COutputLogger::TMsg::timestamp.

Referenced by mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), and mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper().

◆ navigate()

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

inlineoverrideprivatevirtual

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 55 of file CNavigatorManualSequence.h.

◆ navigationStep()

void CNavigatorManualSequence::navigationStep ( )

overridevirtual

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

commands

Reimplemented from mrpt::nav::CAbstractNavigator.

Definition at line 86 of file CNavigatorManualSequence.cpp.

References mrpt::nav::CAbstractNavigator::changeSpeeds(), mrpt::nav::CNavigatorManualSequence::TVelCmd::cmd_vel, mrpt::nav::CRobot2NavInterface::getNavigationTime(), mrpt::system::COutputLogger::logFmt(), mrpt::system::LVL_DEBUG, mrpt::system::LVL_ERROR, 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 273 of file CAbstractNavigator.cpp.

References 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 ( )

inlineoverrideprotectedvirtual

Called whenever a new navigation has been started.

Can be used to reset state variables, etc.

Implements mrpt::nav::CAbstractNavigator.

Definition at line 52 of file CNavigatorManualSequence.h.

◆ performNavigationStep()

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

inlineoverrideprivatevirtual

To be implemented in derived classes.

Implements mrpt::nav::CAbstractNavigator.

Definition at line 56 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 494 of file CAbstractNavigator.cpp.

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

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◆ processNavigateCommand()

void CAbstractNavigator::processNavigateCommand ( const TNavigationParams * params )

protectedinherited

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

Definition at line 281 of file CAbstractNavigator.cpp.

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 145 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::NAV_ERROR.

◆ resume()

void CAbstractNavigator::resume ( )

virtualinherited

Continues with suspended navigation.

See also: suspend

Definition at line 122 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::config::CConfigFileBase & c ) const

overridevirtual

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 28 of file CNavigatorManualSequence.cpp.

◆ setFrameTF()

void CAbstractNavigator::setFrameTF ( const std::weak_ptr< 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").

Definition at line 153 of file CAbstractNavigator.cpp.

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

◆ setLoggerName()

void COutputLogger::setLoggerName ( const std::string & name )

inherited

Set the name of the COutputLogger instance.

See also: getLoggerName

Definition at line 138 of file COutputLogger.cpp.

Referenced by mrpt::slam::CMetricMapBuilderICP::CMetricMapBuilderICP(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::slam::CMonteCarloLocalization2D::CMonteCarloLocalization2D(), mrpt::slam::CMonteCarloLocalization3D::CMonteCarloLocalization3D(), and mrpt::graphslam::CWindowManager::initCWindowManager().

◆ setMinLoggingLevel()

void COutputLogger::setMinLoggingLevel ( const VerbosityLevel level )

inherited

Set the minimum logging level for which the incoming logs are going to be taken into account.

String messages with specified VerbosityLevel smaller than the min, will not be outputted to the screen and neither will a record of them be stored in by the COutputLogger instance

Definition at line 144 of file COutputLogger.cpp.

Referenced by mrpt::maps::CRandomFieldGridMap2D::enableVerbose(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), mrpt::hwdrivers::CHokuyoURG::initialize(), and mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams().

◆ setVerbosityLevel()

void COutputLogger::setVerbosityLevel ( const VerbosityLevel level )

inherited

alias of setMinLoggingLevel()

Definition at line 149 of file COutputLogger.cpp.

Referenced by mrpt::nav::CAbstractNavigator::CAbstractNavigator(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::comms::CServerTCPSocket::CServerTCPSocket(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::math::ransac_detect_2D_lines().

◆ stop()

bool CAbstractNavigator::stop ( bool isEmergencyStop )

protectedvirtualinherited

Default: forward call to m_robot.stop().

Can be overriden.

Definition at line 420 of file CAbstractNavigator.cpp.

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

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◆ suspend()

void CAbstractNavigator::suspend ( )

virtualinherited

Suspend current navegation.

See also: resume

Definition at line 131 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 ( )

protectedinherited

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 323 of file CAbstractNavigator.cpp.

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

◆ writeLogToFile()

void COutputLogger::writeLogToFile ( const std::string * fname_in = NULL ) const

inherited

Write the contents of the COutputLogger instance to an external file.

Upon call to this method, COutputLogger dumps the contents of all the logged commands so far to the specified external file. By default the filename is set to ${LOGGERNAME}.log except if the fname parameter is provided

See also: dumpToConsole, getAsString

Definition at line 165 of file COutputLogger.cpp.

References ASSERTMSG_, and mrpt::format().

Member Data Documentation

◆ logging_enable_console_output

bool mrpt::system::COutputLogger::logging_enable_console_output

inherited

[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically.

Definition at line 239 of file system/COutputLogger.h.

◆ logging_enable_keep_record

bool mrpt::system::COutputLogger::logging_enable_keep_record

inherited

[Default=false] Enables storing all messages into an internal list.

