<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"> <html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1"> <title>CHolonomicVFF.h Source File</title> <link href="doxygen.css" rel="stylesheet" type="text/css"> <link href="tabs.css" rel="stylesheet" type="text/css"> </head><body> <div align="left"><a href="http://www.mrpt.org/">Main MRPT website</a> > <b>C++ reference</b> </div> <div align="right"> <a href="index.html"><img border="0" src="mrpt_logo.png" alt="MRPT logo"></a> </div> <!-- Generated by Doxygen 1.7.5 --> <script type="text/javascript"> var searchBox = new SearchBox("searchBox", "search",false,'Search'); </script> <div id="navrow1" class="tabs"> <ul class="tablist"> <li><a href="index.html"><span>Main Page</span></a></li> <li><a href="pages.html"><span>Related Pages</span></a></li> <li><a href="modules.html"><span>Modules</span></a></li> <li><a href="namespaces.html"><span>Namespaces</span></a></li> <li><a href="annotated.html"><span>Classes</span></a></li> <li class="current"><a href="files.html"><span>Files</span></a></li> <li> <div id="MSearchBox" class="MSearchBoxInactive"> <div class="left"> <form id="FSearchBox" action="search.php" method="get"> <img id="MSearchSelect" src="search/mag.png" alt=""/> <input type="text" id="MSearchField" name="query" value="Search" size="20" accesskey="S" onfocus="searchBox.OnSearchFieldFocus(true)" onblur="searchBox.OnSearchFieldFocus(false)"/> </form> </div><div class="right"></div> </div> </li> </ul> </div> <div id="navrow2" class="tabs2"> <ul class="tablist"> <li><a href="files.html"><span>File List</span></a></li> <li><a href="globals.html"><span>File Members</span></a></li> </ul> </div> <div class="header"> <div class="headertitle"> <div class="title">CHolonomicVFF.h</div> </div> </div> <div class="contents"> <a href="_c_holonomic_v_f_f_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 CHolonomicVFF_H</span> <a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CHolonomicVFF_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 <span class="preprocessor">#include "<a class="code" href="_c_holonomic_log_file_record_8h.html">CHolonomicLogFileRecord.h</a>"</span> <a name="l00033"></a>00033 <a name="l00034"></a>00034 <span class="keyword">namespace </span>mrpt <a name="l00035"></a>00035 { <a name="l00036"></a>00036 <span class="keyword">namespace </span>reactivenav <a name="l00037"></a>00037 { <a name="l00038"></a><a class="code" href="structmrpt_1_1reactivenav_1_1_c_log_file_record___v_f_f_ptr.html#ad9c7894b7ee0bbb28ca142368cb73cfd">00038</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___v_f_f.html" title="A class for storing extra information about the execution of CHolonomicVFF navigation.">CLogFileRecord_VFF</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="l00039"></a>00039 <a name="l00040"></a>00040 <span class="comment">/** A class for storing extra information about the execution of</span> <a name="l00041"></a>00041 <span class="comment"> * CHolonomicVFF navigation.</span> <a name="l00042"></a>00042 <span class="comment"> * \sa CHolonomicVFF, CHolonomicLogFileRecord</span> <a name="l00043"></a>00043 <span class="comment"> * \ingroup mrpt_reactivenav_grp</span> <a name="l00044"></a>00044 <span class="comment"> */</span> <a name="l00045"></a>00045 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_log_file_record___v_f_f.html" title="A class for storing extra information about the execution of CHolonomicVFF navigation.">CLogFileRecord_VFF</a> : public <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="l00046"></a>00046 { <a name="l00047"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record___v_f_f.html#afa30392969580ceb8e952071dc7c822b">00047</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___v_f_f.html" title="A class for storing extra information about the execution of CHolonomicVFF navigation.">CLogFileRecord_VFF</a> ) <a name="l00048"></a>00048 public: <a name="l00049"></a>00049 <span class="comment"></span> <a name="l00050"></a>00050 <span class="comment"> /** Member data.