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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_reactive_navigation_system.html">CReactiveNavigationSystem</a>
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<h1>mrpt::reactivenav::CReactiveNavigationSystem Class Reference</h1><!-- doxytag: class="mrpt::reactivenav::CReactiveNavigationSystem" --><!-- doxytag: inherits="mrpt::reactivenav::CAbstractReactiveNavigationSystem" -->
<p>Implements a reactive navigation system based on TP-Space, with an arbitrary holonomic reactive method running on it, and any desired number of PTG for transforming the navigation space.
<a href="#_details">More...</a></p>
<p><code>#include <<a class="el" href="_c_reactive_navigation_system_8h_source.html">mrpt/reactivenav/CReactiveNavigationSystem.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::reactivenav::CReactiveNavigationSystem:</div>
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<div class="center"><img src="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system__inherit__graph.png" border="0" usemap="#mrpt_1_1reactivenav_1_1_c_reactive_navigation_system_inherit__map" alt="Inheritance graph"/></div>
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<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
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Collaboration diagram for mrpt::reactivenav::CReactiveNavigationSystem:</div>
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<div class="center"><img src="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system__coll__graph.png" border="0" usemap="#mrpt_1_1reactivenav_1_1_c_reactive_navigation_system_coll__map" alt="Collaboration graph"/></div>
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<p><a href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system-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">class </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system_1_1_c_dynamic_window.html">CDynamicWindow</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">For taken the dynamics of the robot into account. <a href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system_1_1_c_dynamic_window.html#_details">More...</a><br/></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_reactive_navigation_system_1_1_t_holonomic_movement.html">THolonomicMovement</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The structure used for storing a movement generated by a holonomic-method . <a href="structmrpt_1_1reactivenav_1_1_c_reactive_navigation_system_1_1_t_holonomic_movement.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_reactive_navigation_system.html#a503e238f5ead6049396edf555a8109a7">TNavigatorBehavior</a> { <br/>
<a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a503e238f5ead6049396edf555a8109a7acf79abf6029749885f92a7e655e5069a">beNormalNavigation</a> = 0,
<a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a503e238f5ead6049396edf555a8109a7ade50701ae0c9c9e396b7f1ae7e6a0d63">beHeadDirection</a>,
<a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a503e238f5ead6049396edf555a8109a7af35c111be43c732a7bd8188b5b2774e1">beDoorCrosing1</a>,
<a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a503e238f5ead6049396edf555a8109a7aa7f647ce5b43102ae968273799e3115c">beDoorCrosing2</a>,
<br/>
<a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a503e238f5ead6049396edf555a8109a7a990dca058ee62e89859a582a949ae5a6">beDoorCrosing3</a>
<br/>
}</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><p>See 'navigatorBehavior'. </p>
<a href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a503e238f5ead6049396edf555a8109a7">More...</a><br/></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_reactive_navigation_system.html#a66af1ac47f56611a55d342c69b414e30">CReactiveNavigationSystem</a> (<a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_interface_implementation.html">CReactiveInterfaceImplementation</a> &react_iterf_impl, bool <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a80b92fae7d9639dee214e4da18de81ec">enableConsoleOutput</a>=true, bool enableLogFile=false)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <a href="#a66af1ac47f56611a55d342c69b414e30"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#aeeb2c3048c247e788bac949e2d0a4c79">~CReactiveNavigationSystem</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Destructor. <a href="#aeeb2c3048c247e788bac949e2d0a4c79"></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_reactive_navigation_system.html#a44a8bbabca6c1067ec7a6763a4cddff7">loadConfigFile</a> (const <a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> &ini, const <a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> &robotIni)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Reload the configuration from a file. <a href="#a44a8bbabca6c1067ec7a6763a4cddff7"></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_reactive_navigation_system.html#a2363e16e71a438e044823a289a54aebe">initialize</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Must be called for loading collision grids, or the first navigation command may last a long time to be executed. <a href="#a2363e16e71a438e044823a289a54aebe"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#ac65cf3431576969ec733de9406ef0b4a">evaluate</a> (<a class="el" href="structmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system_1_1_t_navigation_params.html">TNavigationParams</a> *params)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Evaluate navigation hardness:. <a href="#ac65cf3431576969ec733de9406ef0b4a"></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_reactive_navigation_system.html#aaab5d00aa91511c019c325bdea59e976">navigate</a> (<a class="el" href="structmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system_1_1_t_navigation_params.html">TNavigationParams</a> *params)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Start navigation:. <a href="#aaab5d00aa91511c019c325bdea59e976"></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_reactive_navigation_system.html#a9b312a9b29527502dab0c213831ccb76">setParams</a> (<a class="el" href="structmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system_1_1_t_navigation_params.html">TNavigationParams</a> *params)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Change current navigation params:. <a href="#a9b312a9b29527502dab0c213831ccb76"></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_reactive_navigation_system.html#af9c5fe8b6efb5d689bd43a515f23ce7f">setHolonomicMethod</a> (<a class="el" href="namespacemrpt_1_1reactivenav.html#a8e18db1c4f4a7eb6b4a8d85a2731b0b8">THolonomicMethod</a> method, const char *config_INIfile="./CONFIG_ReactiveNavigator.ini")</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Selects which one from the set of available holonomic methods will be used into transformed TP-Space, and sets its configuration from a configuration file. <a href="#af9c5fe8b6efb5d689bd43a515f23ce7f"></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_reactive_navigation_system.html#a7525ca782487e2291443deea71c95d7e">changeRobotShape</a> (<a class="el" href="classmrpt_1_1math_1_1_c_polygon.html">math::CPolygon</a> &shape)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Change the robot shape, which is taken into account for collision grid building. <a href="#a7525ca782487e2291443deea71c95d7e"></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_reactive_navigation_system.html#a1511b16baa7834ffe3ad9d0023d07954">getLastLogRecord</a> (<a class="el" href="classmrpt_1_1reactivenav_1_1_c_log_file_record.html">CLogFileRecord</a> &o)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Provides a copy of the last log record with information about execution. <a href="#a1511b16baa7834ffe3ad9d0023d07954"></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_reactive_navigation_system.html#a5353ca77ac6996d5321ff220cd395e72">enableLogFile</a> (bool enable)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Enables / disables the logging into a file. <a href="#a5353ca77ac6996d5321ff220cd395e72"></a><br/></td></tr>
