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<div class="title">CReactiveNavigationSystem.h</div> </div>
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<a href="_c_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://www.mrpt.org/ |</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 CReactiveNavigationSystem_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CReactiveNavigationSystem_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 <span class="preprocessor">#include <<a class="code" href="math_8h.html">mrpt/math.h</a>></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="synch_8h.html">mrpt/synch.h</a>></span>
<a name="l00035"></a>00035 <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="l00036"></a>00036
<a name="l00037"></a>00037 <span class="preprocessor">#include "<a class="code" href="_c_abstract_reactive_navigation_system_8h.html">CAbstractReactiveNavigationSystem.h</a>"</span>
<a name="l00038"></a>00038 <span class="preprocessor">#include "<a class="code" href="_c_parameterized_trajectory_generator_8h.html">CParameterizedTrajectoryGenerator.h</a>"</span>
<a name="l00039"></a>00039 <span class="preprocessor">#include "<a class="code" href="_c_log_file_record_8h.html">CLogFileRecord.h</a>"</span>
<a name="l00040"></a>00040 <span class="preprocessor">#include "<a class="code" href="_c_abstract_holonomic_reactive_method_8h.html">CAbstractHolonomicReactiveMethod.h</a>"</span>
<a name="l00041"></a>00041 <span class="preprocessor">#include "<a class="code" href="_c_holonomic_v_f_f_8h.html">CHolonomicVFF.h</a>"</span>
<a name="l00042"></a>00042 <span class="preprocessor">#include "<a class="code" href="_c_holonomic_n_d_8h.html">CHolonomicND.h</a>"</span>
<a name="l00043"></a>00043
<a name="l00044"></a>00044 <span class="keyword">namespace </span>mrpt
<a name="l00045"></a>00045 {<span class="comment"></span>
<a name="l00046"></a>00046 <span class="comment"> /** This namespace contains classes for building a TP-Space Reactive Navigation System.</span>
<a name="l00047"></a>00047 <span class="comment"> */</span>
<a name="l00048"></a>00048 <span class="keyword">namespace </span>reactivenav
<a name="l00049"></a>00049 {<span class="comment"></span>
<a name="l00050"></a>00050 <span class="comment"> /** The implemented reactive navigation methods</span>
<a name="l00051"></a>00051 <span class="comment"> * \ingroup mrpt_reactivenav_grp</span>
<a name="l00052"></a>00052 <span class="comment"> */</span>
<a name="l00053"></a><a class="code" href="group__mrpt__reactivenav__grp.html#ga8e18db1c4f4a7eb6b4a8d85a2731b0b8">00053</a> <span class="keyword">enum</span> <a class="code" href="group__mrpt__reactivenav__grp.html#ga8e18db1c4f4a7eb6b4a8d85a2731b0b8" title="The implemented reactive navigation methods.">THolonomicMethod</a>
<a name="l00054"></a>00054 {
<a name="l00055"></a><a class="code" href="group__mrpt__reactivenav__grp.html#gga8e18db1c4f4a7eb6b4a8d85a2731b0b8adcbce8cdd6b643badd6d283938228322">00055</a> <a class="code" href="group__mrpt__reactivenav__grp.html#gga8e18db1c4f4a7eb6b4a8d85a2731b0b8adcbce8cdd6b643badd6d283938228322">hmVIRTUAL_FORCE_FIELDS</a> = 0,
<a name="l00056"></a><a class="code" href="group__mrpt__reactivenav__grp.html#gga8e18db1c4f4a7eb6b4a8d85a2731b0b8a5db2e3aa549fd696c90d74add8bfaabb">00056</a> <a class="code" href="group__mrpt__reactivenav__grp.html#gga8e18db1c4f4a7eb6b4a8d85a2731b0b8a5db2e3aa549fd696c90d74add8bfaabb">hmSEARCH_FOR_BEST_GAP</a> = 1
<a name="l00057"></a>00057 };
<a name="l00058"></a>00058 <span class="comment"></span>
<a name="l00059"></a>00059 <span class="comment"> /** Implements a reactive navigation system based on TP-Space, with an arbitrary holonomic</span>
<a name="l00060"></a>00060 <span class="comment"> * reactive method running on it, and any desired number of PTG for transforming the navigation space.</span>
<a name="l00061"></a>00061 <span class="comment"> * Both, the holonomic method and the PTGs can be customized by the apropriate user derived classes.</span>
<a name="l00062"></a>00062 <span class="comment"> *</span>
<a name="l00063"></a>00063 <span class="comment"> * How to use:</span>
<a name="l00064"></a>00064 <span class="comment"> * - A class with callbacks must be defined by the user and provided to the constructor.</span>
<a name="l00065"></a>00065 <span class="comment"> * - loadConfigFile() must be called to set up the bunch of parameters from a config file (could be a memory-based virtual config file).</span>
