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<div class="title">CHolonomicND.h</div> </div>
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<a href="_c_holonomic_n_d_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef CHolonomicND_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CHolonomicND_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include "<a class="code" href="_c_abstract_holonomic_reactive_method_8h.html">CAbstractHolonomicReactiveMethod.h</a>"</span>
<a name="l00032"></a>00032
<a name="l00033"></a>00033 <span class="keyword">namespace </span>mrpt
<a name="l00034"></a>00034 {
<a name="l00035"></a>00035 <span class="keyword">namespace </span>reactivenav
<a name="l00036"></a>00036 {
<a name="l00037"></a><a class="code" href="structmrpt_1_1reactivenav_1_1_c_log_file_record___n_d_ptr.html#a0fe80632690f6dba5391393dfdfc5698">00037</a> <a class="code" href="_c_serializable_8h.html#a9ef523d787f6cb837a0585b790882588" title="This declaration must be inserted in all CSerializable classes definition, before the class declarati...">DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE</a>(<a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record___n_d.html" title="A class for storing extra information about the execution of CHolonomicND navigation.">CLogFileRecord_ND</a>, <a class="code" href="classmrpt_1_1reactivenav_1_1_c_holonomic_log_file_record.html" title="A base class for log records for different holonomic navigation methods.">CHolonomicLogFileRecord</a>, <a class="code" href="reactivenav_2include_2mrpt_2reactivenav_2link__pragmas_8h.html#aa2168e902b4c1dd548d6129461f0c519">REACTIVENAV_IMPEXP</a>)
<a name="l00038"></a>00038
<a name="l00039"></a>00039 <span class="comment">/** An implementation of the holonomic reactive navigation method "Nearness-Diagram".</span>
<a name="l00040"></a>00040 <span class="comment"> * The algorithm "Nearness-Diagram" was proposed in:</span>
<a name="l00041"></a>00041 <span class="comment"> *</span>
<a name="l00042"></a>00042 <span class="comment"> * Nearness diagram (ND) navigation: collision avoidance in troublesome scenarios, IEEE Transactions on</span>
<a name="l00043"></a>00043 <span class="comment"> * Robotics and Automation, Minguez, J. and Montano, L., vol. 20, no. 1, pp. 45-59, 2004.</span>
<a name="l00044"></a>00044 <span class="comment"> *</span>
<a name="l00045"></a>00045 <span class="comment"> * \sa CAbstractHolonomicReactiveMethod,CReactiveNavigationSystem</span>
<a name="l00046"></a>00046 <span class="comment"> * \ingroup mrpt_reactivenav_grp</span>
<a name="l00047"></a>00047 <span class="comment"> */</span>
<a name="l00048"></a>00048 class <a class="code" href="reactivenav_2include_2mrpt_2reactivenav_2link__pragmas_8h.html#aa2168e902b4c1dd548d6129461f0c519">REACTIVENAV_IMPEXP</a> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html" title="An implementation of the holonomic reactive navigation method "Nearness-Diagram".">CHolonomicND</a> : public <a class="code" href="classmrpt_1_1reactivenav_1_1_c_abstract_holonomic_reactive_method.html" title="A base class for holonomic reactive navigation methods.">CAbstractHolonomicReactiveMethod</a>
<a name="l00049"></a>00049 {
<a name="l00050"></a>00050 <span class="keyword">public</span>:
<a name="l00051"></a>00051 <a class="code" href="_core.html">EIGEN_MAKE_ALIGNED_OPERATOR_NEW</a>
<a name="l00052"></a>00052 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00053"></a>00053 <span class="comment"> /** Initialize the parameters of the navigator, from some configuration file, or default values if set to NULL.</span>
<a name="l00054"></a>00054 <span class="comment"> */</span>
<a name="l00055"></a>00055 <a class="code" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html" title="An implementation of the holonomic reactive navigation method "Nearness-Diagram".">CHolonomicND</a>( <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_config_file_base.html" title="This class allows loading and storing values and vectors of different types from a configuration text...">mrpt::utils::CConfigFileBase</a> *INI_FILE = NULL );
<a name="l00056"></a>00056 <span class="comment"></span>
