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<h1>nd.h</h1> </div>
</div>
<div class="contents">
<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001
<a name="l00002"></a>00002 <span class="comment">/*************************************************************************************/</span>
<a name="l00003"></a>00003 <span class="comment">/* */</span>
<a name="l00004"></a>00004 <span class="comment">/* File: nd.h */</span>
<a name="l00005"></a>00005 <span class="comment">/* Author: Javier Minguez */</span>
<a name="l00006"></a>00006 <span class="comment">/* Modified: 20/10/2005 */</span>
<a name="l00007"></a>00007 <span class="comment">/* */</span>
<a name="l00008"></a>00008 <span class="comment">/* This library implements a mixture between: */</span>
<a name="l00009"></a>00009 <span class="comment">/* */</span>
<a name="l00010"></a>00010 <span class="comment">/* J. Minguez, L. Montano. */</span>
<a name="l00011"></a>00011 <span class="comment">/* Nearness Diagram Navigation (ND): Collision Avoidance in Troublesome Scenarios. */</span>
<a name="l00012"></a>00012 <span class="comment">/* IEEE Transactions on Robotics and Automation, pp 154, 2004. */</span>
<a name="l00013"></a>00013 <span class="comment">/* */</span>
<a name="l00014"></a>00014 <span class="comment">/* */</span>
<a name="l00015"></a>00015 <span class="comment">/* J. Minguez, J. Osuna, L. Montano. */</span>
<a name="l00016"></a>00016 <span class="comment">/* A Divide and Conquer Strategy based on Situations */</span>
<a name="l00017"></a>00017 <span class="comment">/* to Achieve Reactive Collision Avoidance in Troublesome Scenarios. */</span>
<a name="l00018"></a>00018 <span class="comment">/* IEEE International Conference on Robotics and Automation (ICRA 2004), */</span>
<a name="l00019"></a>00019 <span class="comment">/* 2004. New Orleans, USA. */</span>
<a name="l00020"></a>00020 <span class="comment">/* */</span>
<a name="l00021"></a>00021 <span class="comment">/*************************************************************************************/</span>
<a name="l00022"></a>00022 <span class="comment">/*</span>
<a name="l00023"></a>00023 <span class="comment"> * This program is free software; you can redistribute it and/or modify</span>
<a name="l00024"></a>00024 <span class="comment"> * it under the terms of the GNU General Public License as published by</span>
<a name="l00025"></a>00025 <span class="comment"> * the Free Software Foundation; either version 2 of the License, or</span>
<a name="l00026"></a>00026 <span class="comment"> * (at your option) any later version.</span>
<a name="l00027"></a>00027 <span class="comment"> *</span>
<a name="l00028"></a>00028 <span class="comment"> * This program is distributed in the hope that it will be useful,</span>
<a name="l00029"></a>00029 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00030"></a>00030 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span>
<a name="l00031"></a>00031 <span class="comment"> * GNU General Public License for more details.</span>
<a name="l00032"></a>00032 <span class="comment"> *</span>
<a name="l00033"></a>00033 <span class="comment"> * You should have received a copy of the GNU General Public License</span>
<a name="l00034"></a>00034 <span class="comment"> * along with this program; if not, write to the Free Software</span>
<a name="l00035"></a>00035 <span class="comment"> * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span>
<a name="l00036"></a>00036 <span class="comment"> *</span>
<a name="l00037"></a>00037 <span class="comment"> */</span>
<a name="l00038"></a>00038
<a name="l00039"></a>00039 <span class="comment">/*****************************************************************************/</span>