<a name="l00066"></a>00066 <span class="comment"> * - navigationStep() must be called periodically in order to effectively run the navigation. This method will internally call the callbacks to gather sensor data and robot positioning data.</span>
<a name="l00067"></a>00067 <span class="comment"> *</span>
<a name="l00068"></a>00068 <span class="comment"> * - 17/JUN/2004: First design.</span>
<a name="l00069"></a>00069 <span class="comment"> * - 16/SEP/2004: Totally redesigned, according to document "MultiParametric Based Space Transformation for Reactive Navigation"</span>
<a name="l00070"></a>00070 <span class="comment"> * - 29/SEP/2005: Totally rewritten again, for integration into MRPT library and according to the ICRA paper.</span>
<a name="l00071"></a>00071 <span class="comment"> * - 17/OCT/2007: Whole code updated to accomodate to MRPT 0.5 and make it portable to Linux.</span>
<a name="l00072"></a>00072 <span class="comment"> *</span>
<a name="l00073"></a>00073 <span class="comment"> * \sa CAbstractReactiveNavigationSystem, CParameterizedTrajectoryGenerator, CAbstractHolonomicReactiveMethod</span>
<a name="l00074"></a>00074 <span class="comment"> * \ingroup mrpt_reactivenav_grp</span>
<a name="l00075"></a>00075 <span class="comment"> */</span>
<a name="l00076"></a>00076 <span class="keyword">class </span><a class="code" href="reactivenav_2include_2mrpt_2reactivenav_2link__pragmas_8h.html#aa2168e902b4c1dd548d6129461f0c519">REACTIVENAV_IMPEXP</a> CReactiveNavigationSystem : <span class="keyword">public</span> CAbstractReactiveNavigationSystem
<a name="l00077"></a>00077 {
<a name="l00078"></a>00078 <span class="keyword">public</span>:
<a name="l00079"></a>00079 <a class="code" href="_core.html">EIGEN_MAKE_ALIGNED_OPERATOR_NEW</a>
<a name="l00080"></a>00080 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00081"></a>00081 <span class="comment"> /** Constructor</span>
<a name="l00082"></a>00082 <span class="comment"> * \param configINIFile The file to load the configuration from. See loadConfigFile</span>
<a name="l00083"></a>00083 <span class="comment"> * \param robotConfigFile The file to load the robot specific configuration from.</span>
<a name="l00084"></a>00084 <span class="comment"> * \param rmc A set of wrappers that must be filled in.</span>
<a name="l00085"></a>00085 <span class="comment"> * \param sensors A set of wrappers that must be filled in.</span>
<a name="l00086"></a>00086 <span class="comment"> * \param dbg A set of wrappers that must be filled in.</span>
<a name="l00087"></a>00087 <span class="comment"> * \param evnts A set of wrappers that must be filled in.</span>
<a name="l00088"></a>00088 <span class="comment"> * \param enableConsoleOutput Set to false if console output is not desired.</span>
<a name="l00089"></a>00089 <span class="comment"> * \param enableLogFile Set to true to enable logging to file.</span>
<a name="l00090"></a>00090 <span class="comment"> */</span>
<a name="l00091"></a>00091 CReactiveNavigationSystem(
<a name="l00092"></a>00092 CReactiveInterfaceImplementation &react_iterf_impl,
<a name="l00093"></a>00093 <span class="keywordtype">bool</span> enableConsoleOutput = <span class="keyword">true</span>,
<a name="l00094"></a>00094 <span class="keywordtype">bool</span> enableLogFile = <span class="keyword">false</span>);
<a name="l00095"></a>00095 <span class="comment"></span>
<a name="l00096"></a>00096 <span class="comment"> /** Destructor</span>
<a name="l00097"></a>00097 <span class="comment"> */</span>
<a name="l00098"></a>00098 <span class="keyword">virtual</span> ~CReactiveNavigationSystem();
<a name="l00099"></a>00099 <span class="comment"></span>
<a name="l00100"></a>00100 <span class="comment"> /** Reload the configuration from a file</span>
<a name="l00101"></a>00101 <span class="comment"> */</span>
<a name="l00102"></a>00102 <span class="keywordtype">void</span> loadConfigFile(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_config_file_base.html" title="This class allows loading and storing values and vectors of different types from a configuration text...">mrpt::utils::CConfigFileBase</a> &ini, <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_config_file_base.html" title="This class allows loading and storing values and vectors of different types from a configuration text...">mrpt::utils::CConfigFileBase</a> &robotIni);