<a name="l00057"></a>00057 <span class="comment"> /** This method performs the holonomic navigation itself.</span>
<a name="l00058"></a>00058 <span class="comment"> * \param target [IN] The relative location (x,y) of target point.</span>
<a name="l00059"></a>00059 <span class="comment"> * \param obstacles [IN] Distance to obstacles from robot location (0,0). First index refers to -PI direction, and last one to +PI direction. Distances can be dealed as "meters", although they are "pseudometers", see note below.</span>
<a name="l00060"></a>00060 <span class="comment"> * \param maxRobotSpeed [IN] Maximum robot speed, in "pseudometers/sec". See note below.</span>
<a name="l00061"></a>00061 <span class="comment"> * \param desiredDirection [OUT] The desired motion direction, in the range [-PI,PI]</span>
<a name="l00062"></a>00062 <span class="comment"> * \param desiredSpeed [OUT] The desired motion speed in that direction, in "pseudometers"/sec. (See note below)</span>
<a name="l00063"></a>00063 <span class="comment"> * \param logRecord [IN/OUT] A placeholder for a pointer to a log record with extra info about the execution. Set to NULL if not required. User <b>must free memory</b> using "delete logRecord" after using it.</span>
<a name="l00064"></a>00064 <span class="comment"> *</span>
<a name="l00065"></a>00065 <span class="comment"> * NOTE: With "pseudometers" we refer to the distance unit in TP-Space, thus:</span>
<a name="l00066"></a>00066 <span class="comment"> * <br><center><code>pseudometer<sup>2</sup>= meter<sup>2</sup> + (rad ยท r)<sup>2</sup></code><br></center></span>
<a name="l00067"></a>00067 <span class="comment"> */</span>
<a name="l00068"></a>00068 <span class="keywordtype">void</span> navigate( <a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html" title="A class used to store a 2D point.">poses::CPoint2D</a> &target,
<a name="l00069"></a>00069 <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">vector_double</a> &obstacles,
<a name="l00070"></a>00070 <span class="keywordtype">double</span> maxRobotSpeed,
<a name="l00071"></a>00071 <span class="keywordtype">double</span> &desiredDirection,
<a name="l00072"></a>00072 <span class="keywordtype">double</span> &desiredSpeed,
<a name="l00073"></a>00073 <a class="code" href="structmrpt_1_1reactivenav_1_1_c_holonomic_log_file_record_ptr.html">CHolonomicLogFileRecordPtr</a> &logRecord );
<a name="l00074"></a>00074 <span class="comment"></span>
<a name="l00075"></a>00075 <span class="comment"> /** The structure used to store a detected gap in obstacles.</span>
<a name="l00076"></a>00076 <span class="comment"> */</span>
<a name="l00077"></a>00077 <span class="keyword">struct </span>TGap
<a name="l00078"></a>00078 {
<a name="l00079"></a><a class="code" href="structmrpt_1_1reactivenav_1_1_c_holonomic_n_d_1_1_t_gap.html#a3d5330802d69cea505f65779034cf885">00079</a> <span class="keywordtype">int</span> <a class="code" href="structmrpt_1_1reactivenav_1_1_c_holonomic_n_d_1_1_t_gap.html#a3d5330802d69cea505f65779034cf885">ini</a>;
<a name="l00080"></a><a class="code" href="structmrpt_1_1reactivenav_1_1_c_holonomic_n_d_1_1_t_gap.html#a3a0f1b57076ec4574fe612f073febe6f">00080</a> <span class="keywordtype">int</span> <a class="code" href="structmrpt_1_1reactivenav_1_1_c_holonomic_n_d_1_1_t_gap.html#a3a0f1b57076ec4574fe612f073febe6f">end</a>;
<a name="l00081"></a><a class="code" href="structmrpt_1_1reactivenav_1_1_c_holonomic_n_d_1_1_t_gap.html#a08b766b56c9f95637f6a3c8906d8cfdd">00081</a> <span class="keywordtype">double</span> <a class="code" href="structmrpt_1_1reactivenav_1_1_c_holonomic_n_d_1_1_t_gap.html#a08b766b56c9f95637f6a3c8906d8cfdd">entranceDistance</a>;
<a name="l00082"></a><a class="code" href="structmrpt_1_1reactivenav_1_1_c_holonomic_n_d_1_1_t_gap.html#a08df4604739f34da9fc18041a5684acd">00082</a> <span class="keywordtype">double</span> <a class="code" href="structmrpt_1_1reactivenav_1_1_c_holonomic_n_d_1_1_t_gap.html#a08df4604739f34da9fc18041a5684acd">maxDistance</a>;
<a name="l00083"></a><a class="code" href="structmrpt_1_1reactivenav_1_1_c_holonomic_n_d_1_1_t_gap.html#a09059ae95efc7b24c123ee78c1063b1b">00083</a> <span class="keywordtype">int</span> <a class="code" href="structmrpt_1_1reactivenav_1_1_c_holonomic_n_d_1_1_t_gap.html#a09059ae95efc7b24c123ee78c1063b1b">representative_sector</a>;
