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<li class="navelem"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html">CReactiveNavigationSystem</a> </li>
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<div class="title">mrpt::reactivenav::CReactiveNavigationSystem 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::CReactiveNavigationSystem" --><!-- doxytag: inherits="mrpt::reactivenav::CAbstractReactiveNavigationSystem" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Implements a reactive navigation system based on TP-Space, with an arbitrary holonomic reactive method running on it, and any desired number of PTG for transforming the navigation space. </p>
<p>Both, the holonomic method and the PTGs can be customized by the apropriate user derived classes.</p>
<p>How to use:</p>
<ul>
<li>A class with callbacks must be defined by the user and provided to the constructor.</li>
<li><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a44a8bbabca6c1067ec7a6763a4cddff7" title="Reload the configuration from a file.">loadConfigFile()</a> must be called to set up the bunch of parameters from a config file (could be a memory-based virtual config file).</li>
<li><a class="el" href="classmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system.html#aaca67df4eff0289cadf22fd7216f8fb8" title="This method must be called periodically in order to effectively run the navigation.">navigationStep()</a> 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.</li>
</ul>
<ul>
<li>17/JUN/2004: First design.</li>
<li>16/SEP/2004: Totally redesigned, according to document "MultiParametric Based Space Transformation for Reactive Navigation"</li>
<li>29/SEP/2005: Totally rewritten again, for integration into MRPT library and according to the ICRA paper.</li>
<li>17/OCT/2007: Whole code updated to accomodate to MRPT 0.5 and make it portable to Linux.</li>
</ul>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" 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="el" 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="el" href="classmrpt_1_1reactivenav_1_1_c_abstract_holonomic_reactive_method.html" title="A base class for holonomic reactive navigation methods.">CAbstractHolonomicReactiveMethod</a> </dd></dl>
</div>
<p><code>#include <<a class="el" href="_c_reactive_navigation_system_8h_source.html">mrpt/reactivenav/CReactiveNavigationSystem.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::reactivenav::CReactiveNavigationSystem:</div>
<div class="dyncontent">
<div class="center"><img src="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system__inherit__graph.png" border="0" usemap="#mrpt_1_1reactivenav_1_1_c_reactive_navigation_system_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1reactivenav_1_1_c_reactive_navigation_system_inherit__map" id="mrpt_1_1reactivenav_1_1_c_reactive_navigation_system_inherit__map">
<area shape="rect" id="node2" href="classmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system.html" title="This is the base class for any reactive navigation system." alt="" coords="5,80,355,107"/><area shape="rect" id="node4" 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..." alt="" coords="69,5,291,32"/></map>
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<p><a href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1reactivenav_1_1_c_reactive_navigation_system_1_1_t_holonomic_movement.html">THolonomicMovement</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The structure used for storing a movement generated by a holonomic-method . <a href="structmrpt_1_1reactivenav_1_1_c_reactive_navigation_system_1_1_t_holonomic_movement.html#details">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system.html#a68944a1b6b85dea98dd9e9580b59f4dc">TState</a> { <a class="el" href="classmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system.html#a68944a1b6b85dea98dd9e9580b59f4dca5fec6c5b4fea24641ce46582c8687e74">IDLE</a> = 0,
<a class="el" href="classmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system.html#a68944a1b6b85dea98dd9e9580b59f4dca9f95d82bae1fa965a8b16c6c5e76c3ef">NAVIGATING</a>,
<a class="el" href="classmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system.html#a68944a1b6b85dea98dd9e9580b59f4dcaaa162a338a6c59e00b99f8b62e699815">SUSPENDED</a>,
<a class="el" href="classmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system.html#a68944a1b6b85dea98dd9e9580b59f4dca255aaf5c46fca2207cd07fc118c55356">NAV_ERROR</a>
}</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The different states for the navigation system. <a href="classmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system.html#a68944a1b6b85dea98dd9e9580b59f4dc">More...</a><br/></td></tr>
<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_reactive_navigation_system.html#a66af1ac47f56611a55d342c69b414e30">CReactiveNavigationSystem</a> (<a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_interface_implementation.html">CReactiveInterfaceImplementation</a> &react_iterf_impl, bool enableConsoleOutput=true, bool enableLogFile=false)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <a href="#a66af1ac47f56611a55d342c69b414e30"></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_reactive_navigation_system.html#aeeb2c3048c247e788bac949e2d0a4c79">~CReactiveNavigationSystem</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Destructor. <a href="#aeeb2c3048c247e788bac949e2d0a4c79"></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_reactive_navigation_system.html#a44a8bbabca6c1067ec7a6763a4cddff7">loadConfigFile</a> (const <a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> &ini, const <a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> &robotIni)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Reload the configuration from a file. <a href="#a44a8bbabca6c1067ec7a6763a4cddff7"></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_reactive_navigation_system.html#a2363e16e71a438e044823a289a54aebe">initialize</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Must be called for loading collision grids, or the first navigation command may last a long time to be executed. <a href="#a2363e16e71a438e044823a289a54aebe"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#ac65cf3431576969ec733de9406ef0b4a">evaluate</a> (<a class="el" href="structmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system_1_1_t_navigation_params.html">TNavigationParams</a> *params)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Evaluate navigation hardness: <a href="#ac65cf3431576969ec733de9406ef0b4a"></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_reactive_navigation_system.html#aaab5d00aa91511c019c325bdea59e976">navigate</a> (<a class="el" href="structmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system_1_1_t_navigation_params.html">TNavigationParams</a> *params)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Start navigation: <a href="#aaab5d00aa91511c019c325bdea59e976"></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_reactive_navigation_system.html#a9b312a9b29527502dab0c213831ccb76">setParams</a> (<a class="el" href="structmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system_1_1_t_navigation_params.html">TNavigationParams</a> *params)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Change current navigation params: <a href="#a9b312a9b29527502dab0c213831ccb76"></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_reactive_navigation_system.html#af9c5fe8b6efb5d689bd43a515f23ce7f">setHolonomicMethod</a> (<a class="el" href="group__mrpt__reactivenav__grp.html#ga8e18db1c4f4a7eb6b4a8d85a2731b0b8">THolonomicMethod</a> method, const char *config_INIfile="./CONFIG_ReactiveNavigator.ini")</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Selects which one from the set of available holonomic methods will be used into transformed TP-Space, and sets its configuration from a configuration file. <a href="#af9c5fe8b6efb5d689bd43a515f23ce7f"></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_reactive_navigation_system.html#a7525ca782487e2291443deea71c95d7e">changeRobotShape</a> (<a class="el" href="classmrpt_1_1math_1_1_c_polygon.html">math::CPolygon</a> &shape)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Change the robot shape, which is taken into account for collision grid building. <a href="#a7525ca782487e2291443deea71c95d7e"></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_reactive_navigation_system.html#a1511b16baa7834ffe3ad9d0023d07954">getLastLogRecord</a> (<a class="el" href="classmrpt_1_1reactivenav_1_1_c_log_file_record.html">CLogFileRecord</a> &o)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Provides a copy of the last log record with information about execution. <a href="#a1511b16baa7834ffe3ad9d0023d07954"></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_reactive_navigation_system.html#a5353ca77ac6996d5321ff220cd395e72">enableLogFile</a> (bool enable)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Enables / disables the logging into a file. <a href="#a5353ca77ac6996d5321ff220cd395e72"></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_abstract_reactive_navigation_system.html#ab8c687a415070fce439d095f924b5c8b">cancel</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Cancel current navegacion. <a href="#ab8c687a415070fce439d095f924b5c8b"></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_abstract_reactive_navigation_system.html#a505ced6f2217f51c1c5d15a4086123ea">resume</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Continues with suspended navigation. <a href="#a505ced6f2217f51c1c5d15a4086123ea"></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_abstract_reactive_navigation_system.html#aaca67df4eff0289cadf22fd7216f8fb8">navigationStep</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This method must be called periodically in order to effectively run the navigation. <a href="#aaca67df4eff0289cadf22fd7216f8fb8"></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_reactive_navigation_system.html#a7244fe50d2a3d5ef7231b42e13a5a80b">suspend</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Suspend current navegation. <a href="#a7244fe50d2a3d5ef7231b42e13a5a80b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system.html#a68944a1b6b85dea98dd9e9580b59f4dc">TState</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system.html#ac255eb7e83e6e9e94ae4763726519bbf">getCurrentState</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the current navigator state. <a href="#ac255eb7e83e6e9e94ae4763726519bbf"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_debug_output_capable.html#ab78281b5d70d6e295a8527a10fea66de">printf_debug</a> (const char *frmt,...)