<a name="l00103"></a>00103 <span class="comment"></span>
<a name="l00104"></a>00104 <span class="comment"> /** Must be called for loading collision grids, or the first navigation</span>
<a name="l00105"></a>00105 <span class="comment"> * command may last a long time to be executed.</span>
<a name="l00106"></a>00106 <span class="comment"> */</span>
<a name="l00107"></a>00107 <span class="keywordtype">void</span> initialize();
<a name="l00108"></a>00108 <span class="comment"></span>
<a name="l00109"></a>00109 <span class="comment"> /** Evaluate navigation hardness:</span>
<a name="l00110"></a>00110 <span class="comment"> */</span>
<a name="l00111"></a>00111 <span class="keywordtype">float</span> evaluate( TNavigationParams *params );
<a name="l00112"></a>00112 <span class="comment"></span>
<a name="l00113"></a>00113 <span class="comment"> /** Start navigation:</span>
<a name="l00114"></a>00114 <span class="comment"> */</span>
<a name="l00115"></a>00115 <span class="keywordtype">void</span> navigate( TNavigationParams *params );
<a name="l00116"></a>00116 <span class="comment"></span>
<a name="l00117"></a>00117 <span class="comment"> /** Change current navigation params:</span>
<a name="l00118"></a>00118 <span class="comment"> */</span>
<a name="l00119"></a>00119 <span class="keywordtype">void</span> setParams( TNavigationParams *params );
<a name="l00120"></a>00120 <span class="comment"></span>
<a name="l00121"></a>00121 <span class="comment"> /** Selects which one from the set of available holonomic methods will be used</span>
<a name="l00122"></a>00122 <span class="comment"> * into transformed TP-Space, and sets its configuration from a configuration file.</span>
<a name="l00123"></a>00123 <span class="comment"> */</span>
<a name="l00124"></a>00124 <span class="keywordtype">void</span> setHolonomicMethod(
<a name="l00125"></a>00125 <a class="code" href="group__mrpt__reactivenav__grp.html#ga8e18db1c4f4a7eb6b4a8d85a2731b0b8" title="The implemented reactive navigation methods.">THolonomicMethod</a> method,
<a name="l00126"></a>00126 <span class="keyword">const</span> <span class="keywordtype">char</span> *config_INIfile = <span class="stringliteral">"./CONFIG_ReactiveNavigator.ini"</span>);
<a name="l00127"></a>00127 <span class="comment"></span>
<a name="l00128"></a>00128 <span class="comment"> /** Change the robot shape, which is taken into account for collision</span>
<a name="l00129"></a>00129 <span class="comment"> * grid building.</span>
<a name="l00130"></a>00130 <span class="comment"> */</span>
<a name="l00131"></a>00131 <span class="keywordtype">void</span> changeRobotShape( <a class="code" href="classmrpt_1_1math_1_1_c_polygon.html" title="A wrapper of a TPolygon2D class, implementing CSerializable.">math::CPolygon</a> &shape );
<a name="l00132"></a>00132 <span class="comment"></span>
<a name="l00133"></a>00133 <span class="comment"> /** Provides a copy of the last log record with information about execution. On any unexpected error "*o" will be NULL.</span>
<a name="l00134"></a>00134 <span class="comment"> * \param o An object where the log will be stored into.</span>
<a name="l00135"></a>00135 <span class="comment"> */</span>
<a name="l00136"></a>00136 <span class="keywordtype">void</span> getLastLogRecord( CLogFileRecord &o );
<a name="l00137"></a>00137 <span class="comment"></span>
<a name="l00138"></a>00138 <span class="comment"> /** Enables / disables the logging into a file.</span>
<a name="l00139"></a>00139 <span class="comment"> */</span>
<a name="l00140"></a>00140 <span class="keywordtype">void</span> enableLogFile(<span class="keywordtype">bool</span> enable);
<a name="l00141"></a>00141
<a name="l00142"></a>00142 <span class="keyword">private</span>:
<a name="l00143"></a>00143 <span class="comment">// ------------------------------------------------------</span>
<a name="l00144"></a>00144 <span class="comment">// PRIVATE DEFINITIONS</span>
<a name="l00145"></a>00145 <span class="comment">// ------------------------------------------------------</span><span class="comment"></span>
<a name="l00146"></a>00146 <span class="comment"> /** The structure used for storing a movement generated by a holonomic-method .</span>
<a name="l00147"></a>00147 <span class="comment"> */</span>
<a name="l00148"></a>00148 <span class="keyword">struct </span>THolonomicMovement {
