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<li class="navelem"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_abstract_holonomic_reactive_method.html">CAbstractHolonomicReactiveMethod</a> </li>
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<a href="#pub-methods">Public Member Functions</a> </div>
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<div class="title">mrpt::reactivenav::CAbstractHolonomicReactiveMethod Class Reference<div class="ingroups"><a class="el" href="group__mrpt__reactivenav__grp.html">[mrpt-reactivenav]</a></div></div> </div>
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<!-- doxytag: class="mrpt::reactivenav::CAbstractHolonomicReactiveMethod" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>A base class for holonomic reactive navigation methods. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_v_f_f.html" title="A holonomic reactive navigation method, based on Virtual Force Fields (VFF).">CHolonomicVFF</a>,<a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html" title="An implementation of the holonomic reactive navigation method "Nearness-Diagram".">CHolonomicND</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>
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<p><code>#include <<a class="el" href="_c_abstract_holonomic_reactive_method_8h_source.html">mrpt/reactivenav/CAbstractHolonomicReactiveMethod.h</a>></code></p>
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Inheritance diagram for mrpt::reactivenav::CAbstractHolonomicReactiveMethod:</div>
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<div class="center"><img src="classmrpt_1_1reactivenav_1_1_c_abstract_holonomic_reactive_method__inherit__graph.png" border="0" usemap="#mrpt_1_1reactivenav_1_1_c_abstract_holonomic_reactive_method_inherit__map" alt="Inheritance graph"/></div>
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<area shape="rect" id="node3" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html" title="An implementation of the holonomic reactive navigation method "Nearness-Diagram"." alt="" coords="5,80,227,107"/><area shape="rect" id="node5" href="classmrpt_1_1reactivenav_1_1_c_holonomic_v_f_f.html" title="A holonomic reactive navigation method, based on Virtual Force Fields (VFF)." alt="" coords="251,80,479,107"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1reactivenav_1_1_c_abstract_holonomic_reactive_method-members.html">List of all members.</a></p>
<table class="memberdecls">
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Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_abstract_holonomic_reactive_method.html#ab9f4927e27f5febc673b5af7de5f5aa9">navigate</a> (<a class="el" href="classmrpt_1_1poses_1_1_c_point2_d.html">poses::CPoint2D</a> &target, <a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">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)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This method performs the holonomic navigation itself. <a href="#ab9f4927e27f5febc673b5af7de5f5aa9"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_abstract_holonomic_reactive_method.html#aff6cf316e397b9c4ae0972dc21a856cb">~CAbstractHolonomicReactiveMethod</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Virtual destructor. <a href="#aff6cf316e397b9c4ae0972dc21a856cb"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_abstract_holonomic_reactive_method.html#aae7a969c8bdf9473684ca05957d0e59a">initialize</a> (const <a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> &INI_FILE)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Initialize the parameters of the navigator. <a href="#aae7a969c8bdf9473684ca05957d0e59a"></a><br/></td></tr>
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<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="aff6cf316e397b9c4ae0972dc21a856cb"></a><!-- doxytag: member="mrpt::reactivenav::CAbstractHolonomicReactiveMethod::~CAbstractHolonomicReactiveMethod" ref="aff6cf316e397b9c4ae0972dc21a856cb" args="()" -->
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<td class="memname">virtual mrpt::reactivenav::CAbstractHolonomicReactiveMethod::~CAbstractHolonomicReactiveMethod </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline, virtual]</code></td>
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<p>Virtual destructor. </p>
<p>Definition at line <a class="el" href="_c_abstract_holonomic_reactive_method_8h_source.html#l00069">69</a> of file <a class="el" href="_c_abstract_holonomic_reactive_method_8h_source.html">CAbstractHolonomicReactiveMethod.h</a>.</p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="aae7a969c8bdf9473684ca05957d0e59a"></a><!-- doxytag: member="mrpt::reactivenav::CAbstractHolonomicReactiveMethod::initialize" ref="aae7a969c8bdf9473684ca05957d0e59a" args="(const mrpt::utils::CConfigFileBase &INI_FILE)=0" -->
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<td class="memname">virtual void mrpt::reactivenav::CAbstractHolonomicReactiveMethod::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>)</td>
<td><code> [pure virtual]</code></td>
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<p>Initialize the parameters of the navigator. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#af733219dff81a237a01aba17aa21a387">mrpt::reactivenav::CHolonomicND</a>, and <a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_v_f_f.html#a4ae1eeee36acabf29240b9f027c1f6d0">mrpt::reactivenav::CHolonomicVFF</a>.</p>
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<a class="anchor" id="ab9f4927e27f5febc673b5af7de5f5aa9"></a><!-- doxytag: member="mrpt::reactivenav::CAbstractHolonomicReactiveMethod::navigate" ref="ab9f4927e27f5febc673b5af7de5f5aa9" args="(poses::CPoint2D &target, vector_double &obstacles, double maxRobotSpeed, double &desiredDirection, double &desiredSpeed, CHolonomicLogFileRecordPtr &logRecord)=0" -->
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<td class="memname">virtual void mrpt::reactivenav::CAbstractHolonomicReactiveMethod::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>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a> & </td>
<td class="paramname"><em>obstacles</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>maxRobotSpeed</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">double & </td>
<td class="paramname"><em>desiredDirection</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">double & </td>
<td class="paramname"><em>desiredSpeed</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="structmrpt_1_1reactivenav_1_1_c_holonomic_log_file_record_ptr.html">CHolonomicLogFileRecordPtr</a> & </td>
<td class="paramname"><em>logRecord</em> </td>
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<td></td>
<td>)</td>
<td></td><td><code> [pure virtual]</code></td>
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<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, but normalized in the range [0,1] </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>
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</dd>
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<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>Implemented in <a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_v_f_f.html#ab1dd83a1752323299a60ec3623e4aa57">mrpt::reactivenav::CHolonomicVFF</a>, and <a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#af33a4f1dc7f174695691acf54b53874e">mrpt::reactivenav::CHolonomicND</a>.</p>
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