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<div class="navpath"><a class="el" href="namespacemrpt.html">mrpt</a>::<a class="el" href="namespacemrpt_1_1reactivenav.html">reactivenav</a>::<a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html">CHolonomicND</a>
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<h1>mrpt::reactivenav::CHolonomicND Class Reference</h1><!-- doxytag: class="mrpt::reactivenav::CHolonomicND" --><!-- doxytag: inherits="mrpt::reactivenav::CAbstractHolonomicReactiveMethod" -->
<p>An implementation of the holonomic reactive navigation method "Nearness-Diagram".
<a href="#_details">More...</a></p>
<p><code>#include <<a class="el" href="_c_holonomic_n_d_8h_source.html">mrpt/reactivenav/CHolonomicND.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::reactivenav::CHolonomicND:</div>
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<div class="center"><img src="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d__inherit__graph.png" border="0" usemap="#mrpt_1_1reactivenav_1_1_c_holonomic_n_d_inherit__map" alt="Inheritance graph"/></div>
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<area shape="rect" id="node2" href="classmrpt_1_1reactivenav_1_1_c_abstract_holonomic_reactive_method.html" title="A base class for holonomic reactive navigation methods." alt="" coords="5,5,352,35"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
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Collaboration diagram for mrpt::reactivenav::CHolonomicND:</div>
<div class="dynsection">
<div class="center"><img src="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d__coll__graph.png" border="0" usemap="#mrpt_1_1reactivenav_1_1_c_holonomic_n_d_coll__map" alt="Collaboration graph"/></div>
<map name="mrpt_1_1reactivenav_1_1_c_holonomic_n_d_coll__map" id="mrpt_1_1reactivenav_1_1_c_holonomic_n_d_coll__map">
<area shape="rect" id="node2" href="classmrpt_1_1reactivenav_1_1_c_abstract_holonomic_reactive_method.html" title="A base class for holonomic reactive navigation methods." alt="" coords="344,5,691,35"/><area shape="rect" id="node4" href="structmrpt_1_1mrpt__base__vector.html" title="mrpt::mrpt_base_vector\< double \>" alt="" coords="407,59,628,88"/><area shape="rect" id="node6" title="STL class." alt="" coords="147,59,293,88"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d-members.html">List of all members.</a></p>
<table border="0" cellpadding="0" cellspacing="0">
<tr><td colspan="2"><h2>Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1reactivenav_1_1_c_holonomic_n_d_1_1_t_gap.html">TGap</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The structure used to store a detected gap in obstacles. <a href="structmrpt_1_1reactivenav_1_1_c_holonomic_n_d_1_1_t_gap.html#_details">More...</a><br/></td></tr>
<tr><td colspan="2"><h2>Public Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#a623932ad154799d0e362719e3ecd9666">TSituations</a> { <a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#a623932ad154799d0e362719e3ecd9666a21c6a294cf53f4feb4d35fa5dcb80b29">SITUATION_TARGET_DIRECTLY</a> = 1,
<a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#a623932ad154799d0e362719e3ecd9666a5d3c7288d0da120f13825f5a93211d79">SITUATION_SMALL_GAP</a>,
<a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#a623932ad154799d0e362719e3ecd9666a0a3f1464ca263c2d4ea375d043e29feb">SITUATION_WIDE_GAP</a>,
<a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#a623932ad154799d0e362719e3ecd9666a77c5b71d544dcfffe585f4896c9b92c3">SITUATION_NO_WAY_FOUND</a>
}</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><p>The set of posible situations for each trajectory. </p>
<a href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#a623932ad154799d0e362719e3ecd9666">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef std::vector< <a class="el" href="structmrpt_1_1reactivenav_1_1_c_holonomic_n_d_1_1_t_gap.html">TGap</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#a5214ffcb53da7f74a3766fc8827bec79">TGapArray</a></td></tr>
<tr><td colspan="2"><h2>Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#aaefb53b21f4328dded194a5c3bda149c">CHolonomicND</a> (const <a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> *INI_FILE=NULL)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Initialize the parameters of the navigator, from some configuration file, or default values if set to NULL. <a href="#aaefb53b21f4328dded194a5c3bda149c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#af33a4f1dc7f174695691acf54b53874e">navigate</a> (<a class="el" href="classmrpt_1_1poses_1_1_c_point2_d.html">poses::CPoint2D</a> &target, <a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_double</a> &obstacles, double maxRobotSpeed, double &desiredDirection, double &desiredSpeed, CHolonomicLogFileRecordPtr &logRecord)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This method performs the holonomic navigation itself. <a href="#af33a4f1dc7f174695691acf54b53874e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#af733219dff81a237a01aba17aa21a387">initialize</a> (const <a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> &INI_FILE)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Initialize the parameters of the navigator. <a href="#af733219dff81a237a01aba17aa21a387"></a><br/></td></tr>