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sends a formated text to "debugOut" if not NULL, or to cout otherwise. <a href="#ab78281b5d70d6e295a8527a10fea66de"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system.html#a68944a1b6b85dea98dd9e9580b59f4dc">TState</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system.html#a5936f91b0ce54ee0b68df5a40b9d64db">m_navigationState</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Current internal state of navigator: <a href="#a5936f91b0ce54ee0b68df5a40b9d64db"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system_1_1_t_navigation_params.html">TNavigationParams</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system.html#a967a2c01094c3505e9e2a3a99ea07164">m_navigationParams</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Current navigation parameters: <a href="#a967a2c01094c3505e9e2a3a99ea07164"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_interface_implementation.html">CReactiveInterfaceImplementation</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system.html#a333cafd09dd53e92f6d57b9876dae7a9">m_robot</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The navigator-robot interface. <a href="#a333cafd09dd53e92f6d57b9876dae7a9"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pri-methods"></a>
Private Member Functions</h2></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_reactive_navigation_system.html#aa3cd965f9a25abad07f82bd55c1700ba">performNavigationStep</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The main method for the navigator. <a href="#aa3cd965f9a25abad07f82bd55c1700ba"></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_reactive_navigation_system.html#aefdd4fb06798779dfb28441f207c9631">STEP1_CollisionGridsBuilder</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#ac64d7f316dfea958aeb1539fd6d4cc49">STEP2_Sense</a> (<a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html">mrpt::slam::CSimplePointsMap</a> &out_obstacles)</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_reactive_navigation_system.html#ab3bea76ea46cccf3731bf9ccdc0b1ea1">STEP3_SpaceTransformer</a> (<a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html">poses::CPointsMap</a> &in_obstacles, <a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html">CParameterizedTrajectoryGenerator</a> *in_PTG, <a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a> &out_TPObstacles)</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_reactive_navigation_system.html#ac10694058ac3540fc2571c2fa55238ff">STEP4_HolonomicMethod</a> (<a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a> &in_Obstacles, <a class="el" href="classmrpt_1_1poses_1_1_c_point2_d.html">poses::CPoint2D</a> &in_Target, float in_maxRobotSpeed, <a class="el" href="structmrpt_1_1reactivenav_1_1_c_reactive_navigation_system_1_1_t_holonomic_movement.html">THolonomicMovement</a> &out_selectedMovement, <a class="el" href="structmrpt_1_1reactivenav_1_1_c_holonomic_log_file_record_ptr.html">CHolonomicLogFileRecordPtr</a> &in_HLFR)</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_reactive_navigation_system.html#a7fd21f41e816fb54b9d0d953014f4a5c">STEP5_Evaluator</a> (<a class="el" href="structmrpt_1_1reactivenav_1_1_c_reactive_navigation_system_1_1_t_holonomic_movement.html">THolonomicMovement</a> &in_holonomicMovement, <a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a> &in_TPObstacles, <a class="el" href="classmrpt_1_1poses_1_1_c_point2_d.html">poses::CPoint2D</a> &WS_Target, <a class="el" href="classmrpt_1_1poses_1_1_c_point2_d.html">poses::CPoint2D</a> &TP_Target, bool wasSelectedInLast, <a class="el" href="structmrpt_1_1reactivenav_1_1_c_log_file_record_1_1_t_info_per_p_t_g.html">CLogFileRecord::TInfoPerPTG</a> &log)</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_reactive_navigation_system.html#a7d035a9d83b346d4466bc52ec4ad1884">STEP6_Selector</a> (<a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="structmrpt_1_1reactivenav_1_1_c_reactive_navigation_system_1_1_t_holonomic_movement.html">THolonomicMovement</a> > &in_holonomicMovements, <a class="el" href="structmrpt_1_1reactivenav_1_1_c_reactive_navigation_system_1_1_t_holonomic_movement.html">THolonomicMovement</a> &out_selectedHolonomicMovement, int &out_nSelectedPTG)</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_reactive_navigation_system.html#a17b12898ff2b28aa11e1f2a73263502e">STEP7_NonHolonomicMovement</a> (<a class="el" href="structmrpt_1_1reactivenav_1_1_c_reactive_navigation_system_1_1_t_holonomic_movement.html">THolonomicMovement</a> &in_movement, float &out_v, float &out_w)</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_reactive_navigation_system.html#abdd2e3c7c09f0a4312a65d82e67c5d1c">doEmergencyStop</a> (const char *msg)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Stops the robot and set navigation state to error. <a href="#abdd2e3c7c09f0a4312a65d82e67c5d1c"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pri-attribs"></a>
Private Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_log_file_record.html">CLogFileRecord</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a63ccd5468a0edb2c8b34a5ecfeba1347">lastLogRecord</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The last log. <a href="#a63ccd5468a0edb2c8b34a5ecfeba1347"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#aecc0a6e54bf1961a5c0a57bb8e702ab5">last_cmd_v</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">For the histeresis: <a href="#aecc0a6e54bf1961a5c0a57bb8e702ab5"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#adcfc09d0d79e3850a0bccbbe7dad1c0a">last_cmd_w</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#aebd5eb752b448da94d874c1fd36cbd74">navigationEndEventSent</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Will be false until the navigation end is sent, and it is reset with each new command. <a href="#aebd5eb752b448da94d874c1fd36cbd74"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1synch_1_1_c_critical_section.html">synch::CCriticalSection</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a286c4ba58894a1a2a7bd8bd173c3b5c5">m_critZoneLastLog</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Critical zones: <a href="#a286c4ba58894a1a2a7bd8bd173c3b5c5"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1synch_1_1_c_critical_section.html">synch::CCriticalSection</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a44486bcf5522a7501cb8e6d587256d00">m_critZoneNavigating</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_abstract_holonomic_reactive_method.html">CAbstractHolonomicReactiveMethod</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#ad2adf641d5f155be844ea3c2ebe009ef">holonomicMethod</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The holonomic navigation algorithm. <a href="#ad2adf641d5f155be844ea3c2ebe009ef"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a1174f817023477459c71079c67497c18">logFile</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The current log file stream, or NULL if not being used. <a href="#a1174f817023477459c71079c67497c18"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a149bc93e10725aae877692b289256e0f">m_enableConsoleOutput</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Enables / disables the console debug output. <a href="#a149bc93e10725aae877692b289256e0f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a61a2932c968e4d5782f28801551b0863">m_init_done</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Whether <em><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a44a8bbabca6c1067ec7a6763a4cddff7" title="Reload the configuration from a file.">loadConfigFile()</a></em> has been called or not. <a