<a name="l00040"></a>00040 <span class="comment">//</span>
<a name="l00041"></a>00041 <span class="comment">// EVERYTHING IN THE INTERNATIONAL SYSTEM (METERS AND RADIANS)</span>
<a name="l00042"></a>00042 <span class="comment">//</span>
<a name="l00043"></a>00043 <span class="comment">/*****************************************************************************/</span>
<a name="l00044"></a>00044
<a name="l00045"></a>00045
<a name="l00046"></a>00046 <span class="preprocessor">#ifndef nd_h</span>
<a name="l00047"></a>00047 <span class="preprocessor"></span><span class="preprocessor">#define nd_h</span>
<a name="l00048"></a>00048 <span class="preprocessor"></span>
<a name="l00049"></a>00049 <span class="comment">// ----------------------------------------------------------------------------</span>
<a name="l00050"></a>00050 <span class="comment">// GENERIC TYPES</span>
<a name="l00051"></a>00051 <span class="comment">// ----------------------------------------------------------------------------</span>
<a name="l00052"></a>00052
<a name="l00053"></a>00053 <span class="comment">// Cartesian coordinates. </span>
<a name="l00054"></a>00054
<a name="l00055"></a><a class="code" href="structTCoordenadas.html">00055</a> <span class="keyword">typedef</span> <span class="keyword">struct </span>{
<a name="l00056"></a>00056 <span class="keywordtype">float</span> x;
<a name="l00057"></a>00057 <span class="keywordtype">float</span> y;
<a name="l00058"></a>00058 } <a class="code" href="structTCoordenadas.html">TCoordenadas</a>;
<a name="l00059"></a>00059
<a name="l00060"></a>00060 <span class="comment">// System of reference</span>
<a name="l00061"></a>00061
<a name="l00062"></a><a class="code" href="structTSR.html">00062</a> <span class="keyword">typedef</span> <span class="keyword">struct </span>{
<a name="l00063"></a>00063 <a class="code" href="structTCoordenadas.html">TCoordenadas</a> posicion;
<a name="l00064"></a>00064 <span class="keywordtype">float</span> orientacion;
<a name="l00065"></a>00065 } <a class="code" href="structTSR.html">TSR</a>;
<a name="l00066"></a>00066
<a name="l00067"></a>00067
<a name="l00068"></a>00068
<a name="l00069"></a>00069 <span class="comment">// ----------------------------------------------------------------------------</span>
<a name="l00070"></a>00070 <span class="comment">// SPECIFIC TYPES.</span>
<a name="l00071"></a>00071 <span class="comment">// ----------------------------------------------------------------------------</span>
<a name="l00072"></a>00072
<a name="l00073"></a>00073
<a name="l00074"></a>00074
<a name="l00075"></a>00075 <span class="comment">// ************************</span>
<a name="l00076"></a>00076
<a name="l00077"></a>00077 <span class="comment">// TParametrosND (information of the robot and laser for the ND)</span>
<a name="l00078"></a>00078
<a name="l00079"></a><a class="code" href="structTParametersND.html">00079</a> <span class="keyword">typedef</span> <span class="keyword">struct </span>{
<a name="l00080"></a>00080
<a name="l00081"></a>00081 <span class="comment">// GEOMETRY</span>
<a name="l00082"></a>00082 <span class="comment">// The vehicle is considered to be symetric at both sides of the X axis.</span>
<a name="l00083"></a>00083 <span class="comment">// The flag is 1 if the robot is resctangular, 0 if it is circular</span>
<a name="l00084"></a>00084 <span class="keywordtype">short</span> <span class="keywordtype">int</span> geometryRect;
<a name="l00085"></a>00085
<a name="l00086"></a>00086 <span class="comment">// --- RECTANGULAR --- </span>
<a name="l00087"></a>00087 <span class="comment">// distance (m) from the wheels to the:</span>
<a name="l00088"></a>00088 <span class="comment">// front: frontal part</span>
