00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2009 University of Malaga | 00007 | | 00008 | This software was written by the Perception and Robotics | 00009 | research group, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef CHolonomicVFF_H 00029 #define CHolonomicVFF_H 00030 00031 #include "CAbstractHolonomicReactiveMethod.h" 00032 #include "CHolonomicLogFileRecord.h" 00033 00034 namespace mrpt 00035 { 00036 namespace reactivenav 00037 { 00038 DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CLogFileRecord_VFF, CHolonomicLogFileRecord, RNAVDLLIMPEXP ) 00039 00040 /** A class for storing extra information about the execution of 00041 * CHolonomicVFF navigation. 00042 * \sa CHolonomicVFF, CHolonomicLogFileRecord 00043 */ 00044 class RNAVDLLIMPEXP CLogFileRecord_VFF : public CHolonomicLogFileRecord 00045 { 00046 DEFINE_SERIALIZABLE( CLogFileRecord_VFF ) 00047 00048 public: 00049 00050 /** Member data. 00051 */ 00052 00053 }; 00054 00055 00056 /** A holonomic reactive navigation method, based on Virtual Force Fields (VFF). 00057 * \sa CAbstractHolonomicReactiveMethod,CReactiveNavigationSystem 00058 */ 00059 class CHolonomicVFF : public CAbstractHolonomicReactiveMethod 00060 { 00061 public: 00062 /** Initialize the parameters of the navigator, from some configuration file, or default values if set to NULL. 00063 */ 00064 CHolonomicVFF(const mrpt::utils::CConfigFileBase *INI_FILE=NULL); 00065 00066 /** This method performs the holonomic navigation itself. 00067 * \param target [IN] The relative location (x,y) of target point. 00068 * \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. 00069 * \param maxRobotSpeed [IN] Maximum robot speed, in "pseudometers/sec". See note below. 00070 * \param desiredDirection [OUT] The desired motion direction, in the range [-PI,PI] 00071 * \param desiredSpeed [OUT] The desired motion speed in that direction, in "pseudometers"/sec. (See note below) 00072 * \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. 00073 * 00074 * NOTE: With "pseudometers" we refer to the distance unit in TP-Space, thus: 00075 * <br><center><code>pseudometer<sup>2</sup>= meter<sup>2</sup> + (rad ยท r)<sup>2</sup></code><br></center> 00076 */ 00077 void navigate( poses::CPoint2D &target, 00078 vector_float &obstacles, 00079 float maxRobotSpeed, 00080 float &desiredDirection, 00081 float &desiredSpeed, 00082 CHolonomicLogFileRecordPtr &logRecord ); 00083 00084 /** Initialize the parameters of the navigator. 00085 */ 00086 void initialize( const mrpt::utils::CConfigFileBase &INI_FILE ); 00087 00088 }; 00089 } 00090 } 00091 00092 00093 #endif 00094 00095 00096
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