<a name="l00149"></a><a class="code" href="structmrpt_1_1reactivenav_1_1_c_reactive_navigation_system_1_1_t_holonomic_movement.html#a2b276952da93d281fdd9f8e546b358a6">00149</a> <a class="code" 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="code" href="structmrpt_1_1reactivenav_1_1_c_reactive_navigation_system_1_1_t_holonomic_movement.html#a2b276952da93d281fdd9f8e546b358a6">PTG</a>; <span class="comment">/// The associated PTG</span>
<a name="l00150"></a><a class="code" href="structmrpt_1_1reactivenav_1_1_c_reactive_navigation_system_1_1_t_holonomic_movement.html#a5fe27a28b9fa3e8f895e9e6a6321524a">00150</a> <span class="comment"></span> <span class="keywordtype">double</span> direction, <a class="code" href="structmrpt_1_1reactivenav_1_1_c_reactive_navigation_system_1_1_t_holonomic_movement.html#a5fe27a28b9fa3e8f895e9e6a6321524a">speed</a>; <span class="comment">/// The holonomic movement</span>
<a name="l00151"></a><a class="code" href="structmrpt_1_1reactivenav_1_1_c_reactive_navigation_system_1_1_t_holonomic_movement.html#ab6aae52192b5bf3a4899ebc5670282d8">00151</a> <span class="comment"></span> <span class="keywordtype">double</span> <a class="code" href="structmrpt_1_1reactivenav_1_1_c_reactive_navigation_system_1_1_t_holonomic_movement.html#ab6aae52192b5bf3a4899ebc5670282d8" title="The holonomic movement.">evaluation</a>; <span class="comment">/// An evaluation in the range [0,1] for the goodness of the movement.</span>
<a name="l00152"></a>00152 <span class="comment"></span> };
<a name="l00153"></a>00153 <span class="comment"></span>
<a name="l00154"></a>00154 <span class="comment"> /** The last log.</span>
<a name="l00155"></a>00155 <span class="comment"> */</span>
<a name="l00156"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a63ccd5468a0edb2c8b34a5ecfeba1347">00156</a> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record.html" title="A class for storing, saving and loading a reactive navigation log record for the CReactiveNavigationS...">CLogFileRecord</a> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a63ccd5468a0edb2c8b34a5ecfeba1347" title="The last log.">lastLogRecord</a>;
<a name="l00157"></a>00157 <span class="comment"></span>
<a name="l00158"></a>00158 <span class="comment"> /** For the histeresis: */</span>
<a name="l00159"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#adcfc09d0d79e3850a0bccbbe7dad1c0a">00159</a> <span class="keywordtype">float</span> last_cmd_v,<a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#adcfc09d0d79e3850a0bccbbe7dad1c0a">last_cmd_w</a>;
<a name="l00160"></a>00160 <span class="comment"></span>
<a name="l00161"></a>00161 <span class="comment"> /** Will be false until the navigation end is sent, and it is reset with each new command</span>
<a name="l00162"></a>00162 <span class="comment"> */</span>
<a name="l00163"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#aebd5eb752b448da94d874c1fd36cbd74">00163</a> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#aebd5eb752b448da94d874c1fd36cbd74" title="Will be false until the navigation end is sent, and it is reset with each new command.">navigationEndEventSent</a>;
<a name="l00164"></a>00164 <span class="comment"></span>
<a name="l00165"></a>00165 <span class="comment"> /** Critical zones: */</span>
<a name="l00166"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a44486bcf5522a7501cb8e6d587256d00">00166</a> synch<a class="code" href="classmrpt_1_1synch_1_1_c_critical_section.html" title="This class provides simple critical sections functionality.">::CCriticalSection</a> m_critZoneLastLog,<a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a44486bcf5522a7501cb8e6d587256d00">m_critZoneNavigating</a>;
<a name="l00167"></a>00167
<a name="l00168"></a>00168 <span class="comment">// ------------------------------------------------------</span>
<a name="l00169"></a>00169 <span class="comment">// PRIVATE METHODS</span>
<a name="l00170"></a>00170 <span class="comment">// ------------------------------------------------------</span><span class="comment"></span>
<a name="l00171"></a>00171 <span class="comment"> /** The main method for the navigator */</span>
<a name="l00172"></a>00172 <span class="keywordtype">void</span> performNavigationStep( );
<a name="l00173"></a>00173
<a name="l00174"></a>00174 <span class="comment">// ------------------------------------------------------</span>
<a name="l00175"></a>00175 <span class="comment">// PRIVATE VARIABLES</span>