<a name="l00089"></a>00089 <span class="comment">// back: back part</span>
<a name="l00090"></a>00090 <span class="comment">// left: left side. Notice that the vehicle is symetric</span>
<a name="l00091"></a>00091 <span class="keywordtype">float</span> front,back,left;
<a name="l00092"></a>00092
<a name="l00093"></a>00093 <span class="comment">// --- CIRCULAR --- </span>
<a name="l00094"></a>00094 <span class="comment">// radius of the robot is is circular</span>
<a name="l00095"></a>00095 <span class="keywordtype">float</span> R;
<a name="l00096"></a>00096
<a name="l00097"></a>00097 <span class="comment">// MOTION</span>
<a name="l00098"></a>00098 <span class="comment">// The falg is 1 if the robot is holonomous, or 0 is diff-drive or syncro</span>
<a name="l00099"></a>00099 <span class="keywordtype">short</span> <span class="keywordtype">int</span> holonomic;
<a name="l00100"></a>00100
<a name="l00101"></a>00101 <span class="comment">// Maximum linear and angular velocities</span>
<a name="l00102"></a>00102 <span class="keywordtype">float</span> vlmax,vamax;
<a name="l00103"></a>00103
<a name="l00104"></a>00104 <span class="comment">// Maximum linear and angular acelerations</span>
<a name="l00105"></a>00105 <span class="keywordtype">float</span> almax,aamax;
<a name="l00106"></a>00106
<a name="l00107"></a>00107 <span class="comment">// OTHER STUFF</span>
<a name="l00108"></a>00108
<a name="l00109"></a>00109 <span class="comment">// -- SECURITY DISTANCE ---</span>
<a name="l00110"></a>00110 <span class="comment">// Distance to consider an obstacle dangerous (i.e. to start the avoidance maneouvre)</span>
<a name="l00111"></a>00111 <span class="comment">// dsmax: Distance from the frontal robot bounds.</span>
<a name="l00112"></a>00112 <span class="comment">// dsmin: Distance from the back robot bounds.</span>
<a name="l00113"></a>00113 <span class="comment">// engorde: Inner value. The suggestion is 20% of the dsmin (i.e. 0.2*dsmin)</span>
<a name="l00114"></a>00114 <span class="keywordtype">float</span> dsmax,dsmin,enlarge;
<a name="l00115"></a>00115
<a name="l00116"></a>00116 <span class="comment">// -- DISCONTINUITY --</span>
<a name="l00117"></a>00117 <span class="comment">// Minimum space where the robot fits. I suggest same value than "izquierda" value.</span>
<a name="l00118"></a>00118 <span class="keywordtype">float</span> discontinuity;
<a name="l00119"></a>00119
<a name="l00120"></a>00120 <span class="comment">// -- SAMPLING PERIOD --</span>
<a name="l00121"></a>00121 <span class="keywordtype">float</span> T;
<a name="l00122"></a>00122
<a name="l00123"></a>00123 <span class="comment">// LASER</span>
<a name="l00124"></a>00124 <span class="comment">// Distance from the wheels axis to the laser, X axis.</span>
<a name="l00125"></a>00125 <span class="comment">//float laser; </span>
<a name="l00126"></a>00126
<a name="l00127"></a>00127 } <a class="code" href="structTParametersND.html">TParametersND</a>;
<a name="l00128"></a>00128
<a name="l00129"></a>00129 <span class="comment">// **************************************</span>
<a name="l00130"></a>00130
<a name="l00131"></a>00131
<a name="l00132"></a>00132
<a name="l00133"></a>00133
<a name="l00134"></a>00134
<a name="l00135"></a>00135
<a name="l00136"></a>00136 <span class="comment">// ************************</span>
<a name="l00137"></a>00137
<a name="l00138"></a>00138 <span class="comment">// TVelocities (information of linear v, and angular velocities w)</span>
<a name="l00139"></a>00139
<a name="l00140"></a><a class="code" href="structTVelocities.html">00140</a> <span class="keyword">typedef</span> <span class="keyword">struct </span>{
<a name="l00141"></a>00141 <span class="keywordtype">float</span> v; <span class="comment">// linear velocity</span>
