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CHolonomicVFF.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 #ifndef CHolonomicVFF_H
10 #define CHolonomicVFF_H
11 
15 
16 namespace mrpt
17 {
18 namespace nav
19 {
20 /** \addtogroup nav_holo Holonomic navigation methods
21  * \ingroup mrpt_nav_grp
22  * @{ */
23 
24 /** A class for storing extra information about the execution of
25  * CHolonomicVFF navigation.
26  * \sa CHolonomicVFF, CHolonomicLogFileRecord
27  */
29 {
31  public:
32 };
33 
34 /** A holonomic reactive navigation method, based on Virtual Force Fields (VFF).
35  *
36  * These are the optional parameters of the method which can be set by means of
37  * a configuration file passed to the constructor or to CHolonomicND::initialize
38  * (see also the field CHolonomicVFF::options).
39  *
40  * \code
41  * # Section name can be changed via setConfigFileSectionName()
42  * [VFF_CONFIG]
43  * TARGET_SLOW_APPROACHING_DISTANCE = 0.10 // For stopping gradually
44  * TARGET_ATTRACTIVE_FORCE = 20 // Dimension-less (may have to be
45  * tuned depending on the density of obstacle sampling)
46  * \endcode
47  *
48  * \sa CAbstractHolonomicReactiveMethod,CReactiveNavigationSystem
49  */
51 {
53  public:
54  /** Initialize the parameters of the navigator, from some configuration
55  * file, or default values if set to NULL. */
56  CHolonomicVFF(const mrpt::config::CConfigFileBase* INI_FILE = nullptr);
57 
58  // See base class docs
59  void navigate(const NavInput& ni, NavOutput& no) override;
60 
61  void initialize(const mrpt::config::CConfigFileBase& INI_FILE)
62  override; // See base class docs
64  const override; // See base class docs
65 
66  /** Algorithm options */
68  {
69  /** For stopping gradually (Default: 0.10) */
71  /** Dimension-less (may have to be tuned depending on the density of
72  * obstacle sampling) (Default: 20) */
74 
75  TOptions();
76  void loadFromConfigFile(
78  const std::string& section) override; // See base docs
79  void saveToConfigFile(
81  const std::string& section) const override; // See base docs
82  };
83 
84  /** Parameters of the algorithm (can be set manually or loaded from
85  * CHolonomicVFF::initialize or options.loadFromConfigFile(), etc.) */
87 
88  double getTargetApproachSlowDownDistance() const override
89  {
91  }
92  void setTargetApproachSlowDownDistance(const double dist) override
93  {
95  }
96 };
97 /** @} */
98 }
99 }
100 
101 #endif
void saveToConfigFile(mrpt::config::CConfigFileBase &cfg, const std::string &section) const override
This method saves the options to a ".ini"-like file or memory-stored string list. ...
A holonomic reactive navigation method, based on Virtual Force Fields (VFF).
Definition: CHolonomicVFF.h:50
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
A class for storing extra information about the execution of CHolonomicVFF navigation.
Definition: CHolonomicVFF.h:28
A base class for holonomic reactive navigation methods.
void navigate(const NavInput &ni, NavOutput &no) override
Invokes the holonomic navigation algorithm itself.
double TARGET_ATTRACTIVE_FORCE
Dimension-less (may have to be tuned depending on the density of obstacle sampling) (Default: 20) ...
Definition: CHolonomicVFF.h:73
void loadFromConfigFile(const mrpt::config::CConfigFileBase &source, const std::string &section) override
This method load the options from a ".ini"-like file or memory-stored string list.
TOptions options
Parameters of the algorithm (can be set manually or loaded from CHolonomicVFF::initialize or options...
Definition: CHolonomicVFF.h:86
virtual void saveConfigFile(mrpt::config::CConfigFileBase &c) const override
saves all available parameters, in a forma loadable by initialize()
void setTargetApproachSlowDownDistance(const double dist) override
Sets the actual value of this parameter [m].
Definition: CHolonomicVFF.h:92
This class allows loading and storing values and vectors of different types from a configuration text...
const GLubyte * c
Definition: glext.h:6313
A base class for log records for different holonomic navigation methods.
double getTargetApproachSlowDownDistance() const override
Returns the actual value of this parameter [m], as set via the children class options structure...
Definition: CHolonomicVFF.h:88
GLsizei const GLchar ** string
Definition: glext.h:4101
CHolonomicVFF(const mrpt::config::CConfigFileBase *INI_FILE=nullptr)
Initialize the parameters of the navigator, from some configuration file, or default values if set to...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
GLsizei GLsizei GLchar * source
Definition: glext.h:4082
Input parameters for CAbstractHolonomicReactiveMethod::navigate()
Output for CAbstractHolonomicReactiveMethod::navigate()
double TARGET_SLOW_APPROACHING_DISTANCE
For stopping gradually (Default: 0.10)
Definition: CHolonomicVFF.h:70
void initialize(const mrpt::config::CConfigFileBase &INI_FILE) override
Initialize the parameters of the navigator, reading from the default section name (see derived classe...



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