<a name="l00176"></a>00176 <span class="comment">// ------------------------------------------------------</span>
<a name="l00177"></a>00177
<a name="l00178"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#ad2adf641d5f155be844ea3c2ebe009ef">00178</a> <a class="code" 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="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#ad2adf641d5f155be844ea3c2ebe009ef" title="The holonomic navigation algorithm.">holonomicMethod</a>; <span class="comment">//!< The holonomic navigation algorithm.</span>
<a name="l00179"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a1174f817023477459c71079c67497c18">00179</a> <span class="comment"></span> mrpt<a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">::utils::CStream</a> *<a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a1174f817023477459c71079c67497c18" title="The current log file stream, or NULL if not being used.">logFile</a>; <span class="comment">//!< The current log file stream, or NULL if not being used</span>
<a name="l00180"></a>00180 <span class="comment"></span>
<a name="l00181"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a149bc93e10725aae877692b289256e0f">00181</a> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a149bc93e10725aae877692b289256e0f" title="Enables / disables the console debug output.">m_enableConsoleOutput</a>; <span class="comment">//!< Enables / disables the console debug output.</span>
<a name="l00182"></a>00182 <span class="comment"></span>
<a name="l00183"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a61a2932c968e4d5782f28801551b0863">00183</a> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a61a2932c968e4d5782f28801551b0863" title="Whether loadConfigFile() has been called or not.">m_init_done</a>; <span class="comment">//!< Whether \a loadConfigFile() has been called or not.</span>
<a name="l00184"></a>00184 <span class="comment"></span>
<a name="l00185"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a6be4599c469213368d0def28c7a8e853">00185</a> <a class="code" href="classmrpt_1_1utils_1_1_c_tic_tac.html" title="This class implements a high-performance stopwatch.">CTicTac</a> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a6be4599c469213368d0def28c7a8e853">timerForExecutionPeriod</a>;
<a name="l00186"></a>00186
<a name="l00187"></a>00187 <span class="comment">// Loaded from INI file:</span>
<a name="l00188"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a111ef77e1add1117e4dea2ea60f5c811">00188</a> std<a class="code" href="classstd_1_1string.html" title="STL class.">::string</a> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a111ef77e1add1117e4dea2ea60f5c811">robotName</a>; <span class="comment">// El nombre del robot donde estamos</span>
<a name="l00189"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#aa71c4c1bdc88dc1f5264e653a3843a40">00189</a> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#aa71c4c1bdc88dc1f5264e653a3843a40">refDistance</a>; <span class="comment">// "dmax" in papers.</span>
<a name="l00190"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#ab4f1656093a91e22f0607a136e17abbb">00190</a> <span class="keywordtype">float</span> colGridRes_x,<a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#ab4f1656093a91e22f0607a136e17abbb">colGridRes_y</a>; <span class="comment">// Resolucion de la rejilla de distancias de choque precalculadas</span>
<a name="l00191"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a49f52433284fa3927e8b93c05377bf7a">00191</a> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a49f52433284fa3927e8b93c05377bf7a">robotMax_V_mps</a>; <span class="comment">// Max. vel del robot en m/s</span>
<a name="l00192"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#aaae5d0b93bc0e91cb17c4abc5850509c">00192</a> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#aaae5d0b93bc0e91cb17c4abc5850509c">robotMax_W_degps</a>; <span class="comment">// Max. vel del robot en rad/s</span>
<a name="l00193"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#aadf83ca0e23fc680a40266f5c1b4609d">00193</a> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#aadf83ca0e23fc680a40266f5c1b4609d">ROBOTMODEL_TAU</a>,ROBOTMODEL_DELAY; <span class="comment">// Params for the motor system modelation</span>
<a name="l00194"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a18f1d1b0473a49dff6f356e7df27bf30">00194</a> std<a class="code" href="classstd_1_1vector.html">::vector<float></a> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a18f1d1b0473a49dff6f356e7df27bf30">weights</a>; <span class="comment">// length: 6 [0,5]</span>