<tr><td colspan="2"><h2>Private Member Functions</h2></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_reactive_navigation_system.html#aa3cd965f9a25abad07f82bd55c1700ba">performNavigationStep</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The main method for the navigator. <a href="#aa3cd965f9a25abad07f82bd55c1700ba"></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_reactive_navigation_system.html#aefdd4fb06798779dfb28441f207c9631">STEP1_CollisionGridsBuilder</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#ac64d7f316dfea958aeb1539fd6d4cc49">STEP2_Sense</a> (<a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html">mrpt::slam::CSimplePointsMap</a> &out_obstacles)</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_reactive_navigation_system.html#ab3bea76ea46cccf3731bf9ccdc0b1ea1">STEP3_SpaceTransformer</a> (<a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html">poses::CPointsMap</a> &in_obstacles, <a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html">CParameterizedTrajectoryGenerator</a> *in_PTG, <a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_double</a> &out_TPObstacles)</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_reactive_navigation_system.html#ac10694058ac3540fc2571c2fa55238ff">STEP4_HolonomicMethod</a> (<a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_double</a> &in_Obstacles, <a class="el" href="classmrpt_1_1poses_1_1_c_point2_d.html">poses::CPoint2D</a> &in_Target, float in_maxRobotSpeed, <a class="el" href="structmrpt_1_1reactivenav_1_1_c_reactive_navigation_system_1_1_t_holonomic_movement.html">THolonomicMovement</a> &out_selectedMovement, CHolonomicLogFileRecordPtr &in_HLFR)</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_reactive_navigation_system.html#a7fd21f41e816fb54b9d0d953014f4a5c">STEP5_Evaluator</a> (<a class="el" href="structmrpt_1_1reactivenav_1_1_c_reactive_navigation_system_1_1_t_holonomic_movement.html">THolonomicMovement</a> &in_holonomicMovement, <a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_double</a> &in_TPObstacles, <a class="el" href="classmrpt_1_1poses_1_1_c_point2_d.html">poses::CPoint2D</a> &WS_Target, <a class="el" href="classmrpt_1_1poses_1_1_c_point2_d.html">poses::CPoint2D</a> &TP_Target, bool wasSelectedInLast, <a class="el" href="structmrpt_1_1reactivenav_1_1_c_log_file_record_1_1_t_info_per_p_t_g.html">CLogFileRecord::TInfoPerPTG</a> &log)</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_reactive_navigation_system.html#a7d035a9d83b346d4466bc52ec4ad1884">STEP6_Selector</a> (std::vector< <a class="el" href="structmrpt_1_1reactivenav_1_1_c_reactive_navigation_system_1_1_t_holonomic_movement.html">THolonomicMovement</a> > &in_holonomicMovements, <a class="el" href="structmrpt_1_1reactivenav_1_1_c_reactive_navigation_system_1_1_t_holonomic_movement.html">THolonomicMovement</a> &out_selectedHolonomicMovement, int &out_nSelectedPTG)</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_reactive_navigation_system.html#a17b12898ff2b28aa11e1f2a73263502e">STEP7_NonHolonomicMovement</a> (<a class="el" href="structmrpt_1_1reactivenav_1_1_c_reactive_navigation_system_1_1_t_holonomic_movement.html">THolonomicMovement</a> &in_movement, float &out_v, float &out_w)</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_reactive_navigation_system.html#a16152893fab0ccb2dbcd8e7bc4beb7bf">Error_ParadaDeEmergencia</a> (const char *msg)</td></tr>
<tr><td colspan="2"><h2>Private Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a503e238f5ead6049396edf555a8109a7">TNavigatorBehavior</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a9e749115c54e7b72298935edb7ac9a12">navigatorBehavior</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This defines the 'behavior' of the navigator (see posible values in TNavigatorBehavior). <a href="#a9e749115c54e7b72298935edb7ac9a12"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a1d350eb855912cbcbe7b8896ae7a0466">m_beHeadDirection_rad</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The desired heading direction (in rads), for behaviors 'beHeadDirection' and 'beDoorCrosing2'. <a href="#a1d350eb855912cbcbe7b8896ae7a0466"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_point2_d.html">CPoint2D</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#ad0ba818588dff745931a50430d2b4eb5">m_beAuxTarget</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Auxiliary target position, for behaviors 'beDoorCrosing1' and 'beDoorCrosing3'. <a href="#ad0ba818588dff745931a50430d2b4eb5"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_point2_d.html">CPoint2D</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a61ed9a2e3d07b1022b85d60fde86b367">m_bePassPoint1</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This is the desired "path" for passing a door (in GLOBAL coordinates!). <a href="#a61ed9a2e3d07b1022b85d60fde86b367"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_point2_d.html">CPoint2D</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a78bb0182815308066ffc1ead2a2a3051">m_bePassPoint2</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_log_file_record.html">CLogFileRecord</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a63ccd5468a0edb2c8b34a5ecfeba1347">lastLogRecord</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The last log. <a href="#a63ccd5468a0edb2c8b34a5ecfeba1347"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#aecc0a6e54bf1961a5c0a57bb8e702ab5">last_cmd_v</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">For the histeresis:. <a href="#aecc0a6e54bf1961a5c0a57bb8e702ab5"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#adcfc09d0d79e3850a0bccbbe7dad1c0a">last_cmd_w</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#aebd5eb752b448da94d874c1fd36cbd74">navigationEndEventSent</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Will be false until the navigation end is sent, and it is reset with each new command. <a href="#aebd5eb752b448da94d874c1fd36cbd74"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1synch_1_1_c_critical_section.html">synch::CCriticalSection</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a286c4ba58894a1a2a7bd8bd173c3b5c5">m_critZoneLastLog</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Critical zones:. <a href="#a286c4ba58894a1a2a7bd8bd173c3b5c5"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1synch_1_1_c_critical_section.html">synch::CCriticalSection</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a44486bcf5522a7501cb8e6d587256d00">m_critZoneNavigating</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_abstract_holonomic_reactive_method.html">CAbstractHolonomicReactiveMethod</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#ad2adf641d5f155be844ea3c2ebe009ef">holonomicMethod</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The current log file stream, or NULL if not being used. <a href="#ad2adf641d5f155be844ea3c2ebe009ef"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">utils::CStream</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#abfb620242beeeec665b49c0d9c79ec7b">logFile</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The current log file stream, or NULL if not being used. <a href="#abfb620242beeeec665b49c0d9c79ec7b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a80b92fae7d9639dee214e4da18de81ec">enableConsoleOutput</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Enables / disables the console debug output. <a href="#a80b92fae7d9639dee214e4da18de81ec"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_tic_tac.html">CTicTac</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a6be4599c469213368d0def28c7a8e853">timerForExecutionPeriod</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a79d59e1df1b4dab4c75574b29b5539f2">m_debugWindows</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Show debug windows with the internal state, etc... <a