A base class for holonomic reactive navigation methods.
Definition at line 36 of file CAbstractHolonomicReactiveMethod.h.
#include <mrpt/nav/holonomic/CAbstractHolonomicReactiveMethod.h>
Public Member Functions | |
virtual void | navigate (const mrpt::math::TPoint2D &target, const std::vector< float > &obstacles, double maxRobotSpeed, double &desiredDirection, double &desiredSpeed, CHolonomicLogFileRecordPtr &logRecord)=0 |
This method performs the holonomic navigation itself. More... | |
virtual | ~CAbstractHolonomicReactiveMethod () |
Virtual destructor. More... | |
virtual void | initialize (const mrpt::utils::CConfigFileBase &INI_FILE)=0 |
Initialize the parameters of the navigator. More... | |
|
inlinevirtual |
Virtual destructor.
Definition at line 59 of file CAbstractHolonomicReactiveMethod.h.
|
pure virtual |
Initialize the parameters of the navigator.
Implemented in mrpt::nav::CHolonomicVFF, and mrpt::nav::CHolonomicND.
|
pure virtual |
This method performs the holonomic navigation itself.
target | [IN] The relative location (x,y) of target point. |
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] |
maxRobotSpeed | [IN] Maximum robot speed, in "pseudometers/sec". See note below. |
desiredDirection | [OUT] The desired motion direction, in the range [-PI,PI] |
desiredSpeed | [OUT] The desired motion speed in that direction, in "pseudometers"/sec. (See note below) |
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 must free memory using "delete logRecord" after using it. |
NOTE: With "pseudometers" we refer to the distance unit in TP-Space, thus:
pseudometer2= meter2 + (rad * r)2
Implemented in mrpt::nav::CHolonomicVFF, and mrpt::nav::CHolonomicND.
Page generated by Doxygen 1.9.1 for MRPT 1.4.0 SVN: at Mon Apr 18 04:07:33 UTC 2022 |