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<h1>CAbstractReactiveNavigationSystem.h</h1> </div>
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<a href="_c_abstract_reactive_navigation_system_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://mrpt.sourceforge.net/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef CAbstractReactiveNavigationSystem_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CAbstractReactiveNavigationSystem_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="maps_8h.html">mrpt/maps.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="poses_8h.html">mrpt/poses.h</a>></span>
<a name="l00033"></a>00033
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="reactivenav_2include_2mrpt_2reactivenav_2link__pragmas_8h.html">mrpt/reactivenav/link_pragmas.h</a>></span>
<a name="l00035"></a>00035
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="preprocessor">#include <cstdarg></span>
<a name="l00038"></a>00038
<a name="l00039"></a>00039 <span class="keyword">namespace </span>mrpt
<a name="l00040"></a>00040 {
<a name="l00041"></a>00041 <span class="keyword">namespace </span>reactivenav
<a name="l00042"></a>00042 {
<a name="l00043"></a>00043 <span class="keyword">using namespace </span>mrpt;
<a name="l00044"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_interface_implementation.html">00044</a> <span class="keyword">using namespace </span>mrpt::slam;
<a name="l00045"></a>00045 <span class="keyword">using namespace </span>mrpt::poses;
<a name="l00046"></a>00046 <span class="comment"></span>
<a name="l00047"></a>00047 <span class="comment"> /** The pure virtual class that a user of CAbstractReactiveNavigationSystem-derived classes must implement in order to allow the navigator sense the world and send motion commands to the robot.</span>
<a name="l00048"></a>00048 <span class="comment"> *</span>
<a name="l00049"></a>00049 <span class="comment"> * The user must define a new class derived from CReactiveInterfaceImplementation and reimplement</span>
<a name="l00050"></a>00050 <span class="comment"> * all pure virtual and the desired virtual methods according to the documentation in this class.</span>
<a name="l00051"></a>00051 <span class="comment"> *</span>
<a name="l00052"></a>00052 <span class="comment"> * \sa CReactiveNavigationSystem, CAbstractReactiveNavigationSystem</span>
<a name="l00053"></a>00053 <span class="comment"> */</span>
<a name="l00054"></a>00054 <span class="keyword">class </span><a class="code" href="reactivenav_2include_2mrpt_2reactivenav_2link__pragmas_8h.html#aa2168e902b4c1dd548d6129461f0c519">REACTIVENAV_IMPEXP</a> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_interface_implementation.html" title="The pure virtual class that a user of CAbstractReactiveNavigationSystem-derived classes must implemen...">CReactiveInterfaceImplementation</a>
<a name="l00055"></a>00055 {
<a name="l00056"></a>00056 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00057"></a>00057 <span class="comment"> /** Get the current pose and speeds of the robot.</span>
<a name="l00058"></a>00058 <span class="comment"> * \param curPose Current robot pose.</span>
<a name="l00059"></a>00059 <span class="comment"> * \param curV Current linear speed, in meters per second.</span>
<a name="l00060"></a>00060 <span class="comment"> * \param curW Current angular speed, in radians per second.</span>
<a name="l00061"></a>00061 <span class="comment"> * \return false on any error.</span>
<a name="l00062"></a>00062 <span class="comment"> */</span>
<a name="l00063"></a>00063 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> getCurrentPoseAndSpeeds( <a class="code" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose.">mrpt::poses::CPose2D</a> &curPose, <span class="keywordtype">float</span> &curV, <span class="keywordtype">float</span> &curW) = 0;
<a name="l00064"></a>00064 <span class="comment"></span>
<a name="l00065"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_interface_implementation.html#a492e2caa47f7dc58f2e36fb9798a63bb">00065</a> <span class="comment"> /** Change the instantaneous speeds of robot.</span>
<a name="l00066"></a>00066 <span class="comment"> * \param v Linear speed, in meters per second.</span>
<a name="l00067"></a>00067 <span class="comment"> * \param w Angular speed, in radians per second.</span>
<a name="l00068"></a>00068 <span class="comment"> * \return false on any error.</span>
<a name="l00069"></a>00069 <span class="comment"> */</span>