<tr><td colspan="2"><h2>Private Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#afe8baea1353c8eda097d88ee403bdbe8">direction2sector</a> (double a, int N)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#aba4badb30668dc3c08219518985a5579">gapsEstimator</a> (<a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_double</a> &obstacles, <a class="el" href="classmrpt_1_1poses_1_1_c_point2_d.html">poses::CPoint2D</a> &in_target, <a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#a5214ffcb53da7f74a3766fc8827bec79">TGapArray</a> &gaps)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Find gaps in the obtacles. <a href="#aba4badb30668dc3c08219518985a5579"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#a37818e6dbc2dc2c28d76230db4554959">searchBestGap</a> (<a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_double</a> &in_obstacles, double in_maxObsRange, <a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#a5214ffcb53da7f74a3766fc8827bec79">TGapArray</a> &in_gaps, <a class="el" href="classmrpt_1_1poses_1_1_c_point2_d.html">poses::CPoint2D</a> &in_target, int &out_selDirection, double &out_selEvaluation, <a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#a623932ad154799d0e362719e3ecd9666">TSituations</a> &out_situation, double &out_riskEvaluation, CLogFileRecord_NDPtr log)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Search the best gap. <a href="#a37818e6dbc2dc2c28d76230db4554959"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#af9606e05ba4f095d56205544117f781a">calcRepresentativeSectorForGap</a> (<a class="el" href="structmrpt_1_1reactivenav_1_1_c_holonomic_n_d_1_1_t_gap.html">TGap</a> &gap, const <a class="el" href="classmrpt_1_1poses_1_1_c_point2_d.html">poses::CPoint2D</a> &target, const <a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_double</a> &obstacles)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Fills in the representative sector field in the gap structure:. <a href="#af9606e05ba4f095d56205544117f781a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#af7fb7a0c070074615170f0374d09834b">evaluateGaps</a> (const <a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_double</a> &in_obstacles, const double in_maxObsRange, const <a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#a5214ffcb53da7f74a3766fc8827bec79">TGapArray</a> &in_gaps, const int TargetSector, const double TargetDist, <a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_double</a> &out_gaps_evaluation)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Evaluate each gap:. <a href="#af7fb7a0c070074615170f0374d09834b"></a><br/></td></tr>
<tr><td colspan="2"><h2>Private Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#a4871b0b13d3c452ed92622840f134008">last_selected_sector</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#a01867671545ea870822666018adde53b">TOO_CLOSE_OBSTACLE</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Configuration:. <a href="#a01867671545ea870822666018adde53b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#ab1afeb56faed8cfd87fbf7db80f7cd1f">WIDE_GAP_SIZE_PERCENT</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#aefffc1c62b43d69aa7c340e0a0d734e1">RISK_EVALUATION_SECTORS_PERCENT</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#a63914f0e97705f312f73167a2cbdff8e">RISK_EVALUATION_DISTANCE</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#a797e78cbabcbcec7ac70053b6cda8dc1">MAX_SECTOR_DIST_FOR_D2_PERCENT</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#a2fa4b5e57224b874e147b980dfc3ec02">TARGET_SLOW_APPROACHING_DISTANCE</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_double</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#a852a7b303158c8754bd5d1d9e8a130a3">factorWeights</a></td></tr>
</table>
<hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>An implementation of the holonomic reactive navigation method "Nearness-Diagram". </p>
<p>The algorithm "Nearness-Diagram" was proposed in:</p>
<p>Nearness diagram (ND) navigation: collision avoidance in troublesome scenarios, IEEE Transactions on Robotics and Automation, Minguez, J. and Montano, L., vol. 20, no. 1, pp. 45-59, 2004.</p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1reactivenav_1_1_c_abstract_holonomic_reactive_method.html" title="A base class for holonomic reactive navigation methods.">CAbstractHolonomicReactiveMethod</a>,<a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html" title="Implements a reactive navigation system based on TP-Space, with an arbitrary holonomic...">CReactiveNavigationSystem</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_holonomic_n_d_8h_source.html#l00043">43</a> of file <a class="el" href="_c_holonomic_n_d_8h_source.html">CHolonomicND.h</a>.</p>