<a name="l00084"></a>00084 };
<a name="l00085"></a>00085
<a name="l00086"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#a5214ffcb53da7f74a3766fc8827bec79">00086</a> <span class="keyword">typedef</span> std<a class="code" href="classstd_1_1vector.html" title="STL class.">::vector<TGap></a> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#a5214ffcb53da7f74a3766fc8827bec79">TGapArray</a>;
<a name="l00087"></a>00087 <span class="comment"></span>
<a name="l00088"></a>00088 <span class="comment"> /** The set of posible situations for each trajectory.</span>
<a name="l00089"></a>00089 <span class="comment"> */</span>
<a name="l00090"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#a623932ad154799d0e362719e3ecd9666">00090</a> <span class="keyword">enum</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#a623932ad154799d0e362719e3ecd9666" title="The set of posible situations for each trajectory.">TSituations</a>
<a name="l00091"></a>00091 {
<a name="l00092"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#a623932ad154799d0e362719e3ecd9666a21c6a294cf53f4feb4d35fa5dcb80b29">00092</a> SITUATION_TARGET_DIRECTLY = 1,
<a name="l00093"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#a623932ad154799d0e362719e3ecd9666a5d3c7288d0da120f13825f5a93211d79">00093</a> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#a623932ad154799d0e362719e3ecd9666a5d3c7288d0da120f13825f5a93211d79">SITUATION_SMALL_GAP</a>,
<a name="l00094"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#a623932ad154799d0e362719e3ecd9666a0a3f1464ca263c2d4ea375d043e29feb">00094</a> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#a623932ad154799d0e362719e3ecd9666a0a3f1464ca263c2d4ea375d043e29feb">SITUATION_WIDE_GAP</a>,
<a name="l00095"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#a623932ad154799d0e362719e3ecd9666a77c5b71d544dcfffe585f4896c9b92c3">00095</a> SITUATION_NO_WAY_FOUND
<a name="l00096"></a>00096 };
<a name="l00097"></a>00097 <span class="comment"></span>
<a name="l00098"></a>00098 <span class="comment"> /** Initialize the parameters of the navigator.</span>
<a name="l00099"></a>00099 <span class="comment"> */</span>
<a name="l00100"></a>00100 <span class="keywordtype">void</span> initialize( <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_config_file_base.html" title="This class allows loading and storing values and vectors of different types from a configuration text...">mrpt::utils::CConfigFileBase</a> &INI_FILE );
<a name="l00101"></a>00101
<a name="l00102"></a>00102
<a name="l00103"></a>00103
<a name="l00104"></a>00104 <span class="keyword">private</span>:
<a name="l00105"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#a4871b0b13d3c452ed92622840f134008">00105</a> <span class="keywordtype">int</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#a4871b0b13d3c452ed92622840f134008">last_selected_sector</a>;
<a name="l00106"></a>00106
<a name="l00107"></a>00107 <span class="keywordtype">int</span> direction2sector(<span class="keywordtype">double</span> a, <span class="keywordtype">int</span> N);
<a name="l00108"></a>00108 <span class="comment"></span>
<a name="l00109"></a>00109 <span class="comment"> /** Configuration:</span>
<a name="l00110"></a>00110 <span class="comment"> */</span>
<a name="l00111"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#ab1afeb56faed8cfd87fbf7db80f7cd1f">00111</a> <span class="keywordtype">double</span> TOO_CLOSE_OBSTACLE,<a class="code" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#ab1afeb56faed8cfd87fbf7db80f7cd1f">WIDE_GAP_SIZE_PERCENT</a>,RISK_EVALUATION_SECTORS_PERCENT;
<a name="l00112"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#a63914f0e97705f312f73167a2cbdff8e">00112</a> <span class="keywordtype">double</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#a63914f0e97705f312f73167a2cbdff8e">RISK_EVALUATION_DISTANCE</a>,MAX_SECTOR_DIST_FOR_D2_PERCENT;
<a name="l00113"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#a2fa4b5e57224b874e147b980dfc3ec02">00113</a> <span class="keywordtype">double</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#a2fa4b5e57224b874e147b980dfc3ec02">TARGET_SLOW_APPROACHING_DISTANCE</a>;