<a name="l00142"></a>00142 <span class="keywordtype">float</span> w; <span class="comment">// angular velocity</span>
<a name="l00143"></a>00143 <span class="keywordtype">float</span> v_theta; <span class="comment">// velocity angle (just if holonomous vehicle)</span>
<a name="l00144"></a>00144 } <a class="code" href="structTVelocities.html">TVelocities</a>;
<a name="l00145"></a>00145
<a name="l00146"></a>00146 <span class="comment">// **************************************</span>
<a name="l00147"></a>00147
<a name="l00148"></a>00148
<a name="l00149"></a>00149
<a name="l00150"></a>00150
<a name="l00151"></a>00151
<a name="l00152"></a>00152 <span class="comment">// ************************</span>
<a name="l00153"></a>00153
<a name="l00154"></a>00154 <span class="comment">// TInfoMovimiento (information of the robot)</span>
<a name="l00155"></a>00155
<a name="l00156"></a><a class="code" href="structTInfoMovimiento.html">00156</a> <span class="keyword">typedef</span> <span class="keyword">struct </span>{
<a name="l00157"></a>00157 <a class="code" href="structTSR.html">TSR</a> SR1; <span class="comment">// Current vehicle location in GLOBAL coordinates</span>
<a name="l00158"></a>00158 <a class="code" href="structTVelocities.html">TVelocities</a> velocidades; <span class="comment">// Current vehicle velocities</span>
<a name="l00159"></a>00159 } <a class="code" href="structTInfoMovimiento.html">TInfoMovimiento</a>;
<a name="l00160"></a>00160
<a name="l00161"></a>00161 <span class="comment">// **************************************</span>
<a name="l00162"></a>00162
<a name="l00163"></a>00163
<a name="l00164"></a>00164
<a name="l00165"></a>00165
<a name="l00166"></a>00166 <span class="comment">// ************************</span>
<a name="l00167"></a>00167
<a name="l00168"></a>00168 <span class="comment">// TInfoEntorno (list of obstacle points)</span>
<a name="l00169"></a>00169
<a name="l00170"></a>00170 <span class="comment">// Maximum number of points of the environment</span>
<a name="l00171"></a>00171 <span class="comment">// This number depends on the maximum number of obstacle points that </span>
<a name="l00172"></a>00172 <span class="comment">// you want to give to the ND</span>
<a name="l00173"></a>00173
<a name="l00174"></a>00174 <span class="comment">//#define MAX_POINTS_SCENARIO 1440</span>
<a name="l00175"></a>00175 <span class="preprocessor">#define MAX_POINTS_SCENARIO 10000</span>
<a name="l00176"></a>00176 <span class="preprocessor"></span>
<a name="l00177"></a><a class="code" href="structTInfoEntorno.html">00177</a> <span class="keyword">typedef</span> <span class="keyword">struct </span>{
<a name="l00178"></a>00178 <span class="keywordtype">int</span> longitud;
<a name="l00179"></a>00179 <a class="code" href="structTCoordenadas.html">TCoordenadas</a> punto[MAX_POINTS_SCENARIO];
<a name="l00180"></a>00180 } <a class="code" href="structTInfoEntorno.html">TInfoEntorno</a>;
<a name="l00181"></a>00181
<a name="l00182"></a>00182 <span class="comment">// **************************************</span>
<a name="l00183"></a>00183
<a name="l00184"></a>00184
<a name="l00185"></a>00185
<a name="l00186"></a>00186
<a name="l00187"></a>00187
<a name="l00188"></a>00188 <span class="comment">// ----------------------------------------------------------------------------</span>
<a name="l00189"></a>00189 <span class="comment">// FUNCTIONS</span>
<a name="l00190"></a>00190 <span class="comment">// ----------------------------------------------------------------------------</span>
<a name="l00191"></a>00191
<a name="l00192"></a>00192
<a name="l00193"></a>00193
<a name="l00194"></a>00194
<a name="l00195"></a>00195 <span class="comment">// **********************************</span>