<a name="l00070"></a>00070 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> changeSpeeds( <span class="keywordtype">float</span> v, <span class="keywordtype">float</span> w ) = 0;
<a name="l00071"></a>00071 <span class="comment"></span>
<a name="l00072"></a>00072 <span class="comment"> /** Stop the robot right now.</span>
<a name="l00073"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_interface_implementation.html#a2c1eaf4dc7631e133a8512a1669c77aa">00073</a> <span class="comment"> * \return false on any error.</span>
<a name="l00074"></a>00074 <span class="comment"> */</span>
<a name="l00075"></a>00075 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> stop() {
<a name="l00076"></a>00076 <span class="keywordflow">return</span> changeSpeeds(0,0);
<a name="l00077"></a>00077 }
<a name="l00078"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_interface_implementation.html#a97cd96cf3d001e5e5158a1246a0cb36c">00078</a> <span class="comment"></span>
<a name="l00079"></a>00079 <span class="comment"> /** Start the watchdog timer of the robot platform, if any.</span>
<a name="l00080"></a>00080 <span class="comment"> * \param T_ms Period, in ms.</span>
<a name="l00081"></a>00081 <span class="comment"> * \return false on any error.</span>
<a name="l00082"></a>00082 <span class="comment"> */</span>
<a name="l00083"></a>00083 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> startWatchdog(<span class="keywordtype">float</span> T_ms) { <span class="keywordflow">return</span> <span class="keyword">true</span>; }
<a name="l00084"></a>00084 <span class="comment"></span>
<a name="l00085"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_interface_implementation.html#a5fdfa5fbbb2df7bc9c9d38a57cdd4881">00085</a> <span class="comment"> /** Stop the watchdog timer.</span>
<a name="l00086"></a>00086 <span class="comment"> * \return false on any error.</span>
<a name="l00087"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_interface_implementation.html#a953f7697b09d28457ab07f1509f3d712">00087</a> <span class="comment"> */</span>
<a name="l00088"></a>00088 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> stopWatchdog() { <span class="keywordflow">return</span> <span class="keyword">true</span>; }
<a name="l00089"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_interface_implementation.html#ad5ea8765471c5b89956140c109636ffb">00089</a> <span class="comment"></span>
<a name="l00090"></a>00090 <span class="comment"> /** Return the current set of obstacle points.</span>
<a name="l00091"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_interface_implementation.html#a69ff8b55c4b9608fdf35c2a471fb938f">00091</a> <span class="comment"> * \return false on any error.</span>
<a name="l00092"></a>00092 <span class="comment"> */</span>
<a name="l00093"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_interface_implementation.html#ae8cb79aa7c0309f0d33fc146928d410b">00093</a> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> senseObstacles( <a class="code" href="classmrpt_1_1slam_1_1_c_simple_points_map.html" title="A cloud of points in 2D or 3D, which can be built from a sequence of laser scans.">mrpt::slam::CSimplePointsMap</a> &obstacles ) = 0;
<a name="l00094"></a>00094
<a name="l00095"></a>00095 <span class="keyword">virtual</span> <span class="keywordtype">void</span> sendNavigationStartEvent () { std::cout << <span class="stringliteral">"[sendNavigationStartEvent] Not implemented by the user."</span> << std::endl; }
<a name="l00096"></a>00096
<a name="l00097"></a>00097 <span class="keyword">virtual</span> <span class="keywordtype">void</span> sendNavigationEndEvent() { std::cout << <span class="stringliteral">"[sendNavigationEndEvent] Not implemented by the user."</span> << std::endl; }
<a name="l00098"></a>00098
<a name="l00099"></a>00099 <span class="keyword">virtual</span> <span class="keywordtype">void</span> sendNavigationEndDueToErrorEvent() { std::cout << <span class="stringliteral">"[sendNavigationEndDueToErrorEvent] Not implemented by the user."</span> << std::endl; }
<a name="l00100"></a>00100
<a name="l00101"></a>00101 <span class="keyword">virtual</span> <span class="keywordtype">void</span> sendWaySeemsBlockedEvent() { std::cout << <span class="stringliteral">"[sendWaySeemsBlockedEvent] Not implemented by the user."</span> << std::endl; }
<a name="l00102"></a>00102
<a name="l00103"></a>00103 <span class="keyword">virtual</span> <span class="keywordtype">void</span> notifyHeadingDirection(<span class="keyword">const</span> <span class="keywordtype">double</span> heading_dir_angle) { }