href="#a79d59e1df1b4dab4c75574b29b5539f2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a111ef77e1add1117e4dea2ea60f5c811">robotName</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#aa71c4c1bdc88dc1f5264e653a3843a40">refDistance</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a074991eb6d275cc18eb60c674357649a">colGridRes_x</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#ab4f1656093a91e22f0607a136e17abbb">colGridRes_y</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a49f52433284fa3927e8b93c05377bf7a">robotMax_V_mps</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#aaae5d0b93bc0e91cb17c4abc5850509c">robotMax_W_degps</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#aadf83ca0e23fc680a40266f5c1b4609d">ROBOTMODEL_TAU</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a2180cc58ff8648313971bdfb0b898082">ROBOTMODEL_DELAY</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_float</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a74442b92d079221db165b382373d1689">weights</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a7449fd505adf951e31e57b403b53d3cc">minObstaclesHeight</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a5346f34e6f378773ac066edf0b809b36">maxObstaclesHeight</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a146dd51f33ee14a06937871b811fc69e">DIST_TO_TARGET_FOR_SENDING_EVENT</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#afb9c3cb29c39478e8328fdd8ccfad88b">DOOR_CROSSING_SEARCH_TARGET_DISTANCEx2</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a9f01b3f6aed665b2d971117c9dc56007">VORONOI_MINIMUM_CLEARANCE</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a09a7ab6c6ce75ac2b208bd70bbdefee7">DISABLE_PERIOD_AFTER_FAIL</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a2d5621b1db0eca4c296cd2d3d278d3ab">VORONOI_PATH_DIST_FROM_DOORWAY</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a429f5ad596cf36d7a62a65f0fa3f94a8">DOORCROSSING_HEADING_ACCURACY_DEG</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a59bfdb6a671a8f3d879fbcd4f07bdee0">DOORCROSSING_ROTATION_CTE_DEG</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#ac1f2ab2a347c58776d4e623664b9dd6a">DOOR_CROSSING_DIST_TO_AUX_TARGETS</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a844203676a77fb6a63797c7eb3e9ba23">DOOR_CROOSING_BEH3_TIMEOUT</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#af15357d66182e9f423d29f2862b886b8">DOOR_CROSSING_MAXIMUM_DOORWAY_SIZE</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned long </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#ad06700939633bf9ab5d6eac318f90882">nIteration</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The iterations count. <a href="#ad06700939633bf9ab5d6eac318f90882"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a3c3a1a40d1c2983a5986c47f55cdcd7f">meanExecutionPeriod</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Runtime estimation of execution period of the method. <a href="#a3c3a1a40d1c2983a5986c47f55cdcd7f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#aca5692f8c253cdea0734377291e7a7b1">badNavAlarm_minDistTarget</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">For sending an alarm (error event) when it seems that we are not approaching toward the target in a while. <a href="#aca5692f8c253cdea0734377291e7a7b1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacemrpt_1_1system.html#a42674286d8d56afea013b6329bb7327a">mrpt::system::TTimeStamp</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a6139ea41cc9b929aa16bfd89505759d5">badNavAlarm_lastMinDistTime</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a00528e78bc9d39e0edd879a0a79b246b">badNavAlarm_AlarmTimeout</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1math_1_1_c_polygon.html">math::CPolygon</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a5eda0045259db31f8fe47112b5bd2501">robotShape</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The robot 2D shape model. <a href="#a5eda0045259db31f8fe47112b5bd2501"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a9ee1f0ff845db4a525d53aa241a71013">collisionGridsMustBeUpdated</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">std::vector<br class="typebreak"/>
< <a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html">CParameterizedTrajectoryGenerator</a> * > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a9cb276f0aaacd4af54717c10202493d8">PTGs</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The set of transformations to be used:. <a href="#a9cb276f0aaacd4af54717c10202493d8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">mrpt::gui::CDisplayWindowPlotsPtr </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a809be891253e43051e1420e8022e5c49">m_debugWin_WS</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#adc6f6140a94b3fa01aa5487ed1cd145c">CerrandoHilo</a></td></tr>
</table>
<hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>Implements a reactive navigation system based on TP-Space, with an arbitrary holonomic reactive method running on it, and any desired number of PTG for transforming the navigation space. </p>
<p>Both, the holonomic method and the PTGs can be customized by the apropriate user derived classes. For running it, the method NavigateStep must be invoked periodically.</p>
<ul>
<li>17/JUN/2004: First design.</li>
<li>16/SEP/2004: Totally redesigned, according to document "MultiParametric Based Space
Transformation for Reactive Navigation"</li>
<li>29/SEP/2005: Totally rewritten again, for integration into MRPT library and according to the ICRA paper.</li>
<li>17/OCT/2007: Whole code updated to accomodate to MRPT 0.5 and make it portable to Linux.</li>
</ul>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system.html" title="This is the base class for any reactive navigation system.">CAbstractReactiveNavigationSystem</a>, <a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html" title="This is the base class for any user defined PTG.">CParameterizedTrajectoryGenerator</a>, <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> </dd></dl>
<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00066">66</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
<hr/><h2>Member Enumeration Documentation</h2>
<a class="anchor" id="a503e238f5ead6049396edf555a8109a7"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::TNavigatorBehavior" ref="a503e238f5ead6049396edf555a8109a7" args="" -->
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<td class="memname">enum <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a503e238f5ead6049396edf555a8109a7">mrpt::reactivenav::CReactiveNavigationSystem::TNavigatorBehavior</a></td>
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<p>See 'navigatorBehavior'. </p>
<dl><dt><b>Enumerator: </b></dt><dd><table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><em><a class="anchor" id="a503e238f5ead6049396edf555a8109a7acf79abf6029749885f92a7e655e5069a"></a><!-- doxytag: member="beNormalNavigation" ref="a503e238f5ead6049396edf555a8109a7acf79abf6029749885f92a7e655e5069a" args="" -->beNormalNavigation</em> </td><td>
<p>The robot tries to get to the given target point. </p>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a503e238f5ead6049396edf555a8109a7ade50701ae0c9c9e396b7f1ae7e6a0d63"></a><!-- doxytag: member="beHeadDirection" ref="a503e238f5ead6049396edf555a8109a7ade50701ae0c9c9e396b7f1ae7e6a0d63" args="" -->beHeadDirection</em> </td><td>
<p>The robot rotates to head the direction "m_beHeadDirection_rad", then goes into normal behavior. </p>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a503e238f5ead6049396edf555a8109a7af35c111be43c732a7bd8188b5b2774e1"></a><!-- doxytag: member="beDoorCrosing1" ref="a503e238f5ead6049396edf555a8109a7af35c111be43c732a7bd8188b5b2774e1" args="" -->beDoorCrosing1</em> </td><td>
<p>The robot tries to get to a given auxiliar target "m_beAuxTarget", then goes into behavior 'beDoorCrosing2'. </p>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a503e238f5ead6049396edf555a8109a7aa7f647ce5b43102ae968273799e3115c"></a><!-- doxytag: member="beDoorCrosing2" ref="a503e238f5ead6049396edf555a8109a7aa7f647ce5b43102ae968273799e3115c" args="" -->beDoorCrosing2</em> </td><td>
<p>The robot rotates to head the direction "m_beHeadDirection_rad", then goes into behavior 'beDoorCrosing3'. </p>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a503e238f5ead6049396edf555a8109a7a990dca058ee62e89859a582a949ae5a6"></a><!-- doxytag: member="beDoorCrosing3" ref="a503e238f5ead6049396edf555a8109a7a990dca058ee62e89859a582a949ae5a6" args="" -->beDoorCrosing3</em> </td><td>
