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mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams Struct Reference

Detailed Description

Definition at line 136 of file CAbstractPTGBasedReactive.h.

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

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

Public Member Functions

virtual void loadFromConfigFile (const mrpt::utils::CConfigFileBase &c, const std::string &s) MRPT_OVERRIDE
 This method load the options from a ".ini"-like file or memory-stored string list. More...
 
virtual void saveToConfigFile (mrpt::utils::CConfigFileBase &c, const std::string &s) const MRPT_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 (mrpt::utils::CStream &out) const
 This method should clearly display all the contents of the structure in textual form, sending it to a CStream. 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
 Maximum distance up to obstacles will be considered (D_{max} in papers). More...
 
double speedfilter_tau
 Time constant (in seconds) for the low-pass filter applied to kinematic velocity commands (default=0: no filtering) More...
 
double secure_distance_start
 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
 
bool use_delays_model
 
double max_distance_predicted_actual_path
 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
 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
 
bool evaluate_clearance
 Default: false. More...
 
double max_dist_for_timebased_path_prediction
 Max dist [meters] to use time-based path prediction for NOP evaluation. More...
 

Static Protected Member Functions

static void dumpVar_int (CStream &out, const char *varName, int v)
 Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. More...
 
static void dumpVar_float (CStream &out, const char *varName, float v)
 
static void dumpVar_double (CStream &out, const char *varName, double v)
 
static void dumpVar_bool (CStream &out, const char *varName, bool v)
 
static void dumpVar_string (CStream &out, const char *varName, const std::string &v)
 

Constructor & Destructor Documentation

CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::TAbstractPTGNavigatorParams ( )

Definition at line 1544 of file CAbstractPTGBasedReactive.cpp.

Member Function Documentation

void CLoadableOptions::dumpToConsole ( ) const
inherited
void CLoadableOptions::dumpToTextStream ( mrpt::utils::CStream out) const
virtualinherited

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

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

Reimplemented in mrpt::vision::TMultiResDescOptions, mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams, mrpt::vision::TMultiResDescMatchOptions, mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams, mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions, mrpt::hmtslam::CHMTSLAM::TOptions, mrpt::maps::COccupancyGridMap2D::TInsertionOptions, mrpt::vision::TMatchingOptions, mrpt::maps::TSetOfMetricMapInitializers, mrpt::maps::CLandmarksMap::TLikelihoodOptions, mrpt::maps::CColouredPointsMap::TColourOptions, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::GraphVisualizationParams, mrpt::maps::CPointsMap::TLikelihoodOptions, mrpt::maps::CLandmarksMap::TInsertionOptions, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::TParams, mrpt::vision::TStereoSystemParams, mrpt::maps::CPointsMap::TInsertionOptions, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams, mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::TParams, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TLikelihoodOptions, mrpt::slam::CRangeBearingKFSLAM::TOptions, mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams, mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::TParams, mrpt::maps::CBeaconMap::TInsertionOptions, mrpt::maps::CRandomFieldGridMap3D::TInsertionOptions, mrpt::maps::CMultiMetricMapPDF::TPredictionParams, mrpt::maps::CBeaconMap::TLikelihoodOptions, mrpt::slam::CRangeBearingKFSLAM2D::TOptions, mrpt::maps::CHeightGridMap2D::TInsertionOptions, mrpt::graphslam::TSlidingWindow, mrpt::slam::CGridMapAligner::TConfigParams, mrpt::bayes::CParticleFilter::TParticleFilterOptions, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions, mrpt::bayes::TKF_options, mrpt::maps::CReflectivityGridMap2D::TInsertionOptions, mrpt::vision::CFeatureExtraction::TOptions, mrpt::graphslam::TUncertaintyPath< GRAPH_T >, mrpt::maps::TMapGenericParams, mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions, mrpt::hmtslam::CTopLCDetector_GridMatching::TOptions, mrpt::hmtslam::CTopLCDetector_FabMap::TOptions, mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions, mrpt::slam::CICP::TConfigParams, mrpt::slam::CIncrementalMapPartitioner::TOptions, mrpt::maps::CHeightGridMap2D_MRF::TInsertionOptions, mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions, mrpt::slam::CMetricMapBuilderICP::TConfigParams, mrpt::maps::TMetricMapInitializer, mrpt::vision::CCamModel, and mrpt::slam::TKLDParams.

Definition at line 80 of file CLoadableOptions.cpp.

References mrpt::utils::CConfigFileMemory::getContent(), mrpt::utils::CStream::printf(), and mrpt::utils::CLoadableOptions::saveToConfigFile().

Referenced by mrpt::utils::CLoadableOptions::dumpToConsole().

void CLoadableOptions::dumpVar_bool ( CStream out,
const char *  varName,
bool  v 
)
staticprotectedinherited
void CLoadableOptions::dumpVar_double ( CStream out,
const char *  varName,
double  v 
)
staticprotectedinherited
void CLoadableOptions::dumpVar_float ( CStream out,
const char *  varName,
float  v 
)
staticprotectedinherited
void CLoadableOptions::dumpVar_int ( CStream out,
const char *  varName,
int  v 
)
staticprotectedinherited

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

Definition at line 52 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

void CLoadableOptions::dumpVar_string ( CStream out,
const char *  varName,
const std::string v 
)
staticprotectedinherited
void CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::loadFromConfigFile ( const mrpt::utils::CConfigFileBase source,
const std::string section 
)
virtual

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::utils::CLoadableOptions.

Definition at line 1488 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().

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 23 of file CLoadableOptions.cpp.

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

Referenced by mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< GRAPH_T >::loadParams(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::loadParams(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::loadParams().

void CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::saveToConfigFile ( mrpt::utils::CConfigFileBase target,
const std::string section 
) const
virtual

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

See also
loadFromConfigFile, saveToConfigFileName

Reimplemented from mrpt::utils::CLoadableOptions.

Definition at line 1510 of file CAbstractPTGBasedReactive.cpp.

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

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

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 39 of file CLoadableOptions.cpp.

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

Member Data Documentation

bool mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::enable_obstacle_filtering
bool mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::evaluate_clearance

Default: false.

Definition at line 168 of file CAbstractPTGBasedReactive.h.

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

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 138 of file CAbstractPTGBasedReactive.h.

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

double mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::max_dist_for_timebased_path_prediction

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

Definition at line 169 of file CAbstractPTGBasedReactive.h.

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

double mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::max_distance_predicted_actual_path

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

Definition at line 163 of file CAbstractPTGBasedReactive.h.

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

double mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::min_normalized_free_space_for_ptg_continuation

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

Definition at line 164 of file CAbstractPTGBasedReactive.h.

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

C++ class name of the motion chooser.

Definition at line 139 of file CAbstractPTGBasedReactive.h.

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

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

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

Definition at line 142 of file CAbstractPTGBasedReactive.h.

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

mrpt::kinematics::CVehicleVelCmd::TVelCmdParams mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::robot_absolute_speed_limits
double mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::secure_distance_end
double mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::secure_distance_start

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 161 of file CAbstractPTGBasedReactive.h.

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

double mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::speedfilter_tau

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

Definition at line 143 of file CAbstractPTGBasedReactive.h.

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

bool mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::use_delays_model



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