href="#a61a2932c968e4d5782f28801551b0863"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_tic_tac.html">CTicTac</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a6be4599c469213368d0def28c7a8e853">timerForExecutionPeriod</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1string.html">std::string</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a111ef77e1add1117e4dea2ea60f5c811">robotName</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#aa71c4c1bdc88dc1f5264e653a3843a40">refDistance</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a074991eb6d275cc18eb60c674357649a">colGridRes_x</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#ab4f1656093a91e22f0607a136e17abbb">colGridRes_y</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a49f52433284fa3927e8b93c05377bf7a">robotMax_V_mps</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#aaae5d0b93bc0e91cb17c4abc5850509c">robotMax_W_degps</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#aadf83ca0e23fc680a40266f5c1b4609d">ROBOTMODEL_TAU</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a2180cc58ff8648313971bdfb0b898082">ROBOTMODEL_DELAY</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a>< float > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a18f1d1b0473a49dff6f356e7df27bf30">weights</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a7449fd505adf951e31e57b403b53d3cc">minObstaclesHeight</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a5346f34e6f378773ac066edf0b809b36">maxObstaclesHeight</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a146dd51f33ee14a06937871b811fc69e">DIST_TO_TARGET_FOR_SENDING_EVENT</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned long </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#ad06700939633bf9ab5d6eac318f90882">nIteration</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The iteration count. <a href="#ad06700939633bf9ab5d6eac318f90882"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a3c3a1a40d1c2983a5986c47f55cdcd7f">meanExecutionPeriod</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Runtime estimation of execution period of the method. <a href="#a3c3a1a40d1c2983a5986c47f55cdcd7f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#aca5692f8c253cdea0734377291e7a7b1">badNavAlarm_minDistTarget</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">For sending an alarm (error event) when it seems that we are not approaching toward the target in a while... <a href="#aca5692f8c253cdea0734377291e7a7b1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a">mrpt::system::TTimeStamp</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a6139ea41cc9b929aa16bfd89505759d5">badNavAlarm_lastMinDistTime</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a00528e78bc9d39e0edd879a0a79b246b">badNavAlarm_AlarmTimeout</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1math_1_1_c_polygon.html">math::CPolygon</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a5eda0045259db31f8fe47112b5bd2501">robotShape</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The robot 2D shape model. <a href="#a5eda0045259db31f8fe47112b5bd2501"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a9ee1f0ff845db4a525d53aa241a71013">collisionGridsMustBeUpdated</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a><br class="typebreak"/>
< <a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html">CParameterizedTrajectoryGenerator</a> * > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a9cb276f0aaacd4af54717c10202493d8">PTGs</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The set of transformations to be used: <a href="#a9cb276f0aaacd4af54717c10202493d8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a5833cb5c12d4a87527d9a9e440651aaf">m_closing_navigator</a></td></tr>
<tr><td colspan="2"><div class="groupHeader">Variables for CReactiveNavigationSystem::performNavigationStep</div></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_tic_tac.html">mrpt::utils::CTicTac</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a7657475c89c53c8dbb2044b0debfe773">totalExecutionTime</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_tic_tac.html">mrpt::utils::CTicTac</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a8a1572b4e5cf5d2ef4c60e5619dc75ba">executionTime</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_tic_tac.html">mrpt::utils::CTicTac</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a0688493825af28b1d0adbaf7ca89e14b">tictac</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#ab7f64f7161dca3d279b5df7223e55dc7">TP_Obstacles</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="classmrpt_1_1poses_1_1_c_point2_d.html">poses::CPoint2D</a>, <br class="typebreak"/>
<a class="el" href="class_eigen_1_1aligned__allocator.html">Eigen::aligned_allocator</a><br class="typebreak"/>
< <a class="el" href="classmrpt_1_1poses_1_1_c_point2_d.html">poses::CPoint2D</a> > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a7d3bfb16288c7499d00afc4041bed822">TP_Targets</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="structmrpt_1_1reactivenav_1_1_c_reactive_navigation_system_1_1_t_holonomic_movement.html">THolonomicMovement</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#abf409cfad01d06fdcd502d32e6eb458c">holonomicMovements</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a>< float > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a20f5db9cddae409e8915df5329a261b6">times_TP_transformations</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a>< float > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#ab63a251125bd0090f4398861a004d123">times_HoloNav</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a>< bool > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#adc85506486598895a554e91bdf48e547">valid_TP</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a9f11fd2e6ffbde29d58e17a182668af2">meanExecutionTime</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a1373bf4712205e43ababc8ee9b3020db">meanTotalExecutionTime</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a96bd49ff9307c91392e153c6353ecd2c">nLastSelectedPTG</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a8b4940894397fe1cfad90714fca36788">m_decimateHeadingEstimate</a></td></tr>
</table>
<hr/><h2>Member Enumeration Documentation</h2>
<a class="anchor" id="a68944a1b6b85dea98dd9e9580b59f4dc"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::TState" ref="a68944a1b6b85dea98dd9e9580b59f4dc" args="" -->
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<td class="memname">enum <a class="el" href="classmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system.html#a68944a1b6b85dea98dd9e9580b59f4dc">mrpt::reactivenav::CAbstractReactiveNavigationSystem::TState</a><code> [inherited]</code></td>
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<div class="memdoc">
<p>The different states for the navigation system. </p>
<dl><dt><b>Enumerator: </b></dt><dd><table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><em><a class="anchor" id="a68944a1b6b85dea98dd9e9580b59f4dca5fec6c5b4fea24641ce46582c8687e74"></a><!-- doxytag: member="IDLE" ref="a68944a1b6b85dea98dd9e9580b59f4dca5fec6c5b4fea24641ce46582c8687e74" args="" -->IDLE</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a68944a1b6b85dea98dd9e9580b59f4dca9f95d82bae1fa965a8b16c6c5e76c3ef"></a><!-- doxytag: member="NAVIGATING" ref="a68944a1b6b85dea98dd9e9580b59f4dca9f95d82bae1fa965a8b16c6c5e76c3ef" args="" -->NAVIGATING</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a68944a1b6b85dea98dd9e9580b59f4dcaaa162a338a6c59e00b99f8b62e699815"></a><!-- doxytag: member="SUSPENDED" ref="a68944a1b6b85dea98dd9e9580b59f4dcaaa162a338a6c59e00b99f8b62e699815" args="" -->SUSPENDED</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a68944a1b6b85dea98dd9e9580b59f4dca255aaf5c46fca2207cd07fc118c55356"></a><!-- doxytag: member="NAV_ERROR" ref="a68944a1b6b85dea98dd9e9580b59f4dca255aaf5c46fca2207cd07fc118c55356" args="" -->NAV_ERROR</em> </td><td>
</td></tr>
</table>
</dd>
</dl>
<p>Definition at line <a class="el" href="_c_abstract_reactive_navigation_system_8h_source.html#l00190">190</a> of file <a class="el" href="_c_abstract_reactive_navigation_system_8h_source.html">CAbstractReactiveNavigationSystem.h</a>.</p>
</div>
</div>
<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a66af1ac47f56611a55d342c69b414e30"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::CReactiveNavigationSystem" ref="a66af1ac47f56611a55d342c69b414e30" args="(CReactiveInterfaceImplementation &react_iterf_impl, bool enableConsoleOutput=true, bool enableLogFile=false)" -->
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<td class="memname">mrpt::reactivenav::CReactiveNavigationSystem::CReactiveNavigationSystem </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_interface_implementation.html">CReactiveInterfaceImplementation</a> & </td>
<td class="paramname"><em>react_iterf_impl</em>, </td>
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<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>enableConsoleOutput</em> = <code>true</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>enableLogFile</em> = <code>false</code> </td>
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<td></td>
<td>)</td>
<td></td><td></td>
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<p>Constructor. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">configINIFile</td><td>The file to load the configuration from. See loadConfigFile </td></tr>
<tr><td class="paramname">robotConfigFile</td><td>The file to load the robot specific configuration from. </td></tr>
<tr><td class="paramname">rmc</td><td>A set of wrappers that must be filled in. </td></tr>
<tr><td class="paramname">sensors</td><td>A set of wrappers that must be filled in. </td></tr>
<tr><td class="paramname">dbg</td><td>A set of wrappers that must be filled in. </td></tr>
<tr><td class="paramname">evnts</td><td>A set of wrappers that must be filled in. </td></tr>