<p>The robot rotates tries to get to a given auxiliar target "m_beAuxTarget", then goes into normal behavior. </p>
</td></tr>
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</dd>
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00129">129</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a66af1ac47f56611a55d342c69b414e30"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::CReactiveNavigationSystem" ref="a66af1ac47f56611a55d342c69b414e30" args="(CReactiveInterfaceImplementation &react_iterf_impl, bool enableConsoleOutput=true, bool enableLogFile=false)" -->
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<td class="memname">mrpt::reactivenav::CReactiveNavigationSystem::CReactiveNavigationSystem </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_interface_implementation.html">CReactiveInterfaceImplementation</a> & </td>
<td class="paramname"> <em>react_iterf_impl</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"> <em>enableConsoleOutput</em> = <code>true</code>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"> <em>enableLogFile</em> = <code>false</code></td><td> </td>
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<td></td>
<td>)</td>
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<p>Constructor. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>configINIFile</em> </td><td>The file to load the configuration from. See loadConfigFile </td></tr>
<tr><td valign="top"></td><td valign="top"><em>robotConfigFile</em> </td><td>The file to load the robot specific configuration from. </td></tr>
<tr><td valign="top"></td><td valign="top"><em>rmc</em> </td><td>A set of wrappers that must be filled in. </td></tr>
<tr><td valign="top"></td><td valign="top"><em>sensors</em> </td><td>A set of wrappers that must be filled in. </td></tr>
<tr><td valign="top"></td><td valign="top"><em>dbg</em> </td><td>A set of wrappers that must be filled in. </td></tr>
<tr><td valign="top"></td><td valign="top"><em>evnts</em> </td><td>A set of wrappers that must be filled in. </td></tr>
<tr><td valign="top"></td><td valign="top"><em>enableConsoleOutput</em> </td><td>Set to false if console output is not desired. </td></tr>
<tr><td valign="top"></td><td valign="top"><em>enableLogFile</em> </td><td>Set to true to enable logging to file. </td></tr>
</table>
</dd>
</dl>
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<a class="anchor" id="aeeb2c3048c247e788bac949e2d0a4c79"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::~CReactiveNavigationSystem" ref="aeeb2c3048c247e788bac949e2d0a4c79" args="()" -->
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<td class="memname">virtual mrpt::reactivenav::CReactiveNavigationSystem::~CReactiveNavigationSystem </td>
<td>(</td>
<td class="paramname"></td>
<td> ) </td>
<td><code> [virtual]</code></td>
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<p>Destructor. </p>
</div>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a7525ca782487e2291443deea71c95d7e"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::changeRobotShape" ref="a7525ca782487e2291443deea71c95d7e" args="(math::CPolygon &shape)" -->
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<td class="memname">void mrpt::reactivenav::CReactiveNavigationSystem::changeRobotShape </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1math_1_1_c_polygon.html">math::CPolygon</a> & </td>
<td class="paramname"> <em>shape</em></td>
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<p>Change the robot shape, which is taken into account for collision grid building. </p>
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<a class="anchor" id="a5353ca77ac6996d5321ff220cd395e72"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::enableLogFile" ref="a5353ca77ac6996d5321ff220cd395e72" args="(bool enable)" -->
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<td class="memname">void mrpt::reactivenav::CReactiveNavigationSystem::enableLogFile </td>
<td>(</td>
<td class="paramtype">bool </td>
<td class="paramname"> <em>enable</em></td>
<td> ) </td>
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<p>Enables / disables the logging into a file. </p>
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<td class="memname">void mrpt::reactivenav::CReactiveNavigationSystem::Error_ParadaDeEmergencia </td>
<td>(</td>
<td class="paramtype">const char * </td>
<td class="paramname"> <em>msg</em></td>
<td> ) </td>
<td><code> [private]</code></td>
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</div>
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<a class="anchor" id="ac65cf3431576969ec733de9406ef0b4a"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::evaluate" ref="ac65cf3431576969ec733de9406ef0b4a" args="(TNavigationParams *params)" -->
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<td class="memname">float mrpt::reactivenav::CReactiveNavigationSystem::evaluate </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system_1_1_t_navigation_params.html">TNavigationParams</a> * </td>
<td class="paramname"> <em>params</em></td>
<td> ) </td>
<td><code> [virtual]</code></td>
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<p>Evaluate navigation hardness:. </p>
<p>Implements <a class="el" href="classmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system.html#a71ce1e3f7ba7c105efde6f11e873c68c">mrpt::reactivenav::CAbstractReactiveNavigationSystem</a>.</p>
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<a class="anchor" id="a1511b16baa7834ffe3ad9d0023d07954"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::getLastLogRecord" ref="a1511b16baa7834ffe3ad9d0023d07954" args="(CLogFileRecord &o)" -->
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<td class="memname">void mrpt::reactivenav::CReactiveNavigationSystem::getLastLogRecord </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_log_file_record.html">CLogFileRecord</a> & </td>
<td class="paramname"> <em>o</em></td>
<td> ) </td>
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<p>Provides a copy of the last log record with information about execution. </p>
<p>On any unexpected error "*o" will be NULL. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>o</em> </td><td>An object where the log will be stored into. </td></tr>
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</dd>
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<a class="anchor" id="a2363e16e71a438e044823a289a54aebe"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::initialize" ref="a2363e16e71a438e044823a289a54aebe" args="()" -->
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<td class="memname">void mrpt::reactivenav::CReactiveNavigationSystem::initialize </td>
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<p>Must be called for loading collision grids, or the first navigation command may last a long time to be executed. </p>
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<a class="anchor" id="a44a8bbabca6c1067ec7a6763a4cddff7"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::loadConfigFile" ref="a44a8bbabca6c1067ec7a6763a4cddff7" args="(const mrpt::utils::CConfigFileBase &ini, const mrpt::utils::CConfigFileBase &robotIni)" -->
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<td class="memname">void mrpt::reactivenav::CReactiveNavigationSystem::loadConfigFile </td>
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<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</em>, </td>
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<td class="paramname"> <em>robotIni</em></td><td> </td>
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<p>Reload the configuration from a file. </p>
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<td class="memname">void mrpt::reactivenav::CReactiveNavigationSystem::navigate </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system_1_1_t_navigation_params.html">TNavigationParams</a> * </td>
<td class="paramname"> <em>params</em></td>
<td> ) </td>
<td><code> [virtual]</code></td>
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<p>Start navigation:. </p>
<p>Implements <a class="el" href="classmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system.html#aa5e7076264a76b14ca58ef2f3870de36">mrpt::reactivenav::CAbstractReactiveNavigationSystem</a>.</p>