<a name="l00104"></a>00104
<a name="l00105"></a>00105 };
<a name="l00106"></a>00106
<a name="l00107"></a>00107
<a name="l00108"></a>00108 <span class="comment"></span>
<a name="l00109"></a>00109 <span class="comment"> /** This is the base class for any reactive navigation system. Here is defined</span>
<a name="l00110"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system.html">00110</a> <span class="comment"> * the interface that users will use with derived classes where algorithms are really implemented.</span>
<a name="l00111"></a>00111 <span class="comment"> *</span>
<a name="l00112"></a>00112 <span class="comment"> * Changes history:</span>
<a name="l00113"></a>00113 <span class="comment"> * - 30/JUN/2004: Creation (JLBC)</span>
<a name="l00114"></a>00114 <span class="comment"> * - 16/SEP/2004: Totally redesigned.</span>
<a name="l00115"></a>00115 <span class="comment"> * - 15/SEP/2005: Totally rewritten again, for integration into MRPT Applications Repository.</span>
<a name="l00116"></a>00116 <span class="comment"> * - 3/NOV/2009: All functors are finally replaced by the new virtual class CReactiveInterfaceImplementation</span>
<a name="l00117"></a>00117 <span class="comment"> *</span>
<a name="l00118"></a>00118 <span class="comment"> * \sa CReactiveNavigationSystem, CReactiveInterfaceImplementation</span>
<a name="l00119"></a>00119 <span class="comment"> */</span>
<a name="l00120"></a>00120 <span class="keyword">class </span><a class="code" href="reactivenav_2include_2mrpt_2reactivenav_2link__pragmas_8h.html#aa2168e902b4c1dd548d6129461f0c519">REACTIVENAV_IMPEXP</a> <a class="code" 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> : <span class="keyword">public</span> mrpt::utils::<a class="code" href="classmrpt_1_1utils_1_1_c_debug_output_capable.html" title="This base class provides a common printf-like method to send debug information to std::cout...">CDebugOutputCapable</a>
<a name="l00121"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system.html#a9a31bbb7ca1d9943ecec004cc69f4269">00121</a> {
<a name="l00122"></a>00122 <span class="keyword">public</span>:
<a name="l00123"></a>00123 <span class="keyword">struct </span><a class="code" href="structmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system_1_1_t_navigation_params.html" title="The struct for configuring the navigation request.">TNavigationParams</a>;
<a name="l00124"></a>00124 <span class="comment"></span>
<a name="l00125"></a>00125 <span class="comment"> /** Constructor</span>
<a name="l00126"></a>00126 <span class="comment"> */</span>
<a name="l00127"></a>00127 <a class="code" 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="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_interface_implementation.html" title="The pure virtual class that a user of CAbstractReactiveNavigationSystem-derived classes must implemen...">CReactiveInterfaceImplementation</a> &react_iterf_impl );
<a name="l00128"></a>00128 <span class="comment"></span>
<a name="l00129"></a>00129 <span class="comment"> /** Destructor</span>
<a name="l00130"></a>00130 <span class="comment"> */</span>
<a name="l00131"></a>00131 <span class="keyword">virtual</span> ~<a class="code" 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 name="l00132"></a>00132 {
<a name="l00133"></a>00133 }
<a name="l00134"></a>00134 <span class="comment"></span>
<a name="l00135"></a>00135 <span class="comment"> /** Cancel current navegacion.</span>
<a name="l00136"></a>00136 <span class="comment"> */</span>
<a name="l00137"></a>00137 <span class="keywordtype">void</span> cancel();
<a name="l00138"></a>00138 <span class="comment"></span>
<a name="l00139"></a>00139 <span class="comment"> /** Continues with suspended navigation.</span>
<a name="l00140"></a>00140 <span class="comment"> * \sa suspend</span>
<a name="l00141"></a>00141 <span class="comment"> */</span>
<a name="l00142"></a>00142 <span class="keywordtype">void</span> resume();
<a name="l00143"></a>00143 <span class="comment"></span>
<a name="l00144"></a>00144 <span class="comment"> /** Evaluates the practicability of a navigation for given parameters:</span>
<a name="l00145"></a>00145 <span class="comment"> * \returns An estimation in the range [0,1], for 0 being imposible and 1 being easy.</span>
<a name="l00146"></a>00146 <span class="comment"> */</span>