<tr><td class="paramname">enableConsoleOutput</td><td>Set to false if console output is not desired. </td></tr>
<tr><td class="paramname">enableLogFile</td><td>Set to true to enable logging to file. </td></tr>
</table>
</dd>
</dl>
</div>
</div>
<a class="anchor" id="aeeb2c3048c247e788bac949e2d0a4c79"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::~CReactiveNavigationSystem" ref="aeeb2c3048c247e788bac949e2d0a4c79" args="()" -->
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<td class="memname">virtual mrpt::reactivenav::CReactiveNavigationSystem::~CReactiveNavigationSystem </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [virtual]</code></td>
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</table>
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<div class="memdoc">
<p>Destructor. </p>
</div>
</div>
<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="ab8c687a415070fce439d095f924b5c8b"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::cancel" ref="ab8c687a415070fce439d095f924b5c8b" args="()" -->
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<td class="memname">void mrpt::reactivenav::CAbstractReactiveNavigationSystem::cancel </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inherited]</code></td>
</tr>
</table>
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<div class="memdoc">
<p>Cancel current navegacion. </p>
</div>
</div>
<a class="anchor" id="a7525ca782487e2291443deea71c95d7e"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::changeRobotShape" ref="a7525ca782487e2291443deea71c95d7e" args="(math::CPolygon &shape)" -->
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<td class="memname">void mrpt::reactivenav::CReactiveNavigationSystem::changeRobotShape </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1math_1_1_c_polygon.html">math::CPolygon</a> & </td>
<td class="paramname"><em>shape</em></td><td>)</td>
<td></td>
</tr>
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<div class="memdoc">
<p>Change the robot shape, which is taken into account for collision grid building. </p>
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</div>
<a class="anchor" id="abdd2e3c7c09f0a4312a65d82e67c5d1c"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::doEmergencyStop" ref="abdd2e3c7c09f0a4312a65d82e67c5d1c" args="(const char *msg)" -->
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<td class="memname">void mrpt::reactivenav::CReactiveNavigationSystem::doEmergencyStop </td>
<td>(</td>
<td class="paramtype">const char * </td>
<td class="paramname"><em>msg</em></td><td>)</td>
<td><code> [private]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Stops the robot and set navigation state to error. </p>
</div>
</div>
<a class="anchor" id="a5353ca77ac6996d5321ff220cd395e72"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::enableLogFile" ref="a5353ca77ac6996d5321ff220cd395e72" args="(bool enable)" -->
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<td class="memname">void mrpt::reactivenav::CReactiveNavigationSystem::enableLogFile </td>
<td>(</td>
<td class="paramtype">bool </td>
<td class="paramname"><em>enable</em></td><td>)</td>
<td></td>
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<div class="memdoc">
<p>Enables / disables the logging into a file. </p>
</div>
</div>
<a class="anchor" id="ac65cf3431576969ec733de9406ef0b4a"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::evaluate" ref="ac65cf3431576969ec733de9406ef0b4a" args="(TNavigationParams *params)" -->
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<td class="memname">float mrpt::reactivenav::CReactiveNavigationSystem::evaluate </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system_1_1_t_navigation_params.html">TNavigationParams</a> * </td>
<td class="paramname"><em>params</em></td><td>)</td>
<td><code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Evaluate navigation hardness: </p>
<p>Implements <a class="el" href="classmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system.html#a71ce1e3f7ba7c105efde6f11e873c68c">mrpt::reactivenav::CAbstractReactiveNavigationSystem</a>.</p>
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<a class="anchor" id="ac255eb7e83e6e9e94ae4763726519bbf"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::getCurrentState" ref="ac255eb7e83e6e9e94ae4763726519bbf" args="() const " -->
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<td class="memname"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system.html#a68944a1b6b85dea98dd9e9580b59f4dc">TState</a> mrpt::reactivenav::CAbstractReactiveNavigationSystem::getCurrentState </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
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<p>Returns the current navigator state. </p>
<p>Definition at line <a class="el" href="_c_abstract_reactive_navigation_system_8h_source.html#l00200">200</a> of file <a class="el" href="_c_abstract_reactive_navigation_system_8h_source.html">CAbstractReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a1511b16baa7834ffe3ad9d0023d07954"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::getLastLogRecord" ref="a1511b16baa7834ffe3ad9d0023d07954" args="(CLogFileRecord &o)" -->
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<td class="memname">void mrpt::reactivenav::CReactiveNavigationSystem::getLastLogRecord </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_log_file_record.html">CLogFileRecord</a> & </td>
<td class="paramname"><em>o</em></td><td>)</td>
<td></td>
</tr>
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<div class="memdoc">
<p>Provides a copy of the last log record with information about execution. </p>
<p>On any unexpected error "*o" will be NULL. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">o</td><td>An object where the log will be stored into. </td></tr>
</table>
</dd>
</dl>
</div>
</div>
<a class="anchor" id="a2363e16e71a438e044823a289a54aebe"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::initialize" ref="a2363e16e71a438e044823a289a54aebe" args="()" -->
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<td class="memname">void mrpt::reactivenav::CReactiveNavigationSystem::initialize </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
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<div class="memdoc">
<p>Must be called for loading collision grids, or the first navigation command may last a long time to be executed. </p>
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</div>
<a class="anchor" id="a44a8bbabca6c1067ec7a6763a4cddff7"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::loadConfigFile" ref="a44a8bbabca6c1067ec7a6763a4cddff7" args="(const mrpt::utils::CConfigFileBase &ini, const mrpt::utils::CConfigFileBase &robotIni)" -->
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<td class="memname">void mrpt::reactivenav::CReactiveNavigationSystem::loadConfigFile </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</em>, </td>
</tr>
<tr>
<td class="paramkey"></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>robotIni</em> </td>
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<tr>
<td></td>
<td>)</td>
<td></td><td></td>
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<p>Reload the configuration from a file. </p>
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<a class="anchor" id="aaab5d00aa91511c019c325bdea59e976"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::navigate" ref="aaab5d00aa91511c019c325bdea59e976" args="(TNavigationParams *params)" -->
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<td class="memname">void mrpt::reactivenav::CReactiveNavigationSystem::navigate </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system_1_1_t_navigation_params.html">TNavigationParams</a> * </td>
<td class="paramname"><em>params</em></td><td>)</td>
<td><code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Start navigation: </p>
<p>Implements <a class="el" href="classmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system.html#aa5e7076264a76b14ca58ef2f3870de36">mrpt::reactivenav::CAbstractReactiveNavigationSystem</a>.</p>
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<a class="anchor" id="aaca67df4eff0289cadf22fd7216f8fb8"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::navigationStep" ref="aaca67df4eff0289cadf22fd7216f8fb8" args="()" -->
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<td class="memname">void mrpt::reactivenav::CAbstractReactiveNavigationSystem::navigationStep </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>This method must be called periodically in order to effectively run the navigation. </p>
</div>
</div>
<a class="anchor" id="aa3cd965f9a25abad07f82bd55c1700ba"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::performNavigationStep" ref="aa3cd965f9a25abad07f82bd55c1700ba" args="()" -->
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<td class="memname">void mrpt::reactivenav::CReactiveNavigationSystem::performNavigationStep </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [private, virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>The main method for the navigator. </p>
<p>Implements <a class="el" href="classmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system.html#a7d90e448755ae93d208f62244efc8322">mrpt::reactivenav::CAbstractReactiveNavigationSystem</a>.</p>
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</div>
