CRobot2NavInterface.cpp

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */

#include "nav-precomp.h" // Precomp header
#include <mrpt/utils/COutputLogger.h>
#include <mrpt/nav/reactive/CRobot2NavInterface.h>

using namespace mrpt::nav;

CRobot2NavInterface::CRobot2NavInterface() :
        mrpt::utils::COutputLogger("CRobot2NavInterface")
{
}
CRobot2NavInterface::~CRobot2NavInterface()
{
}
bool CRobot2NavInterface::changeSpeedsNOP()
{
        MRPT_LOG_THROTTLE_INFO(10.0, "[changeSpeedsNOP] Doing nothing : not implemented in user's derived class.");
        return true;
}

mrpt::kinematics::CVehicleVelCmdPtr CRobot2NavInterface::getAlignCmd(const double relative_heading_radians)
{
        return mrpt::kinematics::CVehicleVelCmdPtr();
}

bool CRobot2NavInterface::startWatchdog(float T_ms)
{
        MRPT_LOG_INFO_FMT("[startWatchdog] Period=%.03f ms. Doing nothing: not implemented in user's derived class.", T_ms);
        return true;
}

bool CRobot2NavInterface::stopWatchdog() 
{
        MRPT_LOG_INFO("[stopWatchdog] Doing nothing: not implemented in user's derived class.");
        return true;
}

void CRobot2NavInterface::sendNavigationStartEvent() 
{
        MRPT_LOG_INFO("[sendNavigationStartEvent] Doing nothing: not implemented in user's derived class.");
}
void CRobot2NavInterface::sendNavigationEndEvent() 
{
        MRPT_LOG_INFO("[sendNavigationEndEvent] Doing nothing: not implemented in user's derived class.");
}
void CRobot2NavInterface::sendWaypointReachedEvent(int waypoint_index, bool reached_nSkipped) 
{
        MRPT_LOG_INFO_STREAM("[sendWaypointReachedEvent] Marking waypoint #" << waypoint_index << " as done. Reason: " << (reached_nSkipped ? "Physically reached" : "Skipped") );
}
void CRobot2NavInterface::sendNewWaypointTargetEvent(int waypoint_index) 
{
        MRPT_LOG_INFO_STREAM("[sendNewWaypointTargetEvent] Navigating towards waypoint #" << waypoint_index);
}
void CRobot2NavInterface::sendNavigationEndDueToErrorEvent()
{
        MRPT_LOG_THROTTLE_INFO(1.0,"[sendNavigationEndDueToErrorEvent] Doing nothing: not implemented in user's derived class.");
}
void CRobot2NavInterface::sendWaySeemsBlockedEvent() 
{
        MRPT_LOG_THROTTLE_INFO(1.0, "[sendWaySeemsBlockedEvent] Doing nothing: not implemented in user's derived class.");
}
void CRobot2NavInterface::sendApparentCollisionEvent()
{
        MRPT_LOG_THROTTLE_INFO(1.0,"[sendApparentCollisionEvent] Doing nothing: not implemented in user's derived class.");
}
void CRobot2NavInterface::sendCannotGetCloserToBlockedTargetEvent(bool &do_abort_nav)
{
        MRPT_LOG_THROTTLE_INFO(1.0, "[sendCannotGetCloserToBlockedTargetEvent] Doing nothing: not implemented in user's derived class.");
}

double CRobot2NavInterface::getNavigationTime() {
        return m_navtime.Tac();
}
void CRobot2NavInterface::resetNavigationTimer() {
        m_navtime.Tic();
}