<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="a5214ffcb53da7f74a3766fc8827bec79"></a><!-- doxytag: member="mrpt::reactivenav::CHolonomicND::TGapArray" ref="a5214ffcb53da7f74a3766fc8827bec79" args="" -->
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<td class="memname">typedef std::vector<<a class="el" href="structmrpt_1_1reactivenav_1_1_c_holonomic_n_d_1_1_t_gap.html">TGap</a>> <a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#a5214ffcb53da7f74a3766fc8827bec79">mrpt::reactivenav::CHolonomicND::TGapArray</a></td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="_c_holonomic_n_d_8h_source.html#l00067">67</a> of file <a class="el" href="_c_holonomic_n_d_8h_source.html">CHolonomicND.h</a>.</p>
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<hr/><h2>Member Enumeration Documentation</h2>
<a class="anchor" id="a623932ad154799d0e362719e3ecd9666"></a><!-- doxytag: member="mrpt::reactivenav::CHolonomicND::TSituations" ref="a623932ad154799d0e362719e3ecd9666" args="" -->
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<td class="memname">enum <a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#a623932ad154799d0e362719e3ecd9666">mrpt::reactivenav::CHolonomicND::TSituations</a></td>
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<p>The set of posible situations for each trajectory. </p>
<dl><dt><b>Enumerator: </b></dt><dd><table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><em><a class="anchor" id="a623932ad154799d0e362719e3ecd9666a21c6a294cf53f4feb4d35fa5dcb80b29"></a><!-- doxytag: member="SITUATION_TARGET_DIRECTLY" ref="a623932ad154799d0e362719e3ecd9666a21c6a294cf53f4feb4d35fa5dcb80b29" args="" -->SITUATION_TARGET_DIRECTLY</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a623932ad154799d0e362719e3ecd9666a5d3c7288d0da120f13825f5a93211d79"></a><!-- doxytag: member="SITUATION_SMALL_GAP" ref="a623932ad154799d0e362719e3ecd9666a5d3c7288d0da120f13825f5a93211d79" args="" -->SITUATION_SMALL_GAP</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a623932ad154799d0e362719e3ecd9666a0a3f1464ca263c2d4ea375d043e29feb"></a><!-- doxytag: member="SITUATION_WIDE_GAP" ref="a623932ad154799d0e362719e3ecd9666a0a3f1464ca263c2d4ea375d043e29feb" args="" -->SITUATION_WIDE_GAP</em> </td><td>
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<tr><td valign="top"><em><a class="anchor" id="a623932ad154799d0e362719e3ecd9666a77c5b71d544dcfffe585f4896c9b92c3"></a><!-- doxytag: member="SITUATION_NO_WAY_FOUND" ref="a623932ad154799d0e362719e3ecd9666a77c5b71d544dcfffe585f4896c9b92c3" args="" -->SITUATION_NO_WAY_FOUND</em> </td><td>
</td></tr>
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</dd>
</dl>
<p>Definition at line <a class="el" href="_c_holonomic_n_d_8h_source.html#l00071">71</a> of file <a class="el" href="_c_holonomic_n_d_8h_source.html">CHolonomicND.h</a>.</p>
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<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="aaefb53b21f4328dded194a5c3bda149c"></a><!-- doxytag: member="mrpt::reactivenav::CHolonomicND::CHolonomicND" ref="aaefb53b21f4328dded194a5c3bda149c" args="(const mrpt::utils::CConfigFileBase *INI_FILE=NULL)" -->
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<td class="memname">mrpt::reactivenav::CHolonomicND::CHolonomicND </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> * </td>
<td class="paramname"> <em>INI_FILE</em> = <code>NULL</code></td>
<td> ) </td>
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<div class="memdoc">
<p>Initialize the parameters of the navigator, from some configuration file, or default values if set to NULL. </p>
</div>
</div>
<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="af9606e05ba4f095d56205544117f781a"></a><!-- doxytag: member="mrpt::reactivenav::CHolonomicND::calcRepresentativeSectorForGap" ref="af9606e05ba4f095d56205544117f781a" args="(TGap &gap, const poses::CPoint2D &target, const vector_double &obstacles)" -->
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<td class="memname">void mrpt::reactivenav::CHolonomicND::calcRepresentativeSectorForGap </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structmrpt_1_1reactivenav_1_1_c_holonomic_n_d_1_1_t_gap.html">TGap</a> & </td>
<td class="paramname"> <em>gap</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_point2_d.html">poses::CPoint2D</a> & </td>
<td class="paramname"> <em>target</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_double</a> & </td>
<td class="paramname"> <em>obstacles</em></td><td> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td><code> [private]</code></td>
