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<div class="title">CAbstractHolonomicReactiveMethod.h</div> </div>
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<a href="_c_abstract_holonomic_reactive_method_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 CAbstractHolonomicReactiveMethod_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CAbstractHolonomicReactiveMethod_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="base_2include_2mrpt_2utils_8h.html">mrpt/utils.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="poses_8h.html">mrpt/poses.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include "<a class="code" href="_c_holonomic_log_file_record_8h.html">CHolonomicLogFileRecord.h</a>"</span>
<a name="l00034"></a>00034
<a name="l00035"></a>00035 <span class="keyword">namespace </span>mrpt
<a name="l00036"></a>00036 {
<a name="l00037"></a><a class="code" href="namespacemrpt_1_1reactivenav.html">00037</a> <span class="keyword">namespace </span>reactivenav
<a name="l00038"></a>00038 {
<a name="l00039"></a>00039 <span class="keyword">using namespace </span>mrpt::utils;
<a name="l00040"></a>00040 <span class="keyword">using namespace </span>mrpt::poses;
<a name="l00041"></a>00041 <span class="comment"></span>
<a name="l00042"></a>00042 <span class="comment"> /** A base class for holonomic reactive navigation methods.</span>
<a name="l00043"></a>00043 <span class="comment"> * \sa CHolonomicVFF,CHolonomicND, CReactiveNavigationSystem</span>
<a name="l00044"></a>00044 <span class="comment"> * \ingroup mrpt_reactivenav_grp</span>
<a name="l00045"></a>00045 <span class="comment"> */</span>
<a name="l00046"></a>00046 <span class="keyword">class </span><a class="code" href="reactivenav_2include_2mrpt_2reactivenav_2link__pragmas_8h.html#aa2168e902b4c1dd548d6129461f0c519">REACTIVENAV_IMPEXP</a> CAbstractHolonomicReactiveMethod
<a name="l00047"></a>00047 {
<a name="l00048"></a>00048 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00049"></a>00049 <span class="comment"> /** This method performs the holonomic navigation itself.</span>
<a name="l00050"></a>00050 <span class="comment"> * \param target [IN] The relative location (x,y) of target point.</span>
<a name="l00051"></a>00051 <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, but normalized in the range [0,1]</span>
<a name="l00052"></a>00052 <span class="comment"> * \param maxRobotSpeed [IN] Maximum robot speed, in "pseudometers/sec". See note below.</span>
<a name="l00053"></a>00053 <span class="comment"> * \param desiredDirection [OUT] The desired motion direction, in the range [-PI,PI]</span>
<a name="l00054"></a>00054 <span class="comment"> * \param desiredSpeed [OUT] The desired motion speed in that direction, in "pseudometers"/sec. (See note below)</span>
<a name="l00055"></a>00055 <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="l00056"></a>00056 <span class="comment"> *</span>
<a name="l00057"></a>00057 <span class="comment"> * NOTE: With "pseudometers" we refer to the distance unit in TP-Space, thus:</span>
<a name="l00058"></a>00058 <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="l00059"></a>00059 <span class="comment"> */</span>
<a name="l00060"></a>00060 <span class="keyword">virtual</span> <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="l00061"></a>00061 <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="l00062"></a>00062 <span class="keywordtype">double</span> maxRobotSpeed,
<a name="l00063"></a>00063 <span class="keywordtype">double</span> &desiredDirection,
<a name="l00064"></a>00064 <span class="keywordtype">double</span> &desiredSpeed,
<a name="l00065"></a>00065 <a class="code" href="structmrpt_1_1reactivenav_1_1_c_holonomic_log_file_record_ptr.html">CHolonomicLogFileRecordPtr</a> &logRecord) = 0;
<a name="l00066"></a>00066 <span class="comment"></span>
<a name="l00067"></a>00067 <span class="comment"> /** Virtual destructor</span>
<a name="l00068"></a>00068 <span class="comment"> */</span>
<a name="l00069"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_abstract_holonomic_reactive_method.html#aff6cf316e397b9c4ae0972dc21a856cb">00069</a> <span class="keyword">virtual</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_abstract_holonomic_reactive_method.html#aff6cf316e397b9c4ae0972dc21a856cb" title="Virtual destructor.">~CAbstractHolonomicReactiveMethod</a>() { };
<a name="l00070"></a>00070 <span class="comment"></span>
<a name="l00071"></a>00071 <span class="comment"> /** Initialize the parameters of the navigator.</span>
<a name="l00072"></a>00072 <span class="comment"> */</span>
<a name="l00073"></a>00073 <span class="keyword">virtual</span> <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 ) = 0;
<a name="l00074"></a>00074
<a name="l00075"></a>00075 };
<a name="l00076"></a>00076 }
<a name="l00077"></a>00077 }
<a name="l00078"></a>00078
<a name="l00079"></a>00079
<a name="l00080"></a>00080 <span class="preprocessor">#endif</span>
<a name="l00081"></a>00081 <span class="preprocessor"></span>
</pre></div></div>
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