<a name="l00114"></a>00114
<a name="l00115"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#a852a7b303158c8754bd5d1d9e8a130a3">00115</a> <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">vector_double</a> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#a852a7b303158c8754bd5d1d9e8a130a3">factorWeights</a>;
<a name="l00116"></a>00116 <span class="comment"></span>
<a name="l00117"></a>00117 <span class="comment"> /** Find gaps in the obtacles.</span>
<a name="l00118"></a>00118 <span class="comment"> */</span>
<a name="l00119"></a>00119 <span class="keywordtype">void</span> gapsEstimator(
<a name="l00120"></a>00120 <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">vector_double</a> &obstacles,
<a name="l00121"></a>00121 <a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html" title="A class used to store a 2D point.">poses::CPoint2D</a> &in_target,
<a name="l00122"></a>00122 TGapArray &gaps );
<a name="l00123"></a>00123 <span class="comment"></span>
<a name="l00124"></a>00124 <span class="comment"> /** Search the best gap.</span>
<a name="l00125"></a>00125 <span class="comment"> */</span>
<a name="l00126"></a>00126 <span class="keywordtype">void</span> searchBestGap(
<a name="l00127"></a>00127 <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">vector_double</a> &in_obstacles,
<a name="l00128"></a>00128 <span class="keywordtype">double</span> in_maxObsRange,
<a name="l00129"></a>00129 TGapArray &in_gaps,
<a name="l00130"></a>00130 <a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html" title="A class used to store a 2D point.">poses::CPoint2D</a> &in_target,
<a name="l00131"></a>00131 <span class="keywordtype">int</span> &out_selDirection,
<a name="l00132"></a>00132 <span class="keywordtype">double</span> &out_selEvaluation,
<a name="l00133"></a>00133 <a class="code" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html#a623932ad154799d0e362719e3ecd9666" title="The set of posible situations for each trajectory.">TSituations</a> &out_situation,
<a name="l00134"></a>00134 <span class="keywordtype">double</span> &out_riskEvaluation,
<a name="l00135"></a>00135 <a class="code" href="structmrpt_1_1reactivenav_1_1_c_log_file_record___n_d_ptr.html">CLogFileRecord_NDPtr</a> log);
<a name="l00136"></a>00136 <span class="comment"></span>
<a name="l00137"></a>00137 <span class="comment"> /** Fills in the representative sector field in the gap structure:</span>
<a name="l00138"></a>00138 <span class="comment"> */</span>
<a name="l00139"></a>00139 <span class="keywordtype">void</span> calcRepresentativeSectorForGap(
<a name="l00140"></a>00140 <a class="code" href="structmrpt_1_1reactivenav_1_1_c_holonomic_n_d_1_1_t_gap.html" title="The structure used to store a detected gap in obstacles.">TGap</a> &gap,
<a name="l00141"></a>00141 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html" title="A class used to store a 2D point.">poses::CPoint2D</a> &target,
<a name="l00142"></a>00142 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">vector_double</a> &obstacles);
<a name="l00143"></a>00143 <span class="comment"></span>
<a name="l00144"></a>00144 <span class="comment"> /** Evaluate each gap:</span>
<a name="l00145"></a>00145 <span class="comment"> */</span>
<a name="l00146"></a>00146 <span class="keywordtype">void</span> evaluateGaps(
<a name="l00147"></a>00147 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">vector_double</a> &in_obstacles,
<a name="l00148"></a>00148 <span class="keyword">const</span> <span class="keywordtype">double</span> in_maxObsRange,
<a name="l00149"></a>00149 <span class="keyword">const</span> TGapArray &in_gaps,
<a name="l00150"></a>00150 <span class="keyword">const</span> <span class="keywordtype">int</span> TargetSector,
<a name="l00151"></a>00151 <span class="keyword">const</span> <span class="keywordtype">double</span> TargetDist,
<a name="l00152"></a>00152 <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">vector_double</a> &out_gaps_evaluation );
<a name="l00153"></a>00153 };
<a name="l00154"></a>00154 <span class="comment"></span>