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<td class="memname">void mrpt::reactivenav::CReactiveNavigationSystem::performNavigationStep </td>
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<td class="paramname"></td>
<td> ) </td>
<td><code> [private, virtual]</code></td>
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<p>The main method for the navigator. </p>
<p>Implements <a class="el" href="classmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system.html#a7d90e448755ae93d208f62244efc8322">mrpt::reactivenav::CAbstractReactiveNavigationSystem</a>.</p>
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<a class="anchor" id="af9c5fe8b6efb5d689bd43a515f23ce7f"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::setHolonomicMethod" ref="af9c5fe8b6efb5d689bd43a515f23ce7f" args="(THolonomicMethod method, const char *config_INIfile="./CONFIG_ReactiveNavigator.ini")" -->
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<td class="memname">void mrpt::reactivenav::CReactiveNavigationSystem::setHolonomicMethod </td>
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<td class="paramtype"><a class="el" href="namespacemrpt_1_1reactivenav.html#a8e18db1c4f4a7eb6b4a8d85a2731b0b8">THolonomicMethod</a> </td>
<td class="paramname"> <em>method</em>, </td>
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<td class="paramname"> <em>config_INIfile</em> = <code>"./CONFIG_ReactiveNavigator.ini"</code></td><td> </td>
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<p>Selects which one from the set of available holonomic methods will be used into transformed TP-Space, and sets its configuration from a configuration file. </p>
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<a class="anchor" id="a9b312a9b29527502dab0c213831ccb76"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::setParams" ref="a9b312a9b29527502dab0c213831ccb76" args="(TNavigationParams *params)" -->
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<td class="memname">void mrpt::reactivenav::CReactiveNavigationSystem::setParams </td>
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<td class="paramname"> <em>params</em></td>
<td> ) </td>
<td><code> [virtual]</code></td>
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<p>Change current navigation params:. </p>
<p>Implements <a class="el" href="classmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system.html#a5a160c1f77735cfb9ce330b6664df2ca">mrpt::reactivenav::CAbstractReactiveNavigationSystem</a>.</p>
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<td class="memname">void mrpt::reactivenav::CReactiveNavigationSystem::STEP1_CollisionGridsBuilder </td>
<td>(</td>
<td class="paramname"></td>
<td> ) </td>
<td><code> [private]</code></td>
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<a class="anchor" id="ac64d7f316dfea958aeb1539fd6d4cc49"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::STEP2_Sense" ref="ac64d7f316dfea958aeb1539fd6d4cc49" args="(mrpt::slam::CSimplePointsMap &out_obstacles)" -->
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<td class="paramname"> <em>out_obstacles</em></td>
<td> ) </td>
<td><code> [private]</code></td>
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<a class="anchor" id="ab3bea76ea46cccf3731bf9ccdc0b1ea1"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::STEP3_SpaceTransformer" ref="ab3bea76ea46cccf3731bf9ccdc0b1ea1" args="(poses::CPointsMap &in_obstacles, CParameterizedTrajectoryGenerator *in_PTG, vector_double &out_TPObstacles)" -->
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<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html">poses::CPointsMap</a> & </td>
<td class="paramname"> <em>in_obstacles</em>, </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html">CParameterizedTrajectoryGenerator</a> * </td>
<td class="paramname"> <em>in_PTG</em>, </td>
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<td class="paramname"> <em>out_TPObstacles</em></td><td> </td>
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<td></td>
<td>)</td>
<td></td><td></td><td><code> [private]</code></td>
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</div>
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<a class="anchor" id="ac10694058ac3540fc2571c2fa55238ff"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::STEP4_HolonomicMethod" ref="ac10694058ac3540fc2571c2fa55238ff" args="(vector_double &in_Obstacles, poses::CPoint2D &in_Target, float in_maxRobotSpeed, THolonomicMovement &out_selectedMovement, CHolonomicLogFileRecordPtr &in_HLFR)" -->
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<td class="memname">void mrpt::reactivenav::CReactiveNavigationSystem::STEP4_HolonomicMethod </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>
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<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>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"> <em>in_maxRobotSpeed</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="structmrpt_1_1reactivenav_1_1_c_reactive_navigation_system_1_1_t_holonomic_movement.html">THolonomicMovement</a> & </td>
<td class="paramname"> <em>out_selectedMovement</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">CHolonomicLogFileRecordPtr & </td>
<td class="paramname"> <em>in_HLFR</em></td><td> </td>
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<td></td>
<td>)</td>
<td></td><td></td><td><code> [private]</code></td>
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<a class="anchor" id="a7fd21f41e816fb54b9d0d953014f4a5c"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::STEP5_Evaluator" ref="a7fd21f41e816fb54b9d0d953014f4a5c" args="(THolonomicMovement &in_holonomicMovement, vector_double &in_TPObstacles, poses::CPoint2D &WS_Target, poses::CPoint2D &TP_Target, bool wasSelectedInLast, CLogFileRecord::TInfoPerPTG &log)" -->
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<td class="memname">void mrpt::reactivenav::CReactiveNavigationSystem::STEP5_Evaluator </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structmrpt_1_1reactivenav_1_1_c_reactive_navigation_system_1_1_t_holonomic_movement.html">THolonomicMovement</a> & </td>
<td class="paramname"> <em>in_holonomicMovement</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>in_TPObstacles</em>, </td>
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<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>WS_Target</em>, </td>
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<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>TP_Target</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"> <em>wasSelectedInLast</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="structmrpt_1_1reactivenav_1_1_c_log_file_record_1_1_t_info_per_p_t_g.html">CLogFileRecord::TInfoPerPTG</a> & </td>
<td class="paramname"> <em>log</em></td><td> </td>
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<td></td>
<td>)</td>
<td></td><td></td><td><code> [private]</code></td>
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</div>
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<a class="anchor" id="a7d035a9d83b346d4466bc52ec4ad1884"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::STEP6_Selector" ref="a7d035a9d83b346d4466bc52ec4ad1884" args="(std::vector< THolonomicMovement > &in_holonomicMovements, THolonomicMovement &out_selectedHolonomicMovement, int &out_nSelectedPTG)" -->
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<td class="memname">void mrpt::reactivenav::CReactiveNavigationSystem::STEP6_Selector </td>
<td>(</td>
<td class="paramtype">std::vector< <a class="el" href="structmrpt_1_1reactivenav_1_1_c_reactive_navigation_system_1_1_t_holonomic_movement.html">THolonomicMovement</a> > & </td>
<td class="paramname"> <em>in_holonomicMovements</em>, </td>
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<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="structmrpt_1_1reactivenav_1_1_c_reactive_navigation_system_1_1_t_holonomic_movement.html">THolonomicMovement</a> & </td>
<td class="paramname"> <em>out_selectedHolonomicMovement</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">int & </td>