</tr>
</table>
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<div class="memdoc">
<p>Fills in the representative sector field in the gap structure:. </p>
</div>
</div>
<a class="anchor" id="afe8baea1353c8eda097d88ee403bdbe8"></a><!-- doxytag: member="mrpt::reactivenav::CHolonomicND::direction2sector" ref="afe8baea1353c8eda097d88ee403bdbe8" args="(double a, int N)" -->
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<td class="memname">int mrpt::reactivenav::CHolonomicND::direction2sector </td>
<td>(</td>
<td class="paramtype">double </td>
<td class="paramname"> <em>a</em>, </td>
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<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"> <em>N</em></td><td> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td><code> [private]</code></td>
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<div class="memdoc">
</div>
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<a class="anchor" id="af7fb7a0c070074615170f0374d09834b"></a><!-- doxytag: member="mrpt::reactivenav::CHolonomicND::evaluateGaps" ref="af7fb7a0c070074615170f0374d09834b" args="(const vector_double &in_obstacles, const double in_maxObsRange, const TGapArray &in_gaps, const int TargetSector, const double TargetDist, vector_double &out_gaps_evaluation)" -->
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<td class="memname">void mrpt::reactivenav::CHolonomicND::evaluateGaps </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_double</a> & </td>
<td class="paramname"> <em>in_obstacles</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const double </td>
<td class="paramname"> <em>in_maxObsRange</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#a5214ffcb53da7f74a3766fc8827bec79">TGapArray</a> & </td>
<td class="paramname"> <em>in_gaps</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const int </td>
<td class="paramname"> <em>TargetSector</em>, </td>
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<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const double </td>
<td class="paramname"> <em>TargetDist</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_double</a> & </td>
<td class="paramname"> <em>out_gaps_evaluation</em></td><td> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td><code> [private]</code></td>
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<p>Evaluate each gap:. </p>
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<a class="anchor" id="aba4badb30668dc3c08219518985a5579"></a><!-- doxytag: member="mrpt::reactivenav::CHolonomicND::gapsEstimator" ref="aba4badb30668dc3c08219518985a5579" args="(vector_double &obstacles, poses::CPoint2D &in_target, TGapArray &gaps)" -->
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<td class="memname">void mrpt::reactivenav::CHolonomicND::gapsEstimator </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_double</a> & </td>
<td class="paramname"> <em>obstacles</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_point2_d.html">poses::CPoint2D</a> & </td>
<td class="paramname"> <em>in_target</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#a5214ffcb53da7f74a3766fc8827bec79">TGapArray</a> & </td>
<td class="paramname"> <em>gaps</em></td><td> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td><code> [private]</code></td>
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<p>Find gaps in the obtacles. </p>
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<a class="anchor" id="af733219dff81a237a01aba17aa21a387"></a><!-- doxytag: member="mrpt::reactivenav::CHolonomicND::initialize" ref="af733219dff81a237a01aba17aa21a387" args="(const mrpt::utils::CConfigFileBase &INI_FILE)" -->
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<td class="memname">void mrpt::reactivenav::CHolonomicND::initialize </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> & </td>
<td class="paramname"> <em>INI_FILE</em></td>
<td> ) </td>
<td><code> [virtual]</code></td>
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<p>Initialize the parameters of the navigator. </p>
<p>Implements <a class="el" href="classmrpt_1_1reactivenav_1_1_c_abstract_holonomic_reactive_method.html#aae7a969c8bdf9473684ca05957d0e59a">mrpt::reactivenav::CAbstractHolonomicReactiveMethod</a>.</p>
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<a class="anchor" id="af33a4f1dc7f174695691acf54b53874e"></a><!-- doxytag: member="mrpt::reactivenav::CHolonomicND::navigate" ref="af33a4f1dc7f174695691acf54b53874e" args="(poses::CPoint2D &target, vector_double &obstacles, double maxRobotSpeed, double &desiredDirection, double &desiredSpeed, CHolonomicLogFileRecordPtr &logRecord)" -->
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<td class="memname">void mrpt::reactivenav::CHolonomicND::navigate </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_point2_d.html">poses::CPoint2D</a> & </td>