<a class="anchor" id="ab78281b5d70d6e295a8527a10fea66de"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::printf_debug" ref="ab78281b5d70d6e295a8527a10fea66de" args="(const char *frmt,...)" -->
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<td class="memname">static void mrpt::utils::CDebugOutputCapable::printf_debug </td>
<td>(</td>
<td class="paramtype">const char * </td>
<td class="paramname"><em>frmt</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"> </td>
<td class="paramname"><em>...</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [static, inherited]</code></td>
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<p>Sends a formated text to "debugOut" if not NULL, or to cout otherwise. </p>
<p>Referenced by <a class="el" href="_c_levenberg_marquardt_8h_source.html#l00098">mrpt::math::CLevenbergMarquardtTempl::execute()</a>.</p>
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<a class="anchor" id="a505ced6f2217f51c1c5d15a4086123ea"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::resume" ref="a505ced6f2217f51c1c5d15a4086123ea" args="()" -->
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<td class="memname">void mrpt::reactivenav::CAbstractReactiveNavigationSystem::resume </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inherited]</code></td>
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<p>Continues with suspended navigation. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system.html#a7244fe50d2a3d5ef7231b42e13a5a80b" title="Suspend current navegation.">suspend</a> </dd></dl>
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<a class="anchor" id="af9c5fe8b6efb5d689bd43a515f23ce7f"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::setHolonomicMethod" ref="af9c5fe8b6efb5d689bd43a515f23ce7f" args="(THolonomicMethod method, const char *config_INIfile="./CONFIG_ReactiveNavigator.ini")" -->
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<td class="memname">void mrpt::reactivenav::CReactiveNavigationSystem::setHolonomicMethod </td>
<td>(</td>
<td class="paramtype"><a class="el" href="group__mrpt__reactivenav__grp.html#ga8e18db1c4f4a7eb6b4a8d85a2731b0b8">THolonomicMethod</a> </td>
<td class="paramname"><em>method</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const char * </td>
<td class="paramname"><em>config_INIfile</em> = <code>"./CONFIG_ReactiveNavigator.ini"</code> </td>
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<tr>
<td></td>
<td>)</td>
<td></td><td></td>
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<p>Selects which one from the set of available holonomic methods will be used into transformed TP-Space, and sets its configuration from a configuration file. </p>
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<a class="anchor" id="a9b312a9b29527502dab0c213831ccb76"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::setParams" ref="a9b312a9b29527502dab0c213831ccb76" args="(TNavigationParams *params)" -->
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<td class="memname">void mrpt::reactivenav::CReactiveNavigationSystem::setParams </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system_1_1_t_navigation_params.html">TNavigationParams</a> * </td>
<td class="paramname"><em>params</em></td><td>)</td>
<td><code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Change current navigation params: </p>
<p>Implements <a class="el" href="classmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system.html#a5a160c1f77735cfb9ce330b6664df2ca">mrpt::reactivenav::CAbstractReactiveNavigationSystem</a>.</p>
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</div>
<a class="anchor" id="aefdd4fb06798779dfb28441f207c9631"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::STEP1_CollisionGridsBuilder" ref="aefdd4fb06798779dfb28441f207c9631" args="()" -->
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<td class="memname">void mrpt::reactivenav::CReactiveNavigationSystem::STEP1_CollisionGridsBuilder </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [private]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="ac64d7f316dfea958aeb1539fd6d4cc49"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::STEP2_Sense" ref="ac64d7f316dfea958aeb1539fd6d4cc49" args="(mrpt::slam::CSimplePointsMap &out_obstacles)" -->
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<td class="memname">bool mrpt::reactivenav::CReactiveNavigationSystem::STEP2_Sense </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html">mrpt::slam::CSimplePointsMap</a> & </td>
<td class="paramname"><em>out_obstacles</em></td><td>)</td>
<td><code> [private]</code></td>
</tr>
</table>
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<a class="anchor" id="ab3bea76ea46cccf3731bf9ccdc0b1ea1"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::STEP3_SpaceTransformer" ref="ab3bea76ea46cccf3731bf9ccdc0b1ea1" args="(poses::CPointsMap &in_obstacles, CParameterizedTrajectoryGenerator *in_PTG, vector_double &out_TPObstacles)" -->
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<td class="memname">void mrpt::reactivenav::CReactiveNavigationSystem::STEP3_SpaceTransformer </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html">poses::CPointsMap</a> & </td>
<td class="paramname"><em>in_obstacles</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html">CParameterizedTrajectoryGenerator</a> * </td>
<td class="paramname"><em>in_PTG</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>out_TPObstacles</em> </td>
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<td></td>
<td>)</td>
<td></td><td><code> [private]</code></td>
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<a class="anchor" id="ac10694058ac3540fc2571c2fa55238ff"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::STEP4_HolonomicMethod" ref="ac10694058ac3540fc2571c2fa55238ff" args="(vector_double &in_Obstacles, poses::CPoint2D &in_Target, float in_maxRobotSpeed, THolonomicMovement &out_selectedMovement, CHolonomicLogFileRecordPtr &in_HLFR)" -->
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<td class="memname">void mrpt::reactivenav::CReactiveNavigationSystem::STEP4_HolonomicMethod </td>
<td>(</td>
<td class="paramtype"><a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a> & </td>
<td class="paramname"><em>in_Obstacles</em>, </td>
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<td class="paramkey"></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>in_Target</em>, </td>
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<td class="paramtype">float </td>
<td class="paramname"><em>in_maxRobotSpeed</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_reactive_navigation_system_1_1_t_holonomic_movement.html">THolonomicMovement</a> & </td>
<td class="paramname"><em>out_selectedMovement</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>in_HLFR</em> </td>
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<td></td>
<td>)</td>
<td></td><td><code> [private]</code></td>
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<a class="anchor" id="a7fd21f41e816fb54b9d0d953014f4a5c"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::STEP5_Evaluator" ref="a7fd21f41e816fb54b9d0d953014f4a5c" args="(THolonomicMovement &in_holonomicMovement, vector_double &in_TPObstacles, poses::CPoint2D &WS_Target, poses::CPoint2D &TP_Target, bool wasSelectedInLast, CLogFileRecord::TInfoPerPTG &log)" -->
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<td class="memname">void mrpt::reactivenav::CReactiveNavigationSystem::STEP5_Evaluator </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structmrpt_1_1reactivenav_1_1_c_reactive_navigation_system_1_1_t_holonomic_movement.html">THolonomicMovement</a> & </td>
<td class="paramname"><em>in_holonomicMovement</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>in_TPObstacles</em>, </td>
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<td class="paramkey"></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>WS_Target</em>, </td>
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<td class="paramkey"></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>TP_Target</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>wasSelectedInLast</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_log_file_record_1_1_t_info_per_p_t_g.html">CLogFileRecord::TInfoPerPTG</a> & </td>
<td class="paramname"><em>log</em> </td>
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<td></td>
<td>)</td>
<td></td><td><code> [private]</code></td>
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<a class="anchor" id="a7d035a9d83b346d4466bc52ec4ad1884"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::STEP6_Selector" ref="a7d035a9d83b346d4466bc52ec4ad1884" args="(std::vector< THolonomicMovement > &in_holonomicMovements, THolonomicMovement &out_selectedHolonomicMovement, int &out_nSelectedPTG)" -->
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<td class="memname">void mrpt::reactivenav::CReactiveNavigationSystem::STEP6_Selector </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="structmrpt_1_1reactivenav_1_1_c_reactive_navigation_system_1_1_t_holonomic_movement.html">THolonomicMovement</a> > & </td>
<td class="paramname"><em>in_holonomicMovements</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_reactive_navigation_system_1_1_t_holonomic_movement.html">THolonomicMovement</a> & </td>
<td class="paramname"><em>out_selectedHolonomicMovement</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">int & </td>
<td class="paramname"><em>out_nSelectedPTG</em> </td>
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<tr>