<td class="paramname"> <em>out_nSelectedPTG</em></td><td> </td>
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<td></td>
<td>)</td>
<td></td><td></td><td><code> [private]</code></td>
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<a class="anchor" id="a17b12898ff2b28aa11e1f2a73263502e"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::STEP7_NonHolonomicMovement" ref="a17b12898ff2b28aa11e1f2a73263502e" args="(THolonomicMovement &in_movement, float &out_v, float &out_w)" -->
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<td class="memname">void mrpt::reactivenav::CReactiveNavigationSystem::STEP7_NonHolonomicMovement </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structmrpt_1_1reactivenav_1_1_c_reactive_navigation_system_1_1_t_holonomic_movement.html">THolonomicMovement</a> & </td>
<td class="paramname"> <em>in_movement</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">float & </td>
<td class="paramname"> <em>out_v</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">float & </td>
<td class="paramname"> <em>out_w</em></td><td> </td>
</tr>
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<td></td>
<td>)</td>
<td></td><td></td><td><code> [private]</code></td>
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</div>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a00528e78bc9d39e0edd879a0a79b246b"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::badNavAlarm_AlarmTimeout" ref="a00528e78bc9d39e0edd879a0a79b246b" args="" -->
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<td class="memname">float <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a00528e78bc9d39e0edd879a0a79b246b">mrpt::reactivenav::CReactiveNavigationSystem::badNavAlarm_AlarmTimeout</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00255">255</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a6139ea41cc9b929aa16bfd89505759d5"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::badNavAlarm_lastMinDistTime" ref="a6139ea41cc9b929aa16bfd89505759d5" args="" -->
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<td class="memname"><a class="el" href="namespacemrpt_1_1system.html#a42674286d8d56afea013b6329bb7327a">mrpt::system::TTimeStamp</a> <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a6139ea41cc9b929aa16bfd89505759d5">mrpt::reactivenav::CReactiveNavigationSystem::badNavAlarm_lastMinDistTime</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00254">254</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="aca5692f8c253cdea0734377291e7a7b1"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::badNavAlarm_minDistTarget" ref="aca5692f8c253cdea0734377291e7a7b1" args="" -->
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<td class="memname">float <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#aca5692f8c253cdea0734377291e7a7b1">mrpt::reactivenav::CReactiveNavigationSystem::badNavAlarm_minDistTarget</a><code> [private]</code></td>
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<p>For sending an alarm (error event) when it seems that we are not approaching toward the target in a while. </p>
<p>.. </p>
<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00253">253</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="adc6f6140a94b3fa01aa5487ed1cd145c"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::CerrandoHilo" ref="adc6f6140a94b3fa01aa5487ed1cd145c" args="" -->
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<td class="memname">bool <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#adc6f6140a94b3fa01aa5487ed1cd145c">mrpt::reactivenav::CReactiveNavigationSystem::CerrandoHilo</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00309">309</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a074991eb6d275cc18eb60c674357649a"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::colGridRes_x" ref="a074991eb6d275cc18eb60c674357649a" args="" -->
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00224">224</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="ab4f1656093a91e22f0607a136e17abbb"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::colGridRes_y" ref="ab4f1656093a91e22f0607a136e17abbb" args="" -->
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00224">224</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a9ee1f0ff845db4a525d53aa241a71013"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::collisionGridsMustBeUpdated" ref="a9ee1f0ff845db4a525d53aa241a71013" args="" -->
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00261">261</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a09a7ab6c6ce75ac2b208bd70bbdefee7"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::DISABLE_PERIOD_AFTER_FAIL" ref="a09a7ab6c6ce75ac2b208bd70bbdefee7" args="" -->
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<td class="memname">float <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a09a7ab6c6ce75ac2b208bd70bbdefee7">mrpt::reactivenav::CReactiveNavigationSystem::DISABLE_PERIOD_AFTER_FAIL</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00234">234</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a146dd51f33ee14a06937871b811fc69e"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::DIST_TO_TARGET_FOR_SENDING_EVENT" ref="a146dd51f33ee14a06937871b811fc69e" args="" -->
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00230">230</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a844203676a77fb6a63797c7eb3e9ba23"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::DOOR_CROOSING_BEH3_TIMEOUT" ref="a844203676a77fb6a63797c7eb3e9ba23" args="" -->
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00239">239</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="ac1f2ab2a347c58776d4e623664b9dd6a"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::DOOR_CROSSING_DIST_TO_AUX_TARGETS" ref="ac1f2ab2a347c58776d4e623664b9dd6a" args="" -->
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00238">238</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="af15357d66182e9f423d29f2862b886b8"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::DOOR_CROSSING_MAXIMUM_DOORWAY_SIZE" ref="af15357d66182e9f423d29f2862b886b8" args="" -->
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00240">240</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="afb9c3cb29c39478e8328fdd8ccfad88b"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::DOOR_CROSSING_SEARCH_TARGET_DISTANCEx2" ref="afb9c3cb29c39478e8328fdd8ccfad88b" args="" -->
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00232">232</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a429f5ad596cf36d7a62a65f0fa3f94a8"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::DOORCROSSING_HEADING_ACCURACY_DEG" ref="a429f5ad596cf36d7a62a65f0fa3f94a8" args="" -->
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00236">236</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a59bfdb6a671a8f3d879fbcd4f07bdee0"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::DOORCROSSING_ROTATION_CTE_DEG" ref="a59bfdb6a671a8f3d879fbcd4f07bdee0" args="" -->
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00237">237</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a80b92fae7d9639dee214e4da18de81ec"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::enableConsoleOutput" ref="a80b92fae7d9639dee214e4da18de81ec" args="" -->
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<p>Enables / disables the console debug output. </p>
<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00216">216</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="ad2adf641d5f155be844ea3c2ebe009ef"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::holonomicMethod" ref="ad2adf641d5f155be844ea3c2ebe009ef" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_abstract_holonomic_reactive_method.html">CAbstractHolonomicReactiveMethod</a>* <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#ad2adf641d5f155be844ea3c2ebe009ef">mrpt::reactivenav::CReactiveNavigationSystem::holonomicMethod</a><code> [private]</code></td>
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<p>The current log file stream, or NULL if not being used. </p>