<a name="l00147"></a>00147 <span class="keyword">virtual</span> <span class="keywordtype">float</span> evaluate( <a class="code" href="structmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system_1_1_t_navigation_params.html" title="The struct for configuring the navigation request.">TNavigationParams</a> *params )=0;
<a name="l00148"></a>00148 <span class="comment"></span>
<a name="l00149"></a>00149 <span class="comment"> /** This method must be called periodically in order to effectively run the navigation.</span>
<a name="l00150"></a>00150 <span class="comment"> */</span>
<a name="l00151"></a>00151 <span class="keywordtype">void</span> navigationStep();
<a name="l00152"></a>00152 <span class="comment"></span>
<a name="l00153"></a>00153 <span class="comment"> /** Navigation request. It starts a new navigation.</span>
<a name="l00154"></a>00154 <span class="comment"> */</span>
<a name="l00155"></a>00155 <span class="keyword">virtual</span> <span class="keywordtype">void</span> navigate( <a class="code" href="structmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system_1_1_t_navigation_params.html" title="The struct for configuring the navigation request.">TNavigationParams</a> *params )=0;
<a name="l00156"></a>00156 <span class="comment"></span>
<a name="l00157"></a>00157 <span class="comment"> /** Changes the parameters for current navigation</span>
<a name="l00158"></a><a class="code" href="structmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system_1_1_t_navigation_params.html">00158</a> <span class="comment"> */</span>
<a name="l00159"></a>00159 <span class="keyword">virtual</span> <span class="keywordtype">void</span> setParams( <a class="code" href="structmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system_1_1_t_navigation_params.html" title="The struct for configuring the navigation request.">TNavigationParams</a> *params)=0;
<a name="l00160"></a>00160 <span class="comment"></span>
<a name="l00161"></a>00161 <span class="comment"> /** Suspend current navegation</span>
<a name="l00162"></a><a class="code" href="structmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system_1_1_t_navigation_params.html#a26419c1091d20eb0ff2e3ca05b77cf76">00162</a> <span class="comment"> * \sa resume</span>
<a name="l00163"></a>00163 <span class="comment"> */</span>
<a name="l00164"></a>00164 <span class="keyword">virtual</span> <span class="keywordtype">void</span> suspend();
<a name="l00165"></a>00165 <span class="comment"></span>
<a name="l00166"></a><a class="code" href="structmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system_1_1_t_navigation_params.html#a2dc2e88a5f8de5d7c17db4a7a3619b52">00166</a> <span class="comment"> /** The struct for configuring the navigation request.</span>
<a name="l00167"></a>00167 <span class="comment"> */</span>
<a name="l00168"></a>00168 <span class="keyword">struct </span><a class="code" href="structmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system_1_1_t_navigation_params.html" title="The struct for configuring the navigation request.">TNavigationParams</a>
<a name="l00169"></a>00169 {<span class="comment"></span>
<a name="l00170"></a><a class="code" href="structmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system_1_1_t_navigation_params.html#a84093cc6fe1196caa5ab2bdedec1128f">00170</a> <span class="comment"> /** Coordinates of desired target location.</span>
<a name="l00171"></a>00171 <span class="comment"> */</span>
<a name="l00172"></a>00172 <a class="code" href="structmrpt_1_1math_1_1_t_point2_d.html" title="Lightweight 2D point.">mrpt::poses::TPoint2D</a> target;
<a name="l00173"></a>00173 <span class="comment"></span>
<a name="l00174"></a>00174 <span class="comment"> /** The allowed distance from target in order to end the navigation.</span>
<a name="l00175"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system.html#a68944a1b6b85dea98dd9e9580b59f4dc">00175</a> <span class="comment"> */</span>
<a name="l00176"></a>00176 <span class="keywordtype">float</span> targetAllowedDistance;
<a name="l00177"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system.html#a68944a1b6b85dea98dd9e9580b59f4dca5fec6c5b4fea24641ce46582c8687e74">00177</a> <span class="comment"></span>
<a name="l00178"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system.html#a68944a1b6b85dea98dd9e9580b59f4dca9f95d82bae1fa965a8b16c6c5e76c3ef">00178</a> <span class="comment"> /** The allowed distance from target in order to end the navigation.</span>