<td></td>
<td>)</td>
<td></td><td><code> [private]</code></td>
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<a class="anchor" id="a17b12898ff2b28aa11e1f2a73263502e"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::STEP7_NonHolonomicMovement" ref="a17b12898ff2b28aa11e1f2a73263502e" args="(THolonomicMovement &in_movement, float &out_v, float &out_w)" -->
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<td class="memname">void mrpt::reactivenav::CReactiveNavigationSystem::STEP7_NonHolonomicMovement </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structmrpt_1_1reactivenav_1_1_c_reactive_navigation_system_1_1_t_holonomic_movement.html">THolonomicMovement</a> & </td>
<td class="paramname"><em>in_movement</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype">float & </td>
<td class="paramname"><em>out_v</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">float & </td>
<td class="paramname"><em>out_w</em> </td>
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<td></td>
<td>)</td>
<td></td><td><code> [private]</code></td>
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<a class="anchor" id="a7244fe50d2a3d5ef7231b42e13a5a80b"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::suspend" ref="a7244fe50d2a3d5ef7231b42e13a5a80b" args="()" -->
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<td class="memname">virtual void mrpt::reactivenav::CAbstractReactiveNavigationSystem::suspend </td>
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<td class="paramname"></td><td>)</td>
<td><code> [virtual, inherited]</code></td>
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<p>Suspend current navegation. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system.html#a505ced6f2217f51c1c5d15a4086123ea" title="Continues with suspended navigation.">resume</a> </dd></dl>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a00528e78bc9d39e0edd879a0a79b246b"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::badNavAlarm_AlarmTimeout" ref="a00528e78bc9d39e0edd879a0a79b246b" args="" -->
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<td class="memname">float <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a00528e78bc9d39e0edd879a0a79b246b">mrpt::reactivenav::CReactiveNavigationSystem::badNavAlarm_AlarmTimeout</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00207">207</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a6139ea41cc9b929aa16bfd89505759d5"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::badNavAlarm_lastMinDistTime" ref="a6139ea41cc9b929aa16bfd89505759d5" args="" -->
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<td class="memname"><a class="el" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a">mrpt::system::TTimeStamp</a> <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a6139ea41cc9b929aa16bfd89505759d5">mrpt::reactivenav::CReactiveNavigationSystem::badNavAlarm_lastMinDistTime</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00206">206</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="aca5692f8c253cdea0734377291e7a7b1"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::badNavAlarm_minDistTarget" ref="aca5692f8c253cdea0734377291e7a7b1" args="" -->
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<td class="memname">float <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#aca5692f8c253cdea0734377291e7a7b1">mrpt::reactivenav::CReactiveNavigationSystem::badNavAlarm_minDistTarget</a><code> [private]</code></td>
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<p>For sending an alarm (error event) when it seems that we are not approaching toward the target in a while... </p>
<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00205">205</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a074991eb6d275cc18eb60c674357649a"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::colGridRes_x" ref="a074991eb6d275cc18eb60c674357649a" args="" -->
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<td class="memname">float <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a074991eb6d275cc18eb60c674357649a">mrpt::reactivenav::CReactiveNavigationSystem::colGridRes_x</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00190">190</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="ab4f1656093a91e22f0607a136e17abbb"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::colGridRes_y" ref="ab4f1656093a91e22f0607a136e17abbb" args="" -->
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00190">190</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a9ee1f0ff845db4a525d53aa241a71013"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::collisionGridsMustBeUpdated" ref="a9ee1f0ff845db4a525d53aa241a71013" args="" -->
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<td class="memname">bool <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a9ee1f0ff845db4a525d53aa241a71013">mrpt::reactivenav::CReactiveNavigationSystem::collisionGridsMustBeUpdated</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00213">213</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a146dd51f33ee14a06937871b811fc69e"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::DIST_TO_TARGET_FOR_SENDING_EVENT" ref="a146dd51f33ee14a06937871b811fc69e" args="" -->
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<td class="memname">float <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a146dd51f33ee14a06937871b811fc69e">mrpt::reactivenav::CReactiveNavigationSystem::DIST_TO_TARGET_FOR_SENDING_EVENT</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00196">196</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a8a1572b4e5cf5d2ef4c60e5619dc75ba"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::executionTime" ref="a8a1572b4e5cf5d2ef4c60e5619dc75ba" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_tic_tac.html">mrpt::utils::CTicTac</a> <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a8a1572b4e5cf5d2ef4c60e5619dc75ba">mrpt::reactivenav::CReactiveNavigationSystem::executionTime</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00218">218</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="ad2adf641d5f155be844ea3c2ebe009ef"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::holonomicMethod" ref="ad2adf641d5f155be844ea3c2ebe009ef" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_abstract_holonomic_reactive_method.html">CAbstractHolonomicReactiveMethod</a>* <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#ad2adf641d5f155be844ea3c2ebe009ef">mrpt::reactivenav::CReactiveNavigationSystem::holonomicMethod</a><code> [private]</code></td>
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<p>The holonomic navigation algorithm. </p>
<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00178">178</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="abf409cfad01d06fdcd502d32e6eb458c"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::holonomicMovements" ref="abf409cfad01d06fdcd502d32e6eb458c" args="" -->
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<td class="memname"><a class="el" href="classstd_1_1vector.html">std::vector</a><<a class="el" href="structmrpt_1_1reactivenav_1_1_c_reactive_navigation_system_1_1_t_holonomic_movement.html">THolonomicMovement</a>> <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#abf409cfad01d06fdcd502d32e6eb458c">mrpt::reactivenav::CReactiveNavigationSystem::holonomicMovements</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00221">221</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="aecc0a6e54bf1961a5c0a57bb8e702ab5"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::last_cmd_v" ref="aecc0a6e54bf1961a5c0a57bb8e702ab5" args="" -->
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<td class="memname">float <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#aecc0a6e54bf1961a5c0a57bb8e702ab5">mrpt::reactivenav::CReactiveNavigationSystem::last_cmd_v</a><code> [private]</code></td>
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<p>For the histeresis: </p>
<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00159">159</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00159">159</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a63ccd5468a0edb2c8b34a5ecfeba1347"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::lastLogRecord" ref="a63ccd5468a0edb2c8b34a5ecfeba1347" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_log_file_record.html">CLogFileRecord</a> <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a63ccd5468a0edb2c8b34a5ecfeba1347">mrpt::reactivenav::CReactiveNavigationSystem::lastLogRecord</a><code> [private]</code></td>
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<p>The last log. </p>
<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00156">156</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a1174f817023477459c71079c67497c18"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::logFile" ref="a1174f817023477459c71079c67497c18" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a>* <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a1174f817023477459c71079c67497c18">mrpt::reactivenav::CReactiveNavigationSystem::logFile</a><code> [private]</code></td>
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<p>The current log file stream, or NULL if not being used. </p>
<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00179">179</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a5833cb5c12d4a87527d9a9e440651aaf"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::m_closing_navigator" ref="a5833cb5c12d4a87527d9a9e440651aaf" args="" -->
