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22 const std::string& defaultCfgSectionName)
23 : m_associatedPTG(nullptr),
24 m_enableApproachTargetSlowDown(true),
25 m_cfgSectionName(defaultCfgSectionName)
28 CAbstractHolonomicReactiveMethod::~CAbstractHolonomicReactiveMethod() =
default;
30 void CAbstractHolonomicReactiveMethod::setConfigFileSectionName(
31 const std::string& sectName)
52 const std::string& className) noexcept
61 if (!classId)
return nullptr;
mrpt::nav::CParameterizedTrajectoryGenerator * getAssociatedPTG() const
Returns the pointer set by setAssociatedPTG()
IMPLEMENTS_VIRTUAL_SERIALIZABLE(CAbstractHolonomicReactiveMethod, CSerializable, mrpt::nav) CAbstractHolonomicReactiveMethod
A structure that holds runtime class type information.
void registerAllPendingClasses()
Register all pending classes - to be called just before de-serializing an object, for example.
std::string m_cfgSectionName
used in setConfigFileSectionName(), initialize()
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
std::shared_ptr< CAbstractHolonomicReactiveMethod > Ptr
const TRuntimeClassId * findRegisteredClass(const std::string &className, const bool allow_ignore_namespace=true)
Return info about a given class by its name, or nullptr if the class is not registered.
A base class for holonomic reactive navigation methods.
static CAST_TO::Ptr from(const CAST_FROM_PTR &ptr)
static CAbstractHolonomicReactiveMethod::Ptr Factory(const std::string &className) noexcept
void setAssociatedPTG(mrpt::nav::CParameterizedTrajectoryGenerator *ptg)
Optionally, sets the associated PTG, just in case a derived class requires this info (not required fo...
CAbstractHolonomicReactiveMethod(const std::string &defaultCfgSectionName)
ctor
mrpt::nav::CParameterizedTrajectoryGenerator * m_associatedPTG
If applicable, this will contain the argument of the most recent call to setAssociatedPTG()
std::shared_ptr< CObject > createObject() const
std::string getConfigFileSectionName() const
Gets the name of the section used in initialize()
This is the base class for any user-defined PTG.
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