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74 std::string& frame_id) = 0;
105 virtual bool stop(
bool isEmergencyStop =
true) = 0;
124 const double relative_heading_radians);
162 int waypoint_index,
bool reached_nSkipped);
virtual bool changeSpeeds(const mrpt::kinematics::CVehicleVelCmd &vel_cmd)=0
Sends a velocity command to the robot.
virtual void sendCannotGetCloserToBlockedTargetEvent()
Callback: Target seems to be blocked by an obstacle.
virtual void sendNavigationEndEvent()
Callback: End of navigation command (reach of single goal, or final waypoint of waypoint list)
A high-performance stopwatch, with typical resolution of nanoseconds.
virtual bool startWatchdog(float T_ms)
Start the watchdog timer of the robot platform, if any, for maximum expected delay between consecutiv...
virtual bool changeSpeedsNOP()
Just like changeSpeeds(), but will be called when the last velocity command is still the preferred so...
virtual double getNavigationTime()
Returns the number of seconds ellapsed since the constructor of this class was invoked,...
virtual mrpt::kinematics::CVehicleVelCmd::Ptr getEmergencyStopCmd()=0
Gets the emergency stop command for the current robot.
The pure virtual interface between a real or simulated robot and any CAbstractNavigator-derived class...
virtual void sendApparentCollisionEvent()
Callback: Apparent collision event (i.e.
virtual mrpt::kinematics::CVehicleVelCmd::Ptr getAlignCmd(const double relative_heading_radians)
Gets a motion command to make the robot to align with a given relative heading, without translating.
virtual bool stopWatchdog()
Stop the watchdog timer.
~CRobot2NavInterface() override
virtual mrpt::kinematics::CVehicleVelCmd::Ptr getStopCmd()=0
Gets the emergency stop command for the current robot.
virtual void sendWaySeemsBlockedEvent()
Callback: No progression made towards target for a predefined period of time.
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans.
mrpt::Clock::time_point TTimeStamp
A system independent time type, it holds the the number of 100-nanosecond intervals since January 1,...
virtual bool getCurrentPoseAndSpeeds(mrpt::math::TPose2D &curPose, mrpt::math::TTwist2D &curVelGlobal, mrpt::system::TTimeStamp ×tamp, mrpt::math::TPose2D &curOdometry, std::string &frame_id)=0
Get the current pose and velocity of the robot.
Versatile class for consistent logging and management of output messages.
std::shared_ptr< CVehicleVelCmd > Ptr
virtual bool stop(bool isEmergencyStop=true)=0
Stop the robot right now.
virtual void sendWaypointReachedEvent(int waypoint_index, bool reached_nSkipped)
Callback: Reached an intermediary waypoint in waypoint list navigation.
virtual bool senseObstacles(mrpt::maps::CSimplePointsMap &obstacles, mrpt::system::TTimeStamp ×tamp)=0
Return the current set of obstacle points, as seen from the local coordinate frame of the robot.
virtual void sendNavigationStartEvent()
Callback: Start of navigation command.
virtual void resetNavigationTimer()
see getNavigationTime()
virtual void sendNavigationEndDueToErrorEvent()
Callback: Error asking sensory data from robot or sending motor commands.
mrpt::system::CTicTac m_navtime
For getNavigationTime.
virtual void sendNewWaypointTargetEvent(int waypoint_index)
Callback: Heading towards a new intermediary/final waypoint in waypoint list navigation.
Virtual base for velocity commands of different kinematic models of planar mobile robot.
2D twist: 2D velocity vector (vx,vy) + planar angular velocity (omega)
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