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<td class="memname">bool <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a5833cb5c12d4a87527d9a9e440651aaf">mrpt::reactivenav::CReactiveNavigationSystem::m_closing_navigator</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00273">273</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a286c4ba58894a1a2a7bd8bd173c3b5c5"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::m_critZoneLastLog" ref="a286c4ba58894a1a2a7bd8bd173c3b5c5" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1synch_1_1_c_critical_section.html">synch::CCriticalSection</a> <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a286c4ba58894a1a2a7bd8bd173c3b5c5">mrpt::reactivenav::CReactiveNavigationSystem::m_critZoneLastLog</a><code> [private]</code></td>
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<p>Critical zones: </p>
<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00166">166</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<td class="memname"><a class="el" href="classmrpt_1_1synch_1_1_c_critical_section.html">synch::CCriticalSection</a> <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a44486bcf5522a7501cb8e6d587256d00">mrpt::reactivenav::CReactiveNavigationSystem::m_critZoneNavigating</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00166">166</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a8b4940894397fe1cfad90714fca36788"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::m_decimateHeadingEstimate" ref="a8b4940894397fe1cfad90714fca36788" args="" -->
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<td class="memname">int <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a8b4940894397fe1cfad90714fca36788">mrpt::reactivenav::CReactiveNavigationSystem::m_decimateHeadingEstimate</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00227">227</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a149bc93e10725aae877692b289256e0f"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::m_enableConsoleOutput" ref="a149bc93e10725aae877692b289256e0f" args="" -->
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<td class="memname">bool <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a149bc93e10725aae877692b289256e0f">mrpt::reactivenav::CReactiveNavigationSystem::m_enableConsoleOutput</a><code> [private]</code></td>
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<p>Enables / disables the console debug output. </p>
<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00181">181</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a61a2932c968e4d5782f28801551b0863"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::m_init_done" ref="a61a2932c968e4d5782f28801551b0863" args="" -->
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<td class="memname">bool <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a61a2932c968e4d5782f28801551b0863">mrpt::reactivenav::CReactiveNavigationSystem::m_init_done</a><code> [private]</code></td>
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<p>Whether <em><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a44a8bbabca6c1067ec7a6763a4cddff7" title="Reload the configuration from a file.">loadConfigFile()</a></em> has been called or not. </p>
<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00183">183</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a967a2c01094c3505e9e2a3a99ea07164"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::m_navigationParams" ref="a967a2c01094c3505e9e2a3a99ea07164" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system_1_1_t_navigation_params.html">TNavigationParams</a> <a class="el" href="classmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system.html#a967a2c01094c3505e9e2a3a99ea07164">mrpt::reactivenav::CAbstractReactiveNavigationSystem::m_navigationParams</a><code> [protected, inherited]</code></td>
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<p>Current navigation parameters: </p>
<p>Definition at line <a class="el" href="_c_abstract_reactive_navigation_system_8h_source.html#l00218">218</a> of file <a class="el" href="_c_abstract_reactive_navigation_system_8h_source.html">CAbstractReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a5936f91b0ce54ee0b68df5a40b9d64db"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::m_navigationState" ref="a5936f91b0ce54ee0b68df5a40b9d64db" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system.html#a68944a1b6b85dea98dd9e9580b59f4dc">TState</a> <a class="el" href="classmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system.html#a5936f91b0ce54ee0b68df5a40b9d64db">mrpt::reactivenav::CAbstractReactiveNavigationSystem::m_navigationState</a><code> [protected, inherited]</code></td>
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<p>Current internal state of navigator: </p>
<p>Definition at line <a class="el" href="_c_abstract_reactive_navigation_system_8h_source.html#l00214">214</a> of file <a class="el" href="_c_abstract_reactive_navigation_system_8h_source.html">CAbstractReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a333cafd09dd53e92f6d57b9876dae7a9"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::m_robot" ref="a333cafd09dd53e92f6d57b9876dae7a9" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_interface_implementation.html">CReactiveInterfaceImplementation</a>& <a class="el" href="classmrpt_1_1reactivenav_1_1_c_abstract_reactive_navigation_system.html#a333cafd09dd53e92f6d57b9876dae7a9">mrpt::reactivenav::CAbstractReactiveNavigationSystem::m_robot</a><code> [protected, inherited]</code></td>
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<p>The navigator-robot interface. </p>
<p>Definition at line <a class="el" href="_c_abstract_reactive_navigation_system_8h_source.html#l00221">221</a> of file <a class="el" href="_c_abstract_reactive_navigation_system_8h_source.html">CAbstractReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a5346f34e6f378773ac066edf0b809b36"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::maxObstaclesHeight" ref="a5346f34e6f378773ac066edf0b809b36" args="" -->
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<td class="memname">float <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a5346f34e6f378773ac066edf0b809b36">mrpt::reactivenav::CReactiveNavigationSystem::maxObstaclesHeight</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00195">195</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a3c3a1a40d1c2983a5986c47f55cdcd7f"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::meanExecutionPeriod" ref="a3c3a1a40d1c2983a5986c47f55cdcd7f" args="" -->
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<td class="memname">float <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a3c3a1a40d1c2983a5986c47f55cdcd7f">mrpt::reactivenav::CReactiveNavigationSystem::meanExecutionPeriod</a><code> [private]</code></td>
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<p>Runtime estimation of execution period of the method. </p>
<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00200">200</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a9f11fd2e6ffbde29d58e17a182668af2"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::meanExecutionTime" ref="a9f11fd2e6ffbde29d58e17a182668af2" args="" -->
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<td class="memname">float <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a9f11fd2e6ffbde29d58e17a182668af2">mrpt::reactivenav::CReactiveNavigationSystem::meanExecutionTime</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00224">224</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a1373bf4712205e43ababc8ee9b3020db"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::meanTotalExecutionTime" ref="a1373bf4712205e43ababc8ee9b3020db" args="" -->
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00225">225</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a7449fd505adf951e31e57b403b53d3cc"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::minObstaclesHeight" ref="a7449fd505adf951e31e57b403b53d3cc" args="" -->
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<td class="memname">float <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a7449fd505adf951e31e57b403b53d3cc">mrpt::reactivenav::CReactiveNavigationSystem::minObstaclesHeight</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00195">195</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="aebd5eb752b448da94d874c1fd36cbd74"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::navigationEndEventSent" ref="aebd5eb752b448da94d874c1fd36cbd74" args="" -->
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<td class="memname">bool <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#aebd5eb752b448da94d874c1fd36cbd74">mrpt::reactivenav::CReactiveNavigationSystem::navigationEndEventSent</a><code> [private]</code></td>
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<p>Will be false until the navigation end is sent, and it is reset with each new command. </p>
<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00163">163</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="ad06700939633bf9ab5d6eac318f90882"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::nIteration" ref="ad06700939633bf9ab5d6eac318f90882" args="" -->