</span> <a name="l00051"></a>00051 <span class="comment"> */</span> <a name="l00052"></a>00052 <a name="l00053"></a>00053 }; <a name="l00054"></a>00054 <a name="l00055"></a>00055 <span class="comment"></span> <a name="l00056"></a>00056 <span class="comment"> /** A holonomic reactive navigation method, based on Virtual Force Fields (VFF).</span> <a name="l00057"></a>00057 <span class="comment"> * \sa CAbstractHolonomicReactiveMethod,CReactiveNavigationSystem</span> <a name="l00058"></a>00058 <span class="comment"> */</span> <a name="l00059"></a>00059 class <a class="code" href="classmrpt_1_1reactivenav_1_1_c_holonomic_v_f_f.html" title="A holonomic reactive navigation method, based on Virtual Force Fields (VFF).">CHolonomicVFF</a> : 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="l00060"></a>00060 { <a name="l00061"></a>00061 <span class="keyword">public</span>: <a name="l00062"></a>00062 <a class="code" href="_core.html">EIGEN_MAKE_ALIGNED_OPERATOR_NEW</a> <a name="l00063"></a>00063 <span class="keyword">public</span>:<span class="comment"></span> <a name="l00064"></a>00064 <span class="comment"> /** Initialize the parameters of the navigator, from some configuration file, or default values if set to NULL.</span> <a name="l00065"></a>00065 <span class="comment"> */</span> <a name="l00066"></a>00066 <a class="code" href="classmrpt_1_1reactivenav_1_1_c_holonomic_v_f_f.html" title="A holonomic reactive navigation method, based on Virtual Force Fields (VFF).">CHolonomicVFF</a>(<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="l00067"></a>00067 <span class="comment"></span> <a name="l00068"></a>00068 <span class="comment"> /** This method performs the holonomic navigation itself.</span> <a name="l00069"></a>00069 <span class="comment"> * \param target [IN] The relative location (x,y) of target point.</span> <a name="l00070"></a>00070 <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="l00071"></a>00071 <span class="comment"> * \param maxRobotSpeed [IN] Maximum robot speed, in "pseudometers/sec". See note below.</span> <a name="l00072"></a>00072 <span class="comment"> * \param desiredDirection [OUT] The desired motion direction, in the range [-PI,PI]</span> <a name="l00073"></a>00073 <span class="comment"> * \param desiredSpeed [OUT] The desired motion speed in that direction, in "pseudometers"/sec. (See note below)</span> <a name="l00074"></a>00074 <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="l00075"></a>00075 <span class="comment"> *</span> <a name="l00076"></a>00076 <span class="comment"> * NOTE: With "pseudometers" we refer to the distance unit in TP-Space, thus:</span> <a name="l00077"></a>00077 <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="l00078"></a>00078 <span class="comment"> */</span> <a name="l00079"></a>00079 <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="l00080"></a>00080 <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="l00081"></a>00081 <span class="keywordtype">double</span> maxRobotSpeed, <a name="l00082"></a>00082 <span class="keywordtype">double</span> &desiredDirection, <a name="l00083"></a>00083 <span class="keywordtype">double</span> &desiredSpeed, <a name="l00084"></a>00084 <a class="code" href="structmrpt_1_1reactivenav_1_1_c_holonomic_log_file_record_ptr.html">CHolonomicLogFileRecordPtr</a> &logRecord ); <a name="l00085"></a>00085 <span class="comment"></span> <a name="l00086"></a>00086 <span class="comment"> /** Initialize the parameters of the navigator.</span> <a name="l00087"></a>00087 <span class="comment"> */</span> <a name="l00088"></a>00088 <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="l00089"></a>00089 <a name="l00090"></a>00090 }; <a name="l00091"></a>00091 } <a name="l00092"></a>00092 } <a name="l00093"></a>00093 <a name="l00094"></a>00094 <a name="l00095"></a>00095 <span class="preprocessor">#endif</span> <a name="l00096"></a>00096 <span class="preprocessor"></span> <a name="l00097"></a>00097 <a name="l00098"></a>00098 </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>