<td class="paramname"> <em>target</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_double</a> & </td>
<td class="paramname"> <em>obstacles</em>, </td>
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<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"> <em>maxRobotSpeed</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">double & </td>
<td class="paramname"> <em>desiredDirection</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double & </td>
<td class="paramname"> <em>desiredSpeed</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">CHolonomicLogFileRecordPtr & </td>
<td class="paramname"> <em>logRecord</em></td><td> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td><code> [virtual]</code></td>
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<p>This method performs the holonomic navigation itself. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>target</em> </td><td>[IN] The relative location (x,y) of target point. </td></tr>
<tr><td valign="top"></td><td valign="top"><em>obstacles</em> </td><td>[IN] Distance to obstacles from robot location (0,0). First index refers to -PI direction, and last one to +PI direction. Distances can be dealed as "meters", although they are "pseudometers", see note below. </td></tr>
<tr><td valign="top"></td><td valign="top"><em>maxRobotSpeed</em> </td><td>[IN] Maximum robot speed, in "pseudometers/sec". See note below. </td></tr>
<tr><td valign="top"></td><td valign="top"><em>desiredDirection</em> </td><td>[OUT] The desired motion direction, in the range [-PI,PI] </td></tr>
<tr><td valign="top"></td><td valign="top"><em>desiredSpeed</em> </td><td>[OUT] The desired motion speed in that direction, in "pseudometers"/sec. (See note below) </td></tr>
<tr><td valign="top"></td><td valign="top"><em>logRecord</em> </td><td>[IN/OUT] A placeholder for a pointer to a log record with extra info about the execution. Set to NULL if not required. User <b>must free memory</b> using "delete logRecord" after using it.</td></tr>
</table>
</dd>
</dl>
<p>NOTE: With "pseudometers" we refer to the distance unit in TP-Space, thus: <br/>
</p>
<center><code>pseudometer<sup>2</sup>= meter<sup>2</sup> + (rad ยท r)<sup>2</sup></code><br/>
</center>
<p>Implements <a class="el" href="classmrpt_1_1reactivenav_1_1_c_abstract_holonomic_reactive_method.html#ab9f4927e27f5febc673b5af7de5f5aa9">mrpt::reactivenav::CAbstractHolonomicReactiveMethod</a>.</p>
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<a class="anchor" id="a37818e6dbc2dc2c28d76230db4554959"></a><!-- doxytag: member="mrpt::reactivenav::CHolonomicND::searchBestGap" ref="a37818e6dbc2dc2c28d76230db4554959" args="(vector_double &in_obstacles, double in_maxObsRange, TGapArray &in_gaps, poses::CPoint2D &in_target, int &out_selDirection, double &out_selEvaluation, TSituations &out_situation, double &out_riskEvaluation, CLogFileRecord_NDPtr log)" -->
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<td class="memname">void mrpt::reactivenav::CHolonomicND::searchBestGap </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_double</a> & </td>
<td class="paramname"> <em>in_obstacles</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"> <em>in_maxObsRange</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#a5214ffcb53da7f74a3766fc8827bec79">TGapArray</a> & </td>
<td class="paramname"> <em>in_gaps</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_point2_d.html">poses::CPoint2D</a> & </td>
<td class="paramname"> <em>in_target</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int & </td>
<td class="paramname"> <em>out_selDirection</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double & </td>
<td class="paramname"> <em>out_selEvaluation</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#a623932ad154799d0e362719e3ecd9666">TSituations</a> & </td>
<td class="paramname"> <em>out_situation</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double & </td>
<td class="paramname"> <em>out_riskEvaluation</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">CLogFileRecord_NDPtr </td>
<td class="paramname"> <em>log</em></td><td> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td><code> [private]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Search the best gap. </p>
</div>
</div>
<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a852a7b303158c8754bd5d1d9e8a130a3"></a><!-- doxytag: member="mrpt::reactivenav::CHolonomicND::factorWeights" ref="a852a7b303158c8754bd5d1d9e8a130a3" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_double</a> <a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#a852a7b303158c8754bd5d1d9e8a130a3">mrpt::reactivenav::CHolonomicND::factorWeights</a><code> [private]</code></td>
</tr>
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<div class="memdoc">