<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00210">210</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="aecc0a6e54bf1961a5c0a57bb8e702ab5"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::last_cmd_v" ref="aecc0a6e54bf1961a5c0a57bb8e702ab5" args="" -->
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<td class="memname">float <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#aecc0a6e54bf1961a5c0a57bb8e702ab5">mrpt::reactivenav::CReactiveNavigationSystem::last_cmd_v</a><code> [private]</code></td>
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<p>For the histeresis:. </p>
<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00187">187</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<td class="memname">float <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#adcfc09d0d79e3850a0bccbbe7dad1c0a">mrpt::reactivenav::CReactiveNavigationSystem::last_cmd_w</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00187">187</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a63ccd5468a0edb2c8b34a5ecfeba1347"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::lastLogRecord" ref="a63ccd5468a0edb2c8b34a5ecfeba1347" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_log_file_record.html">CLogFileRecord</a> <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a63ccd5468a0edb2c8b34a5ecfeba1347">mrpt::reactivenav::CReactiveNavigationSystem::lastLogRecord</a><code> [private]</code></td>
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<p>The last log. </p>
<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00183">183</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="abfb620242beeeec665b49c0d9c79ec7b"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::logFile" ref="abfb620242beeeec665b49c0d9c79ec7b" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">utils::CStream</a>* <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#abfb620242beeeec665b49c0d9c79ec7b">mrpt::reactivenav::CReactiveNavigationSystem::logFile</a><code> [private]</code></td>
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<p>The current log file stream, or NULL if not being used. </p>
<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00213">213</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="ad0ba818588dff745931a50430d2b4eb5"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::m_beAuxTarget" ref="ad0ba818588dff745931a50430d2b4eb5" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_point2_d.html">CPoint2D</a> <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#ad0ba818588dff745931a50430d2b4eb5">mrpt::reactivenav::CReactiveNavigationSystem::m_beAuxTarget</a><code> [private]</code></td>
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<p>Auxiliary target position, for behaviors 'beDoorCrosing1' and 'beDoorCrosing3'. </p>
<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00167">167</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a1d350eb855912cbcbe7b8896ae7a0466"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::m_beHeadDirection_rad" ref="a1d350eb855912cbcbe7b8896ae7a0466" args="" -->
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<td class="memname">float <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a1d350eb855912cbcbe7b8896ae7a0466">mrpt::reactivenav::CReactiveNavigationSystem::m_beHeadDirection_rad</a><code> [private]</code></td>
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<p>The desired heading direction (in rads), for behaviors 'beHeadDirection' and 'beDoorCrosing2'. </p>
<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00163">163</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a61ed9a2e3d07b1022b85d60fde86b367"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::m_bePassPoint1" ref="a61ed9a2e3d07b1022b85d60fde86b367" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_point2_d.html">CPoint2D</a> <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a61ed9a2e3d07b1022b85d60fde86b367">mrpt::reactivenav::CReactiveNavigationSystem::m_bePassPoint1</a><code> [private]</code></td>
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<p>This is the desired "path" for passing a door (in GLOBAL coordinates!). </p>
<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00171">171</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a78bb0182815308066ffc1ead2a2a3051"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::m_bePassPoint2" ref="a78bb0182815308066ffc1ead2a2a3051" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_point2_d.html">CPoint2D</a> <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a78bb0182815308066ffc1ead2a2a3051">mrpt::reactivenav::CReactiveNavigationSystem::m_bePassPoint2</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00171">171</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a286c4ba58894a1a2a7bd8bd173c3b5c5"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::m_critZoneLastLog" ref="a286c4ba58894a1a2a7bd8bd173c3b5c5" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1synch_1_1_c_critical_section.html">synch::CCriticalSection</a> <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a286c4ba58894a1a2a7bd8bd173c3b5c5">mrpt::reactivenav::CReactiveNavigationSystem::m_critZoneLastLog</a><code> [private]</code></td>
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<p>Critical zones:. </p>
<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00195">195</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<td class="memname"><a class="el" href="classmrpt_1_1synch_1_1_c_critical_section.html">synch::CCriticalSection</a> <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a44486bcf5522a7501cb8e6d587256d00">mrpt::reactivenav::CReactiveNavigationSystem::m_critZoneNavigating</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00195">195</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a809be891253e43051e1420e8022e5c49"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::m_debugWin_WS" ref="a809be891253e43051e1420e8022e5c49" args="" -->
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<td class="memname">mrpt::gui::CDisplayWindowPlotsPtr <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a809be891253e43051e1420e8022e5c49">mrpt::reactivenav::CReactiveNavigationSystem::m_debugWin_WS</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00268">268</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a79d59e1df1b4dab4c75574b29b5539f2"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::m_debugWindows" ref="a79d59e1df1b4dab4c75574b29b5539f2" args="" -->
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<td class="memname">bool <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a79d59e1df1b4dab4c75574b29b5539f2">mrpt::reactivenav::CReactiveNavigationSystem::m_debugWindows</a><code> [private]</code></td>
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<p>Show debug windows with the internal state, etc... </p>
<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00221">221</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a5346f34e6f378773ac066edf0b809b36"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::maxObstaclesHeight" ref="a5346f34e6f378773ac066edf0b809b36" args="" -->
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<td class="memname">float <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a5346f34e6f378773ac066edf0b809b36">mrpt::reactivenav::CReactiveNavigationSystem::maxObstaclesHeight</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00229">229</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a3c3a1a40d1c2983a5986c47f55cdcd7f"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::meanExecutionPeriod" ref="a3c3a1a40d1c2983a5986c47f55cdcd7f" args="" -->
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<td class="memname">float <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a3c3a1a40d1c2983a5986c47f55cdcd7f">mrpt::reactivenav::CReactiveNavigationSystem::meanExecutionPeriod</a><code> [private]</code></td>
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<p>Runtime estimation of execution period of the method. </p>
<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00248">248</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a7449fd505adf951e31e57b403b53d3cc"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::minObstaclesHeight" ref="a7449fd505adf951e31e57b403b53d3cc" args="" -->
