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CAbstractHolonomicReactiveMethod.h
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2016, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 #ifndef CAbstractHolonomicReactiveMethod_H
10 #define CAbstractHolonomicReactiveMethod_H
11 
13 #include <mrpt/utils/TEnumType.h>
15 
17 
18 namespace mrpt
19 {
20  namespace nav
21  {
22  /** \addtogroup nav_holo Holonomic navigation methods
23  * \ingroup mrpt_nav_grp
24  * @{ */
25 
26  /** The implemented reactive navigation methods. This enum works with mrpt::utils::TEnumType */
28  {
31  };
32 
33  /** A base class for holonomic reactive navigation methods.
34  * \sa CHolonomicVFF,CHolonomicND, CReactiveNavigationSystem
35  */
37  {
38  public:
39  /** This method performs the holonomic navigation itself.
40  * \param target [IN] The relative location (x,y) of target point.
41  * \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]
42  * \param maxRobotSpeed [IN] Maximum robot speed, in "pseudometers/sec". See note below.
43  * \param desiredDirection [OUT] The desired motion direction, in the range [-PI,PI]
44  * \param desiredSpeed [OUT] The desired motion speed in that direction, in "pseudometers"/sec. (See note below)
45  * \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.
46  *
47  * NOTE: With "pseudometers" we refer to the distance unit in TP-Space, thus:
48  * <br><center><code>pseudometer<sup>2</sup>= meter<sup>2</sup> + (rad * r)<sup>2</sup></code><br></center>
49  */
50  virtual void navigate(const mrpt::math::TPoint2D &target,
51  const std::vector<float> &obstacles,
52  double maxRobotSpeed,
53  double &desiredDirection,
54  double &desiredSpeed,
55  CHolonomicLogFileRecordPtr &logRecord) = 0;
56 
57  /** Virtual destructor
58  */
60 
61  /** Initialize the parameters of the navigator.
62  */
63  virtual void initialize( const mrpt::utils::CConfigFileBase &INI_FILE ) = 0;
64 
65  };
66  /** @} */
67  }
68  // Specializations MUST occur at the same namespace:
69  namespace utils
70  {
71  template <>
73  {
75  static void fill(bimap<enum_t,std::string> &m_map)
76  {
77  m_map.insert(nav::hmVIRTUAL_FORCE_FIELDS, "hmVIRTUAL_FORCE_FIELDS");
78  m_map.insert(nav::hmSEARCH_FOR_BEST_GAP, "hmSEARCH_FOR_BEST_GAP");
79  }
80  };
81  } // End of namespace
82 }
83 
84 
85 #endif
86 
A base class for holonomic reactive navigation methods.
Only specializations of this class are defined for each enum type of interest.
Definition: TEnumType.h:23
This class allows loading and storing values and vectors of different types from a configuration text...
A bidirectional version of std::map, declared as bimap<KEY,VALUE> and which actually contains two std...
Definition: bimap.h:28
static void fill(bimap< enum_t, std::string > &m_map)
THolonomicMethod
The implemented reactive navigation methods.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
void insert(const KEY &k, const VALUE &v)
Insert a new pair KEY<->VALUE in the bi-map.
Definition: bimap.h:69
Lightweight 2D point.



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