<p>Definition at line <a class="el" href="_c_holonomic_n_d_8h_source.html#l00096">96</a> of file <a class="el" href="_c_holonomic_n_d_8h_source.html">CHolonomicND.h</a>.</p>
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<a class="anchor" id="a4871b0b13d3c452ed92622840f134008"></a><!-- doxytag: member="mrpt::reactivenav::CHolonomicND::last_selected_sector" ref="a4871b0b13d3c452ed92622840f134008" args="" -->
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<td class="memname">int <a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#a4871b0b13d3c452ed92622840f134008">mrpt::reactivenav::CHolonomicND::last_selected_sector</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_holonomic_n_d_8h_source.html#l00086">86</a> of file <a class="el" href="_c_holonomic_n_d_8h_source.html">CHolonomicND.h</a>.</p>
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<a class="anchor" id="a797e78cbabcbcec7ac70053b6cda8dc1"></a><!-- doxytag: member="mrpt::reactivenav::CHolonomicND::MAX_SECTOR_DIST_FOR_D2_PERCENT" ref="a797e78cbabcbcec7ac70053b6cda8dc1" args="" -->
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<td class="memname">double <a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#a797e78cbabcbcec7ac70053b6cda8dc1">mrpt::reactivenav::CHolonomicND::MAX_SECTOR_DIST_FOR_D2_PERCENT</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_holonomic_n_d_8h_source.html#l00093">93</a> of file <a class="el" href="_c_holonomic_n_d_8h_source.html">CHolonomicND.h</a>.</p>
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<a class="anchor" id="a63914f0e97705f312f73167a2cbdff8e"></a><!-- doxytag: member="mrpt::reactivenav::CHolonomicND::RISK_EVALUATION_DISTANCE" ref="a63914f0e97705f312f73167a2cbdff8e" args="" -->
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<td class="memname">double <a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#a63914f0e97705f312f73167a2cbdff8e">mrpt::reactivenav::CHolonomicND::RISK_EVALUATION_DISTANCE</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_holonomic_n_d_8h_source.html#l00093">93</a> of file <a class="el" href="_c_holonomic_n_d_8h_source.html">CHolonomicND.h</a>.</p>
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<a class="anchor" id="aefffc1c62b43d69aa7c340e0a0d734e1"></a><!-- doxytag: member="mrpt::reactivenav::CHolonomicND::RISK_EVALUATION_SECTORS_PERCENT" ref="aefffc1c62b43d69aa7c340e0a0d734e1" args="" -->
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<td class="memname">double <a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#aefffc1c62b43d69aa7c340e0a0d734e1">mrpt::reactivenav::CHolonomicND::RISK_EVALUATION_SECTORS_PERCENT</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_holonomic_n_d_8h_source.html#l00092">92</a> of file <a class="el" href="_c_holonomic_n_d_8h_source.html">CHolonomicND.h</a>.</p>
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<a class="anchor" id="a2fa4b5e57224b874e147b980dfc3ec02"></a><!-- doxytag: member="mrpt::reactivenav::CHolonomicND::TARGET_SLOW_APPROACHING_DISTANCE" ref="a2fa4b5e57224b874e147b980dfc3ec02" args="" -->
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<td class="memname">double <a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#a2fa4b5e57224b874e147b980dfc3ec02">mrpt::reactivenav::CHolonomicND::TARGET_SLOW_APPROACHING_DISTANCE</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_holonomic_n_d_8h_source.html#l00094">94</a> of file <a class="el" href="_c_holonomic_n_d_8h_source.html">CHolonomicND.h</a>.</p>
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<a class="anchor" id="a01867671545ea870822666018adde53b"></a><!-- doxytag: member="mrpt::reactivenav::CHolonomicND::TOO_CLOSE_OBSTACLE" ref="a01867671545ea870822666018adde53b" args="" -->
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<td class="memname">double <a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#a01867671545ea870822666018adde53b">mrpt::reactivenav::CHolonomicND::TOO_CLOSE_OBSTACLE</a><code> [private]</code></td>
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<p>Configuration:. </p>
<p>Definition at line <a class="el" href="_c_holonomic_n_d_8h_source.html#l00092">92</a> of file <a class="el" href="_c_holonomic_n_d_8h_source.html">CHolonomicND.h</a>.</p>
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<a class="anchor" id="ab1afeb56faed8cfd87fbf7db80f7cd1f"></a><!-- doxytag: member="mrpt::reactivenav::CHolonomicND::WIDE_GAP_SIZE_PERCENT" ref="ab1afeb56faed8cfd87fbf7db80f7cd1f" args="" -->
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<td class="memname">double <a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#ab1afeb56faed8cfd87fbf7db80f7cd1f">mrpt::reactivenav::CHolonomicND::WIDE_GAP_SIZE_PERCENT</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_holonomic_n_d_8h_source.html#l00092">92</a> of file <a class="el" href="_c_holonomic_n_d_8h_source.html">CHolonomicND.h</a>.</p>
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