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<td class="memname">unsigned long <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#ad06700939633bf9ab5d6eac318f90882">mrpt::reactivenav::CReactiveNavigationSystem::nIteration</a><code> [private]</code></td>
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<p>The iteration count. </p>
<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00199">199</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a96bd49ff9307c91392e153c6353ecd2c"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::nLastSelectedPTG" ref="a96bd49ff9307c91392e153c6353ecd2c" args="" -->
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<td class="memname">int <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a96bd49ff9307c91392e153c6353ecd2c">mrpt::reactivenav::CReactiveNavigationSystem::nLastSelectedPTG</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00226">226</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a9cb276f0aaacd4af54717c10202493d8"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::PTGs" ref="a9cb276f0aaacd4af54717c10202493d8" args="" -->
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<td class="memname"><a class="el" href="classstd_1_1vector.html">std::vector</a><<a class="el" href="classmrpt_1_1reactivenav_1_1_c_parameterized_trajectory_generator.html">CParameterizedTrajectoryGenerator</a>*> <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a9cb276f0aaacd4af54717c10202493d8">mrpt::reactivenav::CReactiveNavigationSystem::PTGs</a><code> [private]</code></td>
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<p>The set of transformations to be used: </p>
<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00232">232</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="aa71c4c1bdc88dc1f5264e653a3843a40"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::refDistance" ref="aa71c4c1bdc88dc1f5264e653a3843a40" args="" -->
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00189">189</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00191">191</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="aaae5d0b93bc0e91cb17c4abc5850509c"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::robotMax_W_degps" ref="aaae5d0b93bc0e91cb17c4abc5850509c" args="" -->
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00192">192</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a2180cc58ff8648313971bdfb0b898082"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::ROBOTMODEL_DELAY" ref="a2180cc58ff8648313971bdfb0b898082" args="" -->
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00193">193</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="aadf83ca0e23fc680a40266f5c1b4609d"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::ROBOTMODEL_TAU" ref="aadf83ca0e23fc680a40266f5c1b4609d" args="" -->
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<td class="memname">float <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#aadf83ca0e23fc680a40266f5c1b4609d">mrpt::reactivenav::CReactiveNavigationSystem::ROBOTMODEL_TAU</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00193">193</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a111ef77e1add1117e4dea2ea60f5c811"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::robotName" ref="a111ef77e1add1117e4dea2ea60f5c811" args="" -->
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<td class="memname"><a class="el" href="classstd_1_1string.html">std::string</a> <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a111ef77e1add1117e4dea2ea60f5c811">mrpt::reactivenav::CReactiveNavigationSystem::robotName</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00188">188</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a5eda0045259db31f8fe47112b5bd2501"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::robotShape" ref="a5eda0045259db31f8fe47112b5bd2501" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1math_1_1_c_polygon.html">math::CPolygon</a> <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a5eda0045259db31f8fe47112b5bd2501">mrpt::reactivenav::CReactiveNavigationSystem::robotShape</a><code> [private]</code></td>
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<p>The robot 2D shape model. </p>
<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00212">212</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a0688493825af28b1d0adbaf7ca89e14b"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::tictac" ref="a0688493825af28b1d0adbaf7ca89e14b" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_tic_tac.html">mrpt::utils::CTicTac</a> <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a0688493825af28b1d0adbaf7ca89e14b">mrpt::reactivenav::CReactiveNavigationSystem::tictac</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00218">218</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a6be4599c469213368d0def28c7a8e853"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::timerForExecutionPeriod" ref="a6be4599c469213368d0def28c7a8e853" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_tic_tac.html">CTicTac</a> <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a6be4599c469213368d0def28c7a8e853">mrpt::reactivenav::CReactiveNavigationSystem::timerForExecutionPeriod</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00185">185</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="ab63a251125bd0090f4398861a004d123"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::times_HoloNav" ref="ab63a251125bd0090f4398861a004d123" args="" -->
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<td class="memname"><a class="el" href="classstd_1_1vector.html">std::vector</a><float> <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#ab63a251125bd0090f4398861a004d123">mrpt::reactivenav::CReactiveNavigationSystem::times_HoloNav</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00222">222</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a20f5db9cddae409e8915df5329a261b6"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::times_TP_transformations" ref="a20f5db9cddae409e8915df5329a261b6" args="" -->
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<td class="memname"><a class="el" href="classstd_1_1vector.html">std::vector</a><float> <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a20f5db9cddae409e8915df5329a261b6">mrpt::reactivenav::CReactiveNavigationSystem::times_TP_transformations</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00222">222</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a7657475c89c53c8dbb2044b0debfe773"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::totalExecutionTime" ref="a7657475c89c53c8dbb2044b0debfe773" args="" -->
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00218">218</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="ab7f64f7161dca3d279b5df7223e55dc7"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::TP_Obstacles" ref="ab7f64f7161dca3d279b5df7223e55dc7" args="" -->
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<td class="memname"><a class="el" href="classstd_1_1vector.html">std::vector</a><<a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a>> <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#ab7f64f7161dca3d279b5df7223e55dc7">mrpt::reactivenav::CReactiveNavigationSystem::TP_Obstacles</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00219">219</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a7d3bfb16288c7499d00afc4041bed822"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::TP_Targets" ref="a7d3bfb16288c7499d00afc4041bed822" args="" -->
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<td class="memname"><a class="el" href="classstd_1_1vector.html">std::vector</a><<a class="el" href="classmrpt_1_1poses_1_1_c_point2_d.html">poses::CPoint2D</a>,<a class="el" href="class_eigen_1_1aligned__allocator.html">Eigen::aligned_allocator</a><<a class="el" href="classmrpt_1_1poses_1_1_c_point2_d.html">poses::CPoint2D</a>> > <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a7d3bfb16288c7499d00afc4041bed822">mrpt::reactivenav::CReactiveNavigationSystem::TP_Targets</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00220">220</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="adc85506486598895a554e91bdf48e547"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::valid_TP" ref="adc85506486598895a554e91bdf48e547" args="" -->
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<td class="memname"><a class="el" href="classstd_1_1vector.html">std::vector</a><bool> <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#adc85506486598895a554e91bdf48e547">mrpt::reactivenav::CReactiveNavigationSystem::valid_TP</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00223">223</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<a class="anchor" id="a18f1d1b0473a49dff6f356e7df27bf30"></a><!-- doxytag: member="mrpt::reactivenav::CReactiveNavigationSystem::weights" ref="a18f1d1b0473a49dff6f356e7df27bf30" args="" -->
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<td class="memname"><a class="el" href="classstd_1_1vector.html">std::vector</a><float> <a class="el" href="classmrpt_1_1reactivenav_1_1_c_reactive_navigation_system.html#a18f1d1b0473a49dff6f356e7df27bf30">mrpt::reactivenav::CReactiveNavigationSystem::weights</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_reactive_navigation_system_8h_source.html#l00194">194</a> of file <a class="el" href="_c_reactive_navigation_system_8h_source.html">CReactiveNavigationSystem.h</a>.</p>
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<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
