class mrpt::nav::CNavigatorManualSequence

Overview

“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

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

class CNavigatorManualSequence: public mrpt::nav::CAbstractNavigator
{
public:
    // structs

    struct TVelCmd;

    // fields

    std::map<double, TVelCmd> programmed_orders;

    // construction

    CNavigatorManualSequence(CRobot2NavInterface& react_iterf_impl);

    // methods

    virtual void loadConfigFile(const mrpt::config::CConfigFileBase& c);
    virtual void saveConfigFile(mrpt::config::CConfigFileBase& c) const;
    virtual void initialize();
    virtual void navigationStep();
};

Inherited Members

public:
    // enums

    enum TErrorCode;
    enum TState;

    // structs

    struct TMsg;
    struct TAbstractNavigatorParams;
    struct TErrorReason;
    struct TNavigationParams;
    struct TNavigationParamsBase;
    struct TRobotPoseVel;
    struct TargetInfo;

    // fields

    bool logging_enable_console_output {true};
    bool logging_enable_keep_record {false};
    TAbstractNavigatorParams params_abstract_navigator;
    mrpt::system::CTimeLogger m_navProfiler {false, "mrpt::nav::CAbstractNavigator"};

    // methods

    void logStr(const VerbosityLevel level, std::string_view msg_str) const;
    void logFmt(const VerbosityLevel level, const char* fmt, ...) const;
    void void logCond(const VerbosityLevel level, bool cond, const std::string& msg_str) const;
    void setLoggerName(const std::string& name);
    std::string getLoggerName() const;
    void setVerbosityLevel(const VerbosityLevel level);
    void setVerbosityLevelForCallbacks(const VerbosityLevel level);
    void setMinLoggingLevel(const VerbosityLevel level);
    VerbosityLevel getMinLoggingLevel() const;
    VerbosityLevel getMinLoggingLevelForCallbacks() const;
    bool isLoggingLevelVisible(VerbosityLevel level) const;
    void getLogAsString(std::string& log_contents) const;
    std::string getLogAsString() const;
    void writeLogToFile(const std::optional<std::string>& fname_in = std::nullopt) const;
    void dumpLogToConsole() const;
    std::string getLoggerLastMsg() const;
    void getLoggerLastMsg(std::string& msg_str) const;
    void loggerReset();
    void logRegisterCallback(output_logger_callback_t userFunc);
    bool logDeregisterCallback(output_logger_callback_t userFunc);
    COutputLogger& operator = (const COutputLogger&);
    COutputLogger& operator = (COutputLogger&&);
    static std::array<mrpt::system::ConsoleForegroundColor, NUMBER_OF_VERBOSITY_LEVELS>& logging_levels_to_colors();
    static const std::array<const char*, NUMBER_OF_VERBOSITY_LEVELS>& logging_levels_to_names();
    virtual void loadConfigFile(const mrpt::config::CConfigFileBase& c);
    virtual void saveConfigFile(mrpt::config::CConfigFileBase& c) const;
    virtual void initialize() = 0;
    virtual void navigationStep();
    virtual void navigate(const TNavigationParams* params);
    virtual void cancel();
    virtual void resume();
    virtual void suspend();
    virtual void resetNavError();
    TState getCurrentState() const;
    const TErrorReason& getErrorReason() const;
    void setFrameTF(const std::weak_ptr<mrpt::poses::FrameTransformer<2>>& frame_tf);
    std::weak_ptr<mrpt::poses::FrameTransformer<2>> getFrameTF() const;
    void enableRethrowNavExceptions(const bool enable);
    bool isRethrowNavExceptionsEnabled() const;
    const mrpt::system::CTimeLogger& getDelaysTimeLogger() const;

Fields

std::map<double, TVelCmd> programmed_orders

map [time_in_secs_since_beginning] -> orders.

Methods

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

Loads all navigator parameters from a config file.

Must be called before initialize(). Derived classes must call the parent implementation after loading their own parameters.

Parameters:

c	The configuration source to read from.

virtual void saveConfigFile(mrpt::config::CConfigFileBase& c) const

Saves all current navigator parameters to a config file.

Derived classes must call the parent implementation after saving their own parameters.

Parameters:

c	The configuration file to write to.

virtual void initialize()

Must be called for loading collision grids, etc.

before invoking any navigation command

virtual void navigationStep()

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

commands