<a name="l00155"></a>00155 <span class="comment"> /** A class for storing extra information about the execution of</span>
<a name="l00156"></a>00156 <span class="comment"> * CHolonomicND navigation.</span>
<a name="l00157"></a>00157 <span class="comment"> * \sa CHolonomicND, CHolonomicLogFileRecord</span>
<a name="l00158"></a>00158 <span class="comment"> */</span>
<a name="l00159"></a>00159 <span class="keyword">class </span><a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record___n_d.html" title="A class for storing extra information about the execution of CHolonomicND navigation.">CLogFileRecord_ND</a> : <span class="keyword">public</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_holonomic_log_file_record.html" title="A base class for log records for different holonomic navigation methods.">CHolonomicLogFileRecord</a>
<a name="l00160"></a>00160 {
<a name="l00161"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record___n_d.html#a5fbfdd4b7fc87184eef77c0b6ac9491d">00161</a> <a class="code" href="_c_serializable_8h.html#a72ab55bf7ae009c89b75715cfa21e84d" title="This declaration must be inserted in all CSerializable classes definition, within the class declarati...">DEFINE_SERIALIZABLE</a>( <a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record___n_d.html" title="A class for storing extra information about the execution of CHolonomicND navigation.">CLogFileRecord_ND</a> )
<a name="l00162"></a>00162
<a name="l00163"></a>00163 public:<span class="comment"></span>
<a name="l00164"></a>00164 <span class="comment"> /** Member data.</span>
<a name="l00165"></a>00165 <span class="comment"> */</span>
<a name="l00166"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record___n_d.html#a06f33b1c16b6c422ac25fb383e341a65">00166</a> <a class="code" href="classstd_1_1vector.html" title="STL class.">vector_int</a> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record___n_d.html#a06f33b1c16b6c422ac25fb383e341a65" title="Member data.">gaps_ini</a>,<a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record___n_d.html#a19f2dc815fb93fdc815fdbdbff0d7c03">gaps_end</a>;
<a name="l00167"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record___n_d.html#a1f6f1e6cd8919da51d3dca4e9d4d032c">00167</a> <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">vector_double</a> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record___n_d.html#a1f6f1e6cd8919da51d3dca4e9d4d032c">gaps_eval</a>;
<a name="l00168"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record___n_d.html#a85426493ee9bc9bbc681ce1d2e2cb617">00168</a> int32_t <a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record___n_d.html#a85426493ee9bc9bbc681ce1d2e2cb617">selectedSector</a>;
<a name="l00169"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record___n_d.html#a09af3690c4121b0f759959f21bd4acc2">00169</a> <span class="keywordtype">double</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record___n_d.html#a09af3690c4121b0f759959f21bd4acc2">evaluation</a>;
<a name="l00170"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record___n_d.html#a802a7ba89e29c6d7978a2dbda401adb9">00170</a> <span class="keywordtype">double</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record___n_d.html#a802a7ba89e29c6d7978a2dbda401adb9">riskEvaluation</a>;
<a name="l00171"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record___n_d.html#a60417cd17f121d300132a49ae3c1e1f4">00171</a> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_holonomic_n_d.html" title="An implementation of the holonomic reactive navigation method "Nearness-Diagram".">CHolonomicND</a>::TSituations <a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record___n_d.html#a60417cd17f121d300132a49ae3c1e1f4">situation</a>;
<a name="l00172"></a>00172 };
<a name="l00173"></a>00173
<a name="l00174"></a>00174 }
<a name="l00175"></a>00175 }
<a name="l00176"></a>00176
<a name="l00177"></a>00177
<a name="l00178"></a>00178 <span class="preprocessor">#endif</span>
<a name="l00179"></a>00179 <span class="preprocessor"></span>
<a name="l00180"></a>00180
<a name="l00181"></a>00181
</pre></div></div>
</div>
<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</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>