<a name="l00179"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system.html#a68944a1b6b85dea98dd9e9580b59f4dcaaa162a338a6c59e00b99f8b62e699815">00179</a> <span class="comment"> */</span>
<a name="l00180"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system.html#a68944a1b6b85dea98dd9e9580b59f4dca255aaf5c46fca2207cd07fc118c55356">00180</a> <span class="keywordtype">bool</span> targetIsRelative;
<a name="l00181"></a>00181 };
<a name="l00182"></a>00182 <span class="comment"></span>
<a name="l00183"></a>00183 <span class="comment"> /** The different states for the navigation system.</span>
<a name="l00184"></a>00184 <span class="comment"> */</span>
<a name="l00185"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system.html#ac255eb7e83e6e9e94ae4763726519bbf">00185</a> <span class="keyword">enum</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system.html#a68944a1b6b85dea98dd9e9580b59f4dc" title="The different states for the navigation system.">TState</a>
<a name="l00186"></a>00186 {
<a name="l00187"></a>00187 IDLE=0,
<a name="l00188"></a>00188 NAVIGATING,
<a name="l00189"></a>00189 SUSPENDED,
<a name="l00190"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system.html#a68a963b2421c36d3a86008148defe1e4">00190</a> NAV_ERROR
<a name="l00191"></a>00191 };
<a name="l00192"></a>00192 <span class="comment"></span>
<a name="l00193"></a>00193 <span class="comment"> /** Returns the current navigator state.</span>
<a name="l00194"></a>00194 <span class="comment"> */</span>
<a name="l00195"></a>00195 TState getCurrentState()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_navigationState; }
<a name="l00196"></a>00196
<a name="l00197"></a>00197 <span class="keyword">private</span>:<span class="comment"></span>
<a name="l00198"></a>00198 <span class="comment"> /** Last internal state of navigator:</span>
<a name="l00199"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system.html#a5936f91b0ce54ee0b68df5a40b9d64db">00199</a> <span class="comment"> */</span>
<a name="l00200"></a>00200 <a class="code" href="classmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system.html#a68944a1b6b85dea98dd9e9580b59f4dc" title="The different states for the navigation system.">TState</a> m_lastNavigationState;
<a name="l00201"></a>00201
<a name="l00202"></a>00202 <span class="keyword">protected</span>:<span class="comment"></span>
<a name="l00203"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system.html#a967a2c01094c3505e9e2a3a99ea07164">00203</a> <span class="comment"> /** To be implemented in derived classes</span>
<a name="l00204"></a>00204 <span class="comment"> */</span>
<a name="l00205"></a>00205 <span class="keyword">virtual</span> <span class="keywordtype">void</span> performNavigationStep( )=0;
<a name="l00206"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system.html#a333cafd09dd53e92f6d57b9876dae7a9">00206</a> <span class="comment"></span>
<a name="l00207"></a>00207 <span class="comment"> /** Current internal state of navigator:</span>
<a name="l00208"></a>00208 <span class="comment"> */</span>
<a name="l00209"></a>00209 <a class="code" href="classmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system.html#a68944a1b6b85dea98dd9e9580b59f4dc" title="The different states for the navigation system.">TState</a> m_navigationState;
<a name="l00210"></a>00210 <span class="comment"></span>
<a name="l00211"></a>00211 <span class="comment"> /** Current navigation parameters:</span>
<a name="l00212"></a>00212 <span class="comment"> */</span>
<a name="l00213"></a>00213 <a class="code" href="structmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system_1_1_t_navigation_params.html" title="The struct for configuring the navigation request.">TNavigationParams</a> m_navigationParams;
<a name="l00214"></a>00214
<a name="l00215"></a>00215
<a name="l00216"></a>00216 <a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_interface_implementation.html" title="The pure virtual class that a user of CAbstractReactiveNavigationSystem-derived classes must implemen...">CReactiveInterfaceImplementation</a> &m_robot; <span class="comment">//!< The navigator-robot interface.</span>
<a name="l00217"></a>00217 <span class="comment"></span>
<a name="l00218"></a>00218 };
<a name="l00219"></a>00219 }
<a name="l00220"></a>00220 }
<a name="l00221"></a>00221
<a name="l00222"></a>00222
<a name="l00223"></a>00223 <span class="preprocessor">#endif</span>
<a name="l00224"></a>00224 <span class="preprocessor"></span>
</pre></div></div>
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