<a name="l00196"></a>00196 <span class="comment">// This function initialites the ND</span>
<a name="l00197"></a>00197 <span class="comment">// Input--</span>
<a name="l00198"></a>00198 <span class="comment">// parametros:: information of the robot and laser used by the ND </span>
<a name="l00199"></a>00199 <span class="comment">// Ouput--</span>
<a name="l00200"></a>00200
<a name="l00201"></a>00201 <span class="keywordtype">void</span> InicializarND(<a class="code" href="structTParametersND.html">TParametersND</a> *parametros);
<a name="l00202"></a>00202
<a name="l00203"></a>00203 <span class="comment">// **********************************</span>
<a name="l00204"></a>00204
<a name="l00205"></a>00205
<a name="l00206"></a>00206
<a name="l00207"></a>00207
<a name="l00208"></a>00208
<a name="l00209"></a>00209
<a name="l00210"></a>00210 <span class="comment">// **********************************</span>
<a name="l00211"></a>00211 <span class="comment">// This runs the ND. The input is the current obstacle list and the goal location</span>
<a name="l00212"></a>00212 <span class="comment">// and the output the motion command. </span>
<a name="l00213"></a>00213 <span class="comment">// Input--</span>
<a name="l00214"></a>00214 <span class="comment">// objetivo:: current objective in GLOBAL coordinates. Notice that this</span>
<a name="l00215"></a>00215 <span class="comment">// location can change each time you call ND.</span>
<a name="l00216"></a>00216 <span class="comment">// movimiento:: this is the current velocity of the robot.</span>
<a name="l00217"></a>00217 <span class="comment">// mapa:: this is a list of the obstacle points in global coordinates. </span>
<a name="l00218"></a>00218 <span class="comment">// You can use the current sensor reading or implement a kind of memory</span>
<a name="l00219"></a>00219 <span class="comment">// to remember last scans. Whatever, ND wants a list of points in GLOBAL coordinates. </span>
<a name="l00220"></a>00220 <span class="comment">// information:: variable for debug.</span>
<a name="l00221"></a>00221 <span class="comment">// </span>
<a name="l00222"></a>00222 <span class="comment">// Ouput--</span>
<a name="l00223"></a>00223 <span class="comment">// movimiento:: this is the output of the ND. </span>
<a name="l00224"></a>00224 <span class="comment">// * Linear and angular velocities (and direction if holonomic).</span>
<a name="l00225"></a>00225 <span class="comment">// * NULL an emergency stop is required</span>
<a name="l00226"></a>00226 <span class="comment">// * pointer to (0,0) goal reached.</span>
<a name="l00227"></a>00227
<a name="l00228"></a>00228 <span class="keyword">extern</span> <a class="code" href="structTVelocities.html">TVelocities</a> *IterarND(<a class="code" href="structTCoordenadas.html">TCoordenadas</a> objetivo,
<a name="l00229"></a>00229 <span class="keywordtype">float</span> goal_tol,
<a name="l00230"></a>00230 <a class="code" href="structTInfoMovimiento.html">TInfoMovimiento</a> *movimiento,
<a name="l00231"></a>00231 <a class="code" href="structTInfoEntorno.html">TInfoEntorno</a> *mapa,
<a name="l00232"></a>00232 <span class="keywordtype">void</span> *informacion);
<a name="l00233"></a>00233 <span class="comment">// if you do not want to see the internal information in nh2.h informacion = NULL</span>
<a name="l00234"></a>00234
<a name="l00235"></a>00235 <span class="comment">// **********************************</span>
<a name="l00236"></a>00236
<a name="l00237"></a>00237
<a name="l00238"></a>00238 <span class="preprocessor">#endif </span>
<a name="l00239"></a>00239 <span class="preprocessor"></span>
</pre></div></div>
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Last updated 12 September 2005 21:38:45
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