See also: writeLogToFile, getLogAsString

Definition at line 242 of file system/COutputLogger.h.

◆ m_badNavAlarm_lastMinDistTime

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

protectedinherited

Definition at line 342 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 341 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 330 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

std::weak_ptr<mrpt::poses::FrameTransformer<2> > mrpt::nav::CAbstractNavigator::m_frame_tf

protectedinherited

Optional, user-provided frame transformer.

Definition at line 311 of file CAbstractNavigator.h.

Referenced by mrpt::nav::CAbstractNavigator::getFrameTF(), 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 332 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 331 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

Definition at line 334 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

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

Definition at line 334 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_min_verbosity_level

VerbosityLevel mrpt::system::COutputLogger::m_min_verbosity_level

protectedinherited

Provided messages with VerbosityLevel smaller than this value shall be ignored.

Definition at line 252 of file system/COutputLogger.h.

Referenced by mrpt::system::COutputLogger::getMinLoggingLevel(), and mrpt::system::COutputLogger::isLoggingLevelVisible().

◆ m_nav_cs

std::recursive_mutex mrpt::nav::CAbstractNavigator::m_nav_cs

protectedinherited

mutex for all navigation methods

Definition at line 314 of file CAbstractNavigator.h.

◆ m_navigationParams

std::unique_ptr<TNavigationParams> mrpt::nav::CAbstractNavigator::m_navigationParams

protectedinherited

Current navigation parameters.

Definition at line 305 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(), and mrpt::nav::CAbstractNavigator::processNavigateCommand().

◆ m_navigationState

TState mrpt::nav::CAbstractNavigator::m_navigationState

protectedinherited

Current internal state of navigator:

Definition at line 303 of file CAbstractNavigator.h.

◆ m_pending_events

std::vector<std::function<void(void)> > 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 244 of file CAbstractNavigator.h.

Referenced by mrpt::nav::CAbstractNavigator::dispatchPendingNavEvents(), mrpt::nav::CWaypointsNavigator::navigateWaypoints(), 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 308 of file CAbstractNavigator.h.

◆ m_timlog_delays

mrpt::system::CTimeLogger mrpt::nav::CAbstractNavigator::m_timlog_delays

protectedinherited

Time logger to collect delay-related stats.

Definition at line 337 of file CAbstractNavigator.h.

Referenced by mrpt::nav::CAbstractNavigator::getDelaysTimeLogger(), 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 219 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 49 of file CNavigatorManualSequence.h.

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

Detailed Description

Classes

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Private Member Functions

Navigation control API

Logging methods

Member Enumeration Documentation

◆ TState

Constructor & Destructor Documentation

◆ CNavigatorManualSequence()

◆ ~CNavigatorManualSequence()

Member Function Documentation

◆ cancel()

◆ changeSpeeds()

◆ changeSpeedsNOP()

◆ checkCollisionWithLatestObstacles()

◆ checkHasReachedTarget()

◆ dispatchPendingNavEvents()

◆ doEmergencyStop()

◆ dumpLogToConsole()

◆ getCurrentState()

◆ getDelaysTimeLogger()

◆ getFrameTF()

◆ getLogAsString() [1/2]

◆ getLogAsString() [2/2]

◆ getLoggerLastMsg() [1/2]

◆ getLoggerLastMsg() [2/2]

◆ getLoggerName()

◆ getMinLoggingLevel()

◆ initialize()

◆ isLoggingLevelVisible()

◆ loadConfigFile()

◆ logCond()

◆ logDeregisterCallback()

◆ logFmt()

◆ loggerReset()

◆ logging_levels_to_colors()

◆ logging_levels_to_names()

◆ logRegisterCallback()

◆ logStr()

◆ navigate()

◆ navigationStep()

◆ onNavigateCommandReceived()

◆ onStartNewNavigation()

◆ performNavigationStep()

◆ performNavigationStepNavigating()

◆ processNavigateCommand()

◆ resetNavError()

◆ resume()

◆ saveConfigFile()

◆ setFrameTF()

◆ setLoggerName()

◆ setMinLoggingLevel()

◆ setVerbosityLevel()

◆ stop()

◆ suspend()

◆ updateCurrentPoseAndSpeeds()

◆ writeLogToFile()

Member Data Documentation

◆ logging_enable_console_output

◆ logging_enable_keep_record

◆ m_badNavAlarm_lastMinDistTime

◆ m_badNavAlarm_minDistTarget

◆ m_curPoseVel

◆ m_frame_tf

◆ m_last_curPoseVelUpdate_pose_frame_id

◆ m_last_curPoseVelUpdate_robot_time

◆ m_latestOdomPoses

◆ m_latestPoses

◆ m_min_verbosity_level

◆ m_nav_cs

◆ m_navigationParams

◆ m_navigationState

◆ m_pending_events

◆ m_robot

◆ m_timlog_delays