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<td class="memname">float <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a7449fd505adf951e31e57b403b53d3cc">mrpt::reactivenav::CReactiveNavigationSystem::minObstaclesHeight</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00229">229</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="aebd5eb752b448da94d874c1fd36cbd74"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::navigationEndEventSent" ref="aebd5eb752b448da94d874c1fd36cbd74" args="" -->
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<td class="memname">bool <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#aebd5eb752b448da94d874c1fd36cbd74">mrpt::reactivenav::CReactiveNavigationSystem::navigationEndEventSent</a><code> [private]</code></td>
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<p>Will be false until the navigation end is sent, and it is reset with each new command. </p>
<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00191">191</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a9e749115c54e7b72298935edb7ac9a12"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::navigatorBehavior" ref="a9e749115c54e7b72298935edb7ac9a12" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a503e238f5ead6049396edf555a8109a7">TNavigatorBehavior</a> <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a9e749115c54e7b72298935edb7ac9a12">mrpt::reactivenav::CReactiveNavigationSystem::navigatorBehavior</a><code> [private]</code></td>
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<p>This defines the 'behavior' of the navigator (see posible values in TNavigatorBehavior). </p>
<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00159">159</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="ad06700939633bf9ab5d6eac318f90882"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::nIteration" ref="ad06700939633bf9ab5d6eac318f90882" args="" -->
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<td class="memname">unsigned long <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#ad06700939633bf9ab5d6eac318f90882">mrpt::reactivenav::CReactiveNavigationSystem::nIteration</a><code> [private]</code></td>
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<p>The iterations count. </p>
<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00244">244</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a9cb276f0aaacd4af54717c10202493d8"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::PTGs" ref="a9cb276f0aaacd4af54717c10202493d8" args="" -->
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<td class="memname">std::vector<<a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html">CParameterizedTrajectoryGenerator</a>*> <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a9cb276f0aaacd4af54717c10202493d8">mrpt::reactivenav::CReactiveNavigationSystem::PTGs</a><code> [private]</code></td>
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<p>The set of transformations to be used:. </p>
<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00265">265</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="aa71c4c1bdc88dc1f5264e653a3843a40"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::refDistance" ref="aa71c4c1bdc88dc1f5264e653a3843a40" args="" -->
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<td class="memname">float <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#aa71c4c1bdc88dc1f5264e653a3843a40">mrpt::reactivenav::CReactiveNavigationSystem::refDistance</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00223">223</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a49f52433284fa3927e8b93c05377bf7a"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::robotMax_V_mps" ref="a49f52433284fa3927e8b93c05377bf7a" args="" -->
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00225">225</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="aaae5d0b93bc0e91cb17c4abc5850509c"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::robotMax_W_degps" ref="aaae5d0b93bc0e91cb17c4abc5850509c" args="" -->
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<td class="memname">float <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#aaae5d0b93bc0e91cb17c4abc5850509c">mrpt::reactivenav::CReactiveNavigationSystem::robotMax_W_degps</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00226">226</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a2180cc58ff8648313971bdfb0b898082"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::ROBOTMODEL_DELAY" ref="a2180cc58ff8648313971bdfb0b898082" args="" -->
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<td class="memname">float <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a2180cc58ff8648313971bdfb0b898082">mrpt::reactivenav::CReactiveNavigationSystem::ROBOTMODEL_DELAY</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00227">227</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="aadf83ca0e23fc680a40266f5c1b4609d"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::ROBOTMODEL_TAU" ref="aadf83ca0e23fc680a40266f5c1b4609d" args="" -->
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00227">227</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a111ef77e1add1117e4dea2ea60f5c811"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::robotName" ref="a111ef77e1add1117e4dea2ea60f5c811" args="" -->
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<td class="memname">std::string <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a111ef77e1add1117e4dea2ea60f5c811">mrpt::reactivenav::CReactiveNavigationSystem::robotName</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00222">222</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a5eda0045259db31f8fe47112b5bd2501"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::robotShape" ref="a5eda0045259db31f8fe47112b5bd2501" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1math_1_1_c_polygon.html">math::CPolygon</a> <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a5eda0045259db31f8fe47112b5bd2501">mrpt::reactivenav::CReactiveNavigationSystem::robotShape</a><code> [private]</code></td>
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<p>The robot 2D shape model. </p>
<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00260">260</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a6be4599c469213368d0def28c7a8e853"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::timerForExecutionPeriod" ref="a6be4599c469213368d0def28c7a8e853" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_tic_tac.html">CTicTac</a> <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a6be4599c469213368d0def28c7a8e853">mrpt::reactivenav::CReactiveNavigationSystem::timerForExecutionPeriod</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00218">218</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a9f01b3f6aed665b2d971117c9dc56007"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::VORONOI_MINIMUM_CLEARANCE" ref="a9f01b3f6aed665b2d971117c9dc56007" args="" -->
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00233">233</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a2d5621b1db0eca4c296cd2d3d278d3ab"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::VORONOI_PATH_DIST_FROM_DOORWAY" ref="a2d5621b1db0eca4c296cd2d3d278d3ab" args="" -->
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<td class="memname">float <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a2d5621b1db0eca4c296cd2d3d278d3ab">mrpt::reactivenav::CReactiveNavigationSystem::VORONOI_PATH_DIST_FROM_DOORWAY</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00235">235</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a74442b92d079221db165b382373d1689"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::weights" ref="a74442b92d079221db165b382373d1689" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_float</a> <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a74442b92d079221db165b382373d1689">mrpt::reactivenav::CReactiveNavigationSystem::weights</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00228">228</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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