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66 const std::string& logFileDirectory =
67 std::string(
"./reactivenav.logs"));
104 const std::string& s)
override;
107 const std::string& s)
const override;
120 std::vector<CParameterizedTrajectoryGenerator::Ptr>
PTGs;
149 const size_t ptg_idx, std::vector<double>& out_TPObstacles,
152 const bool eval_clearance)
override;
A class for storing, saving and loading a reactive navigation log record for the CReactiveNavigationS...
Base class for reactive navigator systems based on TP-Space, with an arbitrary holonomic reactive met...
void enableLogFile(bool enable)
Enables/disables saving log files.
void saveConfigFile(mrpt::config::CConfigFileBase &c) const override
Saves all current options to a config file.
TReactiveNavigatorParams params_reactive_nav
mrpt::math::CPolygon m_robotShape
The robot 2D shape model.
double max_obstacles_height
mrpt::maps::CSimplePointsMap m_WS_Obstacles_original
Obstacle points, before filtering (if filtering is enabled).
The pure virtual interface between a real or simulated robot and any CAbstractNavigator-derived class...
#define ASSERT_(f)
Defines an assertion mechanism.
~CReactiveNavigationSystem() override
Destructor.
void STEP3_WSpaceToTPSpace(const size_t ptg_idx, std::vector< double > &out_TPObstacles, mrpt::nav::ClearanceDiagram &out_clearance, const mrpt::math::TPose2D &rel_pose_PTG_origin_wrt_sense, const bool eval_clearance) override
Builds TP-Obstacles from Workspace obstacles for the given PTG.
size_t getPTG_count() const override
Returns the number of different PTGs that have been setup.
void changeRobotCircularShapeRadius(const double R)
Defines the 2D circular robot shape radius, used for some PTGs for collision checking.
double m_robotShapeCircularRadius
Radius of the robot if approximated as a circle.
void loadConfigFile(const mrpt::config::CConfigFileBase &c) override
Loads all params from a file.
TReactiveNavigatorParams()
const CParameterizedTrajectoryGenerator * getPTG(size_t i) const override
Gets the i'th PTG.
This class allows loading and storing values and vectors of different types from a configuration text...
void saveToConfigFile(mrpt::config::CConfigFileBase &c, const std::string &s) const override
This method saves the options to a ".ini"-like file or memory-stored string list.
Clearance information for one particular PTG and one set of obstacles.
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans.
CParameterizedTrajectoryGenerator * getPTG(size_t i) override
Gets the i'th PTG.
mrpt::Clock::time_point TTimeStamp
A system independent time type, it holds the the number of 100-nanosecond intervals since January 1,...
void loggingGetWSObstaclesAndShape(CLogFileRecord &out_log) override
Generates a pointcloud of obstacles, and the robot shape, to be saved in the logging record for the c...
CReactiveNavigationSystem(CRobot2NavInterface &react_iterf_impl, bool enableConsoleOutput=true, bool enableLogFile=false, const std::string &logFileDirectory=std::string("./reactivenav.logs"))
See docs in ctor of base class.
bool checkCollisionWithLatestObstacles(const mrpt::math::TPose2D &relative_robot_pose) const override
Checks whether the robot shape, when placed at the given pose (relative to the current pose),...
void STEP1_InitPTGs() override
A wrapper of a TPolygon2D class, implementing CSerializable.
bool implementSenseObstacles(mrpt::system::TTimeStamp &obs_timestamp) override
Return false on any fatal error.
See base class CAbstractPTGBasedReactive for a description and instructions of use.
void loadFromConfigFile(const mrpt::config::CConfigFileBase &c, const std::string &s) override
This method load the options from a ".ini"-like file or memory-stored string list.
mrpt::maps::CSimplePointsMap m_WS_Obstacles
The obstacle points, as seen from the local robot frame.
std::vector< CParameterizedTrajectoryGenerator::Ptr > PTGs
The list of PTGs to use for navigation.
double min_obstacles_height
This is the base class for any user-defined PTG.
void changeRobotShape(const mrpt::math::CPolygon &shape)
Defines the 2D polygonal robot shape, used for some PTGs for collision checking.
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