<a name="l00195"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a7449fd505adf951e31e57b403b53d3cc">00195</a> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a7449fd505adf951e31e57b403b53d3cc">minObstaclesHeight</a>, maxObstaclesHeight; <span class="comment">// The range of "z" coordinates for obstacles to be considered</span>
<a name="l00196"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a146dd51f33ee14a06937871b811fc69e">00196</a> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a146dd51f33ee14a06937871b811fc69e">DIST_TO_TARGET_FOR_SENDING_EVENT</a>;
<a name="l00197"></a>00197
<a name="l00198"></a>00198
<a name="l00199"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#ad06700939633bf9ab5d6eac318f90882">00199</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#ad06700939633bf9ab5d6eac318f90882" title="The iteration count.">nIteration</a>; <span class="comment">//!< The iteration count.</span>
<a name="l00200"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a3c3a1a40d1c2983a5986c47f55cdcd7f">00200</a> <span class="comment"></span> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a3c3a1a40d1c2983a5986c47f55cdcd7f" title="Runtime estimation of execution period of the method.">meanExecutionPeriod</a>; <span class="comment">//!< Runtime estimation of execution period of the method.</span>
<a name="l00201"></a>00201 <span class="comment"></span>
<a name="l00202"></a>00202 <span class="comment"></span>
<a name="l00203"></a>00203 <span class="comment"> /** For sending an alarm (error event) when it seems that we are not approaching toward the target in a while...</span>
<a name="l00204"></a>00204 <span class="comment"> */</span>
<a name="l00205"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#aca5692f8c253cdea0734377291e7a7b1">00205</a> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#aca5692f8c253cdea0734377291e7a7b1" title="For sending an alarm (error event) when it seems that we are not approaching toward the target in a w...">badNavAlarm_minDistTarget</a>;
<a name="l00206"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a6139ea41cc9b929aa16bfd89505759d5">00206</a> mrpt<a class="code" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a" title="A system independent time type, it holds the the number of 100-nanosecond intervals since January 1...">::system::TTimeStamp</a> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a6139ea41cc9b929aa16bfd89505759d5">badNavAlarm_lastMinDistTime</a>;
<a name="l00207"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a00528e78bc9d39e0edd879a0a79b246b">00207</a> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a00528e78bc9d39e0edd879a0a79b246b">badNavAlarm_AlarmTimeout</a>;
<a name="l00208"></a>00208
<a name="l00209"></a>00209 <span class="comment"></span>
<a name="l00210"></a>00210 <span class="comment"> /** The robot 2D shape model</span>
<a name="l00211"></a>00211 <span class="comment"> */</span>
<a name="l00212"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a5eda0045259db31f8fe47112b5bd2501">00212</a> math<a class="code" href="classmrpt_1_1math_1_1_c_polygon.html" title="A wrapper of a TPolygon2D class, implementing CSerializable.">::CPolygon</a> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a5eda0045259db31f8fe47112b5bd2501" title="The robot 2D shape model.">robotShape</a>;
<a name="l00213"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a9ee1f0ff845db4a525d53aa241a71013">00213</a> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a9ee1f0ff845db4a525d53aa241a71013">collisionGridsMustBeUpdated</a>;
<a name="l00214"></a>00214
<a name="l00215"></a>00215 <span class="comment"></span>
<a name="l00216"></a>00216 <span class="comment"> /** @name Variables for CReactiveNavigationSystem::performNavigationStep</span>
<a name="l00217"></a>00217 <span class="comment"> @{ */</span>
<a name="l00218"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a7657475c89c53c8dbb2044b0debfe773">00218</a> mrpt<a class="code" href="classmrpt_1_1utils_1_1_c_tic_tac.html" title="This class implements a high-performance stopwatch.">::utils::CTicTac</a> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a7657475c89c53c8dbb2044b0debfe773">totalExecutionTime</a>, executionTime, tictac;
