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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_v_f_f.html">CHolonomicVFF</a>
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<h1>mrpt::reactivenav::CHolonomicVFF Class Reference</h1><!-- doxytag: class="mrpt::reactivenav::CHolonomicVFF" --><!-- doxytag: inherits="mrpt::reactivenav::CAbstractHolonomicReactiveMethod" -->
<p>A holonomic reactive navigation method, based on Virtual Force Fields (VFF).
<a href="#_details">More...</a></p>
<p><code>#include <<a class="el" href="_c_holonomic_v_f_f_8h_source.html">mrpt/reactivenav/CHolonomicVFF.h</a>></code></p>
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Inheritance diagram for mrpt::reactivenav::CHolonomicVFF:</div>
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Collaboration diagram for mrpt::reactivenav::CHolonomicVFF:</div>
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<p><a href="classmrpt_1_1reactivenav_1_1_c_holonomic_v_f_f-members.html">List of all members.</a></p>
<table border="0" cellpadding="0" cellspacing="0">
<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_v_f_f.html#a8060e661be1109e530af36bd86de7733">CHolonomicVFF</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="#a8060e661be1109e530af36bd86de7733"></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_v_f_f.html#ab1dd83a1752323299a60ec3623e4aa57">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="#ab1dd83a1752323299a60ec3623e4aa57"></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_v_f_f.html#a4ae1eeee36acabf29240b9f027c1f6d0">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="#a4ae1eeee36acabf29240b9f027c1f6d0"></a><br/></td></tr>
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<hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>A holonomic reactive navigation method, based on Virtual Force Fields (VFF). </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_v_f_f_8h_source.html#l00059">59</a> of file <a class="el" href="_c_holonomic_v_f_f_8h_source.html">CHolonomicVFF.h</a>.</p>
<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a8060e661be1109e530af36bd86de7733"></a><!-- doxytag: member="mrpt::reactivenav::CHolonomicVFF::CHolonomicVFF" ref="a8060e661be1109e530af36bd86de7733" args="(const mrpt::utils::CConfigFileBase *INI_FILE=NULL)" -->
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<td class="memname">mrpt::reactivenav::CHolonomicVFF::CHolonomicVFF </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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<p>Initialize the parameters of the navigator, from some configuration file, or default values if set to NULL. </p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a4ae1eeee36acabf29240b9f027c1f6d0"></a><!-- doxytag: member="mrpt::reactivenav::CHolonomicVFF::initialize" ref="a4ae1eeee36acabf29240b9f027c1f6d0" args="(const mrpt::utils::CConfigFileBase &INI_FILE)" -->
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<td class="memname">void mrpt::reactivenav::CHolonomicVFF::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="ab1dd83a1752323299a60ec3623e4aa57"></a><!-- doxytag: member="mrpt::reactivenav::CHolonomicVFF::navigate" ref="ab1dd83a1752323299a60ec3623e4aa57" 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::CHolonomicVFF::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>
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<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>
</tr>
<tr>
<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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