<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"> <html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1"> <title>The MRPT project: mrpt::reactivenav::CHolonomicVFF Class Reference</title> <link href="doxygen.css" rel="stylesheet" type="text/css"> <link href="tabs.css" rel="stylesheet" type="text/css"> </head><body> <div align="left"><a href="http://www.mrpt.org/">Main MRPT website</a> > <b>C++ reference</b> </div> <div align="right"> <a href="index.html"><img border="0" src="mrpt_logo.png" alt="MRPT logo"></a> </div> <!-- Generated by Doxygen 1.7.2 --> <script type="text/javascript"><!-- var searchBox = new SearchBox("searchBox", "search",false,'Search'); --></script> <div class="navigation" id="top"> <div class="tabs"> <ul class="tablist"> <li><a href="index.html"><span>Main Page</span></a></li> <li><a href="pages.html"><span>Related Pages</span></a></li> <li><a href="modules.html"><span>Modules</span></a></li> <li><a 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href="namespacemrpt.html">mrpt</a> </li> <li><a class="el" href="namespacemrpt_1_1reactivenav.html">reactivenav</a> </li> <li><a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_v_f_f.html">CHolonomicVFF</a> </li> </ul> </div> </div> <div class="header"> <div class="summary"> <a href="#pub-methods">Public Member Functions</a> </div> <div class="headertitle"> <h1>mrpt::reactivenav::CHolonomicVFF Class Reference</h1> </div> </div> <div class="contents"> <!-- doxytag: class="mrpt::reactivenav::CHolonomicVFF" --><!-- doxytag: inherits="mrpt::reactivenav::CAbstractHolonomicReactiveMethod" --><hr/><a name="_details"></a><h2>Detailed Description</h2> <p>A holonomic reactive navigation method, based on Virtual Force Fields (VFF). </p> <dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1reactivenav_1_1_c_abstract_holonomic_reactive_method.html" title="A base class for holonomic reactive navigation methods.">CAbstractHolonomicReactiveMethod</a>,<a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html" title="Implements a reactive navigation system based on TP-Space, with an arbitrary holonomic reactive metho...">CReactiveNavigationSystem</a> </dd></dl> <p>Definition at line <a class="el" href="_c_holonomic_v_f_f_8h_source.html#l00059">59</a> of file <a class="el" href="_c_holonomic_v_f_f_8h_source.html">CHolonomicVFF.h</a>.</p> <p><code>#include <<a class="el" href="_c_holonomic_v_f_f_8h_source.html">mrpt/reactivenav/CHolonomicVFF.h</a>></code></p> <!-- startSectionHeader --><div class="dynheader"> Inheritance diagram for mrpt::reactivenav::CHolonomicVFF:<!-- endSectionHeader --></div> <!-- startSectionSummary --><!-- endSectionSummary --><!-- startSectionContent --><div class="dyncontent"> <div class="center"><img src="classmrpt_1_1reactivenav_1_1_c_holonomic_v_f_f__inherit__graph.png" border="0" usemap="#mrpt_1_1reactivenav_1_1_c_holonomic_v_f_f_inherit__map" alt="Inheritance graph"/></div> <map name="mrpt_1_1reactivenav_1_1_c_holonomic_v_f_f_inherit__map" id="mrpt_1_1reactivenav_1_1_c_holonomic_v_f_f_inherit__map"> </map> <center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center><!-- endSectionContent --></div> <p><a href="classmrpt_1_1reactivenav_1_1_c_holonomic_v_f_f-members.html">List of all members.</a></p> <table class="memberdecls"> <tr><td colspan="2"><h2><a name="pub-methods"></a> Public Member Functions</h2></td></tr> <tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_v_f_f.html#a8060e661be1109e530af36bd86de7733">CHolonomicVFF</a> (const <a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> *INI_FILE=NULL)</td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Initialize the parameters of the navigator, from some configuration file, or default values if set to NULL. <a href="#a8060e661be1109e530af36bd86de7733"></a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_v_f_f.html#ab1dd83a1752323299a60ec3623e4aa57">navigate</a> (<a class="el" href="classmrpt_1_1poses_1_1_c_point2_d.html">poses::CPoint2D</a> &target, <a class="el" href="structmrpt_1_1dynamicsize__vector.html">vector_double</a> &obstacles, double maxRobotSpeed, double &desiredDirection, double &desiredSpeed, <a class="el" href="structmrpt_1_1reactivenav_1_1_c_holonomic_log_file_record_ptr.html">CHolonomicLogFileRecordPtr</a> &logRecord)</td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">This method performs the holonomic navigation itself. <a href="#ab1dd83a1752323299a60ec3623e4aa57"></a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_v_f_f.html#a4ae1eeee36acabf29240b9f027c1f6d0">initialize</a> (const <a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> &INI_FILE)</td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Initialize the parameters of the navigator. <a href="#a4ae1eeee36acabf29240b9f027c1f6d0"></a><br/></td></tr> </table> <hr/><h2>Constructor & Destructor Documentation</h2> <a class="anchor" id="a8060e661be1109e530af36bd86de7733"></a><!