<a name="l00219"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#ab7f64f7161dca3d279b5df7223e55dc7">00219</a> std<a class="code" href="classstd_1_1vector.html">::vector<vector_double></a> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#ab7f64f7161dca3d279b5df7223e55dc7">TP_Obstacles</a>;
<a name="l00220"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a7d3bfb16288c7499d00afc4041bed822">00220</a> std<a class="code" href="classstd_1_1vector.html" title="STL class.">::vector<poses::CPoint2D,Eigen::aligned_allocator<poses::CPoint2D></a> > <a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a7d3bfb16288c7499d00afc4041bed822">TP_Targets</a>; <span class="comment">// Target location (x,y) in TP-Space</span>
<a name="l00221"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#abf409cfad01d06fdcd502d32e6eb458c">00221</a> std<a class="code" href="classstd_1_1vector.html">::vector<THolonomicMovement></a> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#abf409cfad01d06fdcd502d32e6eb458c">holonomicMovements</a>;
<a name="l00222"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a20f5db9cddae409e8915df5329a261b6">00222</a> std<a class="code" href="classstd_1_1vector.html">::vector<float></a> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a20f5db9cddae409e8915df5329a261b6">times_TP_transformations</a>, times_HoloNav;
<a name="l00223"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#adc85506486598895a554e91bdf48e547">00223</a> std<a class="code" href="classstd_1_1vector.html">::vector<bool></a> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#adc85506486598895a554e91bdf48e547">valid_TP</a>;
<a name="l00224"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a9f11fd2e6ffbde29d58e17a182668af2">00224</a> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a9f11fd2e6ffbde29d58e17a182668af2">meanExecutionTime</a>;
<a name="l00225"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a1373bf4712205e43ababc8ee9b3020db">00225</a> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a1373bf4712205e43ababc8ee9b3020db">meanTotalExecutionTime</a>;
<a name="l00226"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a96bd49ff9307c91392e153c6353ecd2c">00226</a> <span class="keywordtype">int</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a96bd49ff9307c91392e153c6353ecd2c">nLastSelectedPTG</a>;
<a name="l00227"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a8b4940894397fe1cfad90714fca36788">00227</a> <span class="keywordtype">int</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a8b4940894397fe1cfad90714fca36788">m_decimateHeadingEstimate</a>;<span class="comment"></span>
<a name="l00228"></a>00228 <span class="comment"> /** @} */</span>
<a name="l00229"></a>00229 <span class="comment"></span>
<a name="l00230"></a>00230 <span class="comment"> /** The set of transformations to be used:</span>
<a name="l00231"></a>00231 <span class="comment"> */</span>
<a name="l00232"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a9cb276f0aaacd4af54717c10202493d8">00232</a> std<a class="code" href="classstd_1_1vector.html">::vector<CParameterizedTrajectoryGenerator*></a> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a9cb276f0aaacd4af54717c10202493d8" title="The set of transformations to be used:">PTGs</a>;
<a name="l00233"></a>00233
<a name="l00234"></a>00234
<a name="l00235"></a>00235 <span class="comment">// Steps for the reactive navigation sytem.</span>
<a name="l00236"></a>00236 <span class="comment">// ----------------------------------------------------------------------------</span>
<a name="l00237"></a>00237 <span class="keywordtype">void</span> STEP1_CollisionGridsBuilder();
<a name="l00238"></a>00238
<a name="l00239"></a>00239 <span class="keywordtype">bool</span> STEP2_Sense(
<a name="l00240"></a>00240 <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> &out_obstacles);
<a name="l00241"></a>00241
<a name="l00242"></a>00242 <span class="keywordtype">void</span> STEP3_SpaceTransformer(
<a name="l00243"></a>00243 <a class="code" href="classmrpt_1_1slam_1_1_c_points_map.html" title="A cloud of points in 2D or 3D, which can be built from a sequence of laser scans or other sensors...">poses::CPointsMap</a> &in_obstacles,
<a name="l00244"></a>00244 <a class="code" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html" title="This is the base class for any user defined PTG.">CParameterizedTrajectoryGenerator</a> *in_PTG,
