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mrpt::reactivenav::CAbstractReactiveNavigationSystem Class Reference

This is the base class for any reactive navigation system. More...

#include <mrpt/reactivenav/CAbstractReactiveNavigationSystem.h>

Inheritance diagram for mrpt::reactivenav::CAbstractReactiveNavigationSystem:

mrpt::reactivenav::CReactiveNavigationSystem

List of all members.

Classes

struct  TDebug
 This struct is used as a placeholder for functors related to robot movement. More...
struct  TEventsLaunching
 This struct is used as a placeholder for fuctors related to launching events. More...
struct  TNavigationParams
 The struct for configuring the navigation request. More...
struct  TRobotMotionControl
 This struct is used as a placeholder for fuctors related to robot movement. More...
struct  TSensors
 This struct is used as a placeholder for fuctors related to sensing. More...

Public Types

enum  TState { IDLE = 0, NAVIGATING, SUSPENDED, NAV_ERROR }
 The different states for the navigation system. More...

Public Member Functions

 CAbstractReactiveNavigationSystem (TRobotMotionControl &rmc, TSensors &sensors, void(*emul_printf)(const char *s), TEventsLaunching &evnts)
 Constructor.
virtual ~CAbstractReactiveNavigationSystem ()
 Destructor.
void cancel ()
 Cancel current navegacion.
void resume ()
 Continues with suspended navigation.
virtual float evaluate (TNavigationParams *params)=0
 Evaluates the practicability of a navigation for given parameters:.
void navigationStep ()
 This method must be called periodically in order to effectively run the navigation.
virtual void navigate (TNavigationParams *params)=0
 Navigation request.
virtual void setParams (TNavigationParams *params)=0
 Changes the parameters for current navigation.
virtual void suspend ()
 Suspend current navegation.
TState getCurrentState ()
 Returns the current navigator state.

Protected Member Functions

virtual void performNavigationStep ()=0
 To be implemented in derived classes.
void TextoDebug (const char *formatStr,...)

Protected Attributes

TState navigationState
 Current internal state of navigator:.
TNavigationParams navigationParams
 Current navigation parameters:.
TRobotMotionControl RobotMotionControl
 Wrappers.
TSensors Sensors
TDebug Debug
TEventsLaunching EventsLaunching

Private Attributes

TState lastNavigationState
 Last internal state of navigator:.


Detailed Description

This is the base class for any reactive navigation system.

Here is defined the interface that users will use with derived classes where algorithms are really implemented.

Changes history:

Definition at line 55 of file CAbstractReactiveNavigationSystem.h.


Member Enumeration Documentation

The different states for the navigation system.

Enumerator:
IDLE 
NAVIGATING 
SUSPENDED 
NAV_ERROR 

Definition at line 236 of file CAbstractReactiveNavigationSystem.h.


Constructor & Destructor Documentation

mrpt::reactivenav::CAbstractReactiveNavigationSystem::CAbstractReactiveNavigationSystem ( TRobotMotionControl rmc,
TSensors sensors,
void(*)(const char *s)  emul_printf,
TEventsLaunching evnts 
)

Constructor.

virtual mrpt::reactivenav::CAbstractReactiveNavigationSystem::~CAbstractReactiveNavigationSystem (  )  [inline, virtual]

Destructor.

Definition at line 74 of file CAbstractReactiveNavigationSystem.h.


Member Function Documentation

void mrpt::reactivenav::CAbstractReactiveNavigationSystem::cancel (  ) 

Cancel current navegacion.

virtual float mrpt::reactivenav::CAbstractReactiveNavigationSystem::evaluate ( TNavigationParams params  )  [pure virtual]

Evaluates the practicability of a navigation for given parameters:.

Returns:
An estimation in the range [0,1], for 0 being imposible and 1 being easy.

Implemented in mrpt::reactivenav::CReactiveNavigationSystem.

TState mrpt::reactivenav::CAbstractReactiveNavigationSystem::getCurrentState (  )  [inline]

Returns the current navigator state.

Definition at line 246 of file CAbstractReactiveNavigationSystem.h.

virtual void mrpt::reactivenav::CAbstractReactiveNavigationSystem::navigate ( TNavigationParams params  )  [pure virtual]

Navigation request.

It starts a new navigation.

Implemented in mrpt::reactivenav::CReactiveNavigationSystem.

void mrpt::reactivenav::CAbstractReactiveNavigationSystem::navigationStep (  ) 

This method must be called periodically in order to effectively run the navigation.

virtual void mrpt::reactivenav::CAbstractReactiveNavigationSystem::performNavigationStep (  )  [protected, pure virtual]

To be implemented in derived classes.

Implemented in mrpt::reactivenav::CReactiveNavigationSystem.

void mrpt::reactivenav::CAbstractReactiveNavigationSystem::resume (  ) 

Continues with suspended navigation.

See also:
suspend

virtual void mrpt::reactivenav::CAbstractReactiveNavigationSystem::setParams ( TNavigationParams params  )  [pure virtual]

Changes the parameters for current navigation.

Implemented in mrpt::reactivenav::CReactiveNavigationSystem.

virtual void mrpt::reactivenav::CAbstractReactiveNavigationSystem::suspend (  )  [virtual]

Suspend current navegation.

See also:
resume

void mrpt::reactivenav::CAbstractReactiveNavigationSystem::TextoDebug ( const char *  formatStr,
  ... 
) [inline, protected]

Definition at line 273 of file CAbstractReactiveNavigationSystem.h.

References mrpt::system::os::vsprintf().


Member Data Documentation

Definition at line 270 of file CAbstractReactiveNavigationSystem.h.

Definition at line 271 of file CAbstractReactiveNavigationSystem.h.

Last internal state of navigator:.

Definition at line 251 of file CAbstractReactiveNavigationSystem.h.

Current navigation parameters:.

Definition at line 264 of file CAbstractReactiveNavigationSystem.h.

Current internal state of navigator:.

Definition at line 260 of file CAbstractReactiveNavigationSystem.h.

Wrappers.

Definition at line 268 of file CAbstractReactiveNavigationSystem.h.

Definition at line 269 of file CAbstractReactiveNavigationSystem.h.




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