-- doxytag: member="mrpt::reactivenav::CHolonomicVFF::CHolonomicVFF" ref="a8060e661be1109e530af36bd86de7733" args="(const mrpt::utils::CConfigFileBase *INI_FILE=NULL)" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">mrpt::reactivenav::CHolonomicVFF::CHolonomicVFF </td> <td>(</td> <td class="paramtype">const <a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> * </td> <td class="paramname"> <em>INI_FILE</em> = <code>NULL</code> )</td> <td></td> </tr> </table> </div> <div class="memdoc"> <p>Initialize the parameters of the navigator, from some configuration file, or default values if set to NULL. </p> </div> </div> <hr/><h2>Member Function Documentation</h2> <a class="anchor" id="a4ae1eeee36acabf29240b9f027c1f6d0"></a><!-- doxytag: member="mrpt::reactivenav::CHolonomicVFF::initialize" ref="a4ae1eeee36acabf29240b9f027c1f6d0" args="(const mrpt::utils::CConfigFileBase &INI_FILE)" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">void mrpt::reactivenav::CHolonomicVFF::initialize </td> <td>(</td> <td class="paramtype">const <a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> & </td> <td class="paramname"> <em>INI_FILE</em> )</td> <td><code> [virtual]</code></td> </tr> </table> </div> <div class="memdoc"> <p>Initialize the parameters of the navigator. </p> <p>Implements <a class="el" href="classmrpt_1_1reactivenav_1_1_c_abstract_holonomic_reactive_method.html#aae7a969c8bdf9473684ca05957d0e59a">mrpt::reactivenav::CAbstractHolonomicReactiveMethod</a>.</p> </div> </div> <a class="anchor" id="ab1dd83a1752323299a60ec3623e4aa57"></a><!-- doxytag: member="mrpt::reactivenav::CHolonomicVFF::navigate" ref="ab1dd83a1752323299a60ec3623e4aa57" args="(poses::CPoint2D &target, vector_double &obstacles, double maxRobotSpeed, double &desiredDirection, double &desiredSpeed, CHolonomicLogFileRecordPtr &logRecord)" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">void mrpt::reactivenav::CHolonomicVFF::navigate </td> <td>(</td> <td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_point2_d.html">poses::CPoint2D</a> & </td> <td class="paramname"> <em>target</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype"><a class="el" href="structmrpt_1_1dynamicsize__vector.html">vector_double</a> & </td> <td class="paramname"> <em>obstacles</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">double </td> <td class="paramname"> <em>maxRobotSpeed</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">double & </td> <td class="paramname"> <em>desiredDirection</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">double & </td> <td class="paramname"> <em>desiredSpeed</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype"><a class="el" href="structmrpt_1_1reactivenav_1_1_c_holonomic_log_file_record_ptr.html">CHolonomicLogFileRecordPtr</a> & </td> <td class="paramname"> <em>logRecord</em> </td> </tr> <tr> <td></td> <td>)</td> <td></td><td><code> [virtual]</code></td> </tr> </table> </div> <div class="memdoc"> <p>This method performs the holonomic navigation itself. </p> <dl><dt><b>Parameters:</b></dt><dd> <table class="params"> <tr><td class="paramname">target</td><td>[IN] The relative location (x,y) of target point. </td></tr> <tr><td class="paramname">obstacles</td><td>[IN] Distance to obstacles from robot location (0,0). First index refers to -PI direction, and last one to +PI direction. Distances can be dealed as "meters", although they are "pseudometers", see note below. </td></tr> <tr><td class="paramname">maxRobotSpeed</td><td>[IN] Maximum robot speed, in "pseudometers/sec". See note below. </td></tr> <tr><td class="paramname">desiredDirection</td><td>[OUT] The desired motion direction, in the range [-PI,PI] </td></tr> <tr><td class="paramname">desiredSpeed</td><td>[OUT] The desired motion speed in that direction, in "pseudometers"/sec. (See note below) </td></tr> <tr><td class="paramname">logRecord</td><td>[IN/OUT] A placeholder for a pointer to a log record with extra info about the execution. Set to NULL if not required. User <b>must free memory</b> using "delete logRecord" after using it.</td></tr> </table> </dd> </dl> <p>NOTE: With "pseudometers" we refer to the distance unit in TP-Space, thus: <br/> </p> <center><code>pseudometer<sup>2</sup>= meter<sup>2</sup> + (rad ยท r)<sup>2</sup></code><br/> </center> <p>Implements <a class="el" href="classmrpt_1_1reactivenav_1_1_c_abstract_holonomic_reactive_method.html#ab9f4927e27f5febc673b5af7de5f5aa9">mrpt::reactivenav::CAbstractHolonomicReactiveMethod</a>.</p> </div> </div> </div> <br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.2</a> for MRPT 0.9.4 SVN: at Mon Jan 10 22:30:30 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>