<a name="l00245"></a>00245 <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">vector_double</a> &out_TPObstacles);
<a name="l00246"></a>00246
<a name="l00247"></a>00247 <span class="keywordtype">void</span> STEP4_HolonomicMethod(
<a name="l00248"></a>00248 <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">vector_double</a> &in_Obstacles,
<a name="l00249"></a>00249 <a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html" title="A class used to store a 2D point.">poses::CPoint2D</a> &in_Target,
<a name="l00250"></a>00250 <span class="keywordtype">float</span> in_maxRobotSpeed,
<a name="l00251"></a>00251 <a class="code" href="structmrpt_1_1reactivenav_1_1_c_reactive_navigation_system_1_1_t_holonomic_movement.html" title="The structure used for storing a movement generated by a holonomic-method .">THolonomicMovement</a> &out_selectedMovement,
<a name="l00252"></a>00252 <a class="code" href="structmrpt_1_1reactivenav_1_1_c_holonomic_log_file_record_ptr.html">CHolonomicLogFileRecordPtr</a> &in_HLFR );
<a name="l00253"></a>00253
<a name="l00254"></a>00254 <span class="keywordtype">void</span> STEP5_Evaluator(
<a name="l00255"></a>00255 <a class="code" href="structmrpt_1_1reactivenav_1_1_c_reactive_navigation_system_1_1_t_holonomic_movement.html" title="The structure used for storing a movement generated by a holonomic-method .">THolonomicMovement</a> &in_holonomicMovement,
<a name="l00256"></a>00256 <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">vector_double</a> &in_TPObstacles,
<a name="l00257"></a>00257 <a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html" title="A class used to store a 2D point.">poses::CPoint2D</a> &WS_Target,
<a name="l00258"></a>00258 <a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html" title="A class used to store a 2D point.">poses::CPoint2D</a> &TP_Target,
<a name="l00259"></a>00259 <span class="keywordtype">bool</span> wasSelectedInLast,
<a name="l00260"></a>00260 <a class="code" href="structmrpt_1_1reactivenav_1_1_c_log_file_record_1_1_t_info_per_p_t_g.html" title="The structure used to store all relevant information about each transformation into TP-Space...">CLogFileRecord::TInfoPerPTG</a> &log );
<a name="l00261"></a>00261
<a name="l00262"></a>00262 <span class="keywordtype">void</span> STEP6_Selector(
<a name="l00263"></a>00263 <a class="code" href="classstd_1_1vector.html">std::vector<THolonomicMovement></a> &in_holonomicMovements,
<a name="l00264"></a>00264 <a class="code" href="structmrpt_1_1reactivenav_1_1_c_reactive_navigation_system_1_1_t_holonomic_movement.html" title="The structure used for storing a movement generated by a holonomic-method .">THolonomicMovement</a> &out_selectedHolonomicMovement,
<a name="l00265"></a>00265 <span class="keywordtype">int</span> &out_nSelectedPTG);
<a name="l00266"></a>00266
<a name="l00267"></a>00267 <span class="keywordtype">void</span> STEP7_NonHolonomicMovement(
<a name="l00268"></a>00268 <a class="code" href="structmrpt_1_1reactivenav_1_1_c_reactive_navigation_system_1_1_t_holonomic_movement.html" title="The structure used for storing a movement generated by a holonomic-method .">THolonomicMovement</a> &in_movement,
<a name="l00269"></a>00269 <span class="keywordtype">float</span> &out_v,
<a name="l00270"></a>00270 <span class="keywordtype">float</span> &out_w);
<a name="l00271"></a>00271
<a name="l00272"></a>00272 <span class="comment">//</span>
<a name="l00273"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a5833cb5c12d4a87527d9a9e440651aaf">00273</a> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a5833cb5c12d4a87527d9a9e440651aaf">m_closing_navigator</a>;
<a name="l00274"></a>00274 <span class="comment"></span>
<a name="l00275"></a>00275 <span class="comment"> /** Stops the robot and set navigation state to error */</span>
<a name="l00276"></a>00276 <span class="keywordtype">void</span> doEmergencyStop( <span class="keyword">const</span> <span class="keywordtype">char</span> *msg );
<a name="l00277"></a>00277
<a name="l00278"></a>00278 };
<a name="l00279"></a>00279 }
<a name="l00280"></a>00280 }
<a name="l00281"></a>00281
<a name="l00282"></a>00282
<a name="l00283"></a>00283 <span class="preprocessor">#endif</span>
<a name="l00284"></a>00284 <span class="preprocessor"></span>
<a name="l00285"></a>00285
<a name="l00286"></a>00286
<a name="l00287"></a>00287
<a name="l00288"></a>00288
</pre></div></div>
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