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mrpt::nav::CReactiveNavigationSystem3D Class Reference

Detailed Description

See base class CAbstractPTGBasedReactive for a description and instructions of use.

This particular implementation assumes a 3D (or "2.5D") robot shape model, build as a vertical stack of "2D slices".

Paper describing the method:

Class history:

This class requires a number of parameters which are usually provided via an external config (".ini") file. Alternatively, a memory-only object can be used to avoid physical files, see mrpt::utils::CConfigFileMemory.

A template config file can be generated at any moment by the user by calling saveConfigFile() with a default-constructed object.

Next we provide a self-documented template config file; or see it online: https://github.com/MRPT/mrpt/blob/master/share/mrpt/config_files/navigation-ptgs/reactive3d_config.ini

# ------------------------------------------------------------------------------------------
# Example configuration file for MRPT (>=1.5) Reactive Navigation engine.
# See C++ documentation: http://reference.mrpt.org/devel/classmrpt_1_1nav_1_1_c_reactive_navigation_system3_d.html
# This .ini file is missing information about the equipped sensors and the Short-Term memory
# For more detailed information, please see the App "ReactiveNav3D-Demo" within MRPT
# ------------------------------------------------------------------------------------------

# Max linear vel (m/s):
@define ROBOT_MAX_V  1.0        
# Max angular vel (deg/s):
@define ROBOT_MAX_W  60.0        
# Max distance to "foresee" obstacles (m):
@define NAV_MAX_REF_DIST   10.0

[CAbstractNavigator]
dist_to_target_for_sending_event                  = 0.000000             // Default value=0, means use the `targetAllowedDistance` passed by the user in the navigation request.
alarm_seems_not_approaching_target_timeout        = 30.000000            // navigator timeout (seconds) [Default=30 sec]
dist_check_target_is_blocked                 = 2.0       // When closer than this distance, check if the target is blocked to abort navigation with an error
hysteresis_check_target_is_blocked           = 3         // How many steps should the condition for dist_check_target_is_blocked be fulfilled to raise an event


[CWaypointsNavigator]
max_distance_to_allow_skip_waypoint               = -1.000000            // Max distance to `foresee` waypoints [meters]. (<0: unlimited)
min_timesteps_confirm_skip_waypoints              = 1                    // Min timesteps a `future` waypoint must be seen as reachable to become the active one.
waypoint_angle_tolerance                          = 5.0                  // Angular error tolerance for waypoints with an assigned heading [deg]
multitarget_look_ahead   = 0  // >=0 number of waypoints to forward to the underlying navigation engine, to ease obstacles avoidance when a waypoint is blocked (Default=0 : none).


[CAbstractPTGBasedReactive]
robotMax_V_mps                                    = ${ROBOT_MAX_V}       // Max. linear speed (m/s) [Default=-1 (not set), will raise exception if needed and not set]
robotMax_W_degps                                  = ${ROBOT_MAX_W}       // Max. angular speed (rad/s) [Default=-1 (not set), will raise exception if needed and not set]
#robotMinCurvRadius                                = -1.000000            // Min. radius of curvature of paths (m) [Default=-1 (not set), will raise exception if needed and not set]

holonomic_method                                  = CHolonomicFullEval   // C++ class name of the holonomic navigation method to run in the transformed TP-Space.
# List of known classes:
# - `CHolonomicFullEval`
# - `CHolonomicND`
# - `CHolonomicVFF`


motion_decider_method                             = CMultiObjMotionOpt_Scalarization // C++ class name of the motion decider method.
# List of known classes:
# - `CMultiObjMotionOpt_Scalarization`


ref_distance                                      = ${NAV_MAX_REF_DIST}   // Maximum distance up to obstacles will be considered (D_{max} in papers).
#speedfilter_tau                                   = 0.000000             // Time constant (in seconds) for the low-pass filter applied to kinematic velocity commands (default=0: no filtering)
secure_distance_start                             = 0.050000             // In normalized distance [0,1], start/end of a ramp function that scales the holonomic navigator output velocity.
secure_distance_end                               = 0.150000             // In normalized distance [0,1], start/end of a ramp function that scales the holonomic navigator output velocity.
use_delays_model                                  = false                // Whether to use robot pose inter/extrapolation to improve accuracy (Default:false)
max_distance_predicted_actual_path                = 0.150000             // Max distance [meters] to discard current PTG and issue a new vel cmd (default= 0.05)
min_normalized_free_space_for_ptg_continuation    = 0.200000             // Min normalized dist [0,1] after current pose in a PTG continuation to allow it.

enable_obstacle_filtering                         = true                 // Enabled obstacle filtering (params in its own section)
evaluate_clearance                                = true


[CPointCloudFilterByDistance]
min_dist                                          = 0.100000            
angle_tolerance                                   = 5.000000            
too_old_seconds                                   = 1.000000            
previous_keyframes                                = 1                    // (Default: 1) How many previous keyframes will be compared with the latest pointcloud.
max_deletion_ratio                                = 0.400000             // (Default: 0.4) If the ratio [0,1] of points considered invalid (`deletion` ) is larger than this ratio, no point will be deleted since it'd be too suspicious and may indicate a failure of this filter.


[CHolonomicFullEval]
# [0]=Free space
# [1]=Dist. in sectors
# [2]=Closer to target (Euclidean)
# [3]=Hysteresis
# [4]=clearance along path
factorWeights                                     = [0.25 , 0.1 , 1  , 0.05 , 0.5 ] 
factorNormalizeOrNot                              = [0    , 0   , 0  , 0    , 1 ]

TOO_CLOSE_OBSTACLE                                = 0.15                 // Directions with collision-free distances below this threshold are not elegible.
TARGET_SLOW_APPROACHING_DISTANCE                  = 0.300000             // Start to reduce speed when closer than this to target.
OBSTACLE_SLOW_DOWN_DISTANCE                       = 0.150000             // Start to reduce speed when clearance is below this value ([0,1] ratio wrt obstacle reference/max distance)
HYSTERESIS_SECTOR_COUNT                           = 5.000000             // Range of `sectors` (directions) for hysteresis over successive timesteps
LOG_SCORE_MATRIX                                  = false                // Save the entire score matrix in log files

clearance_threshold_ratio                         = 0.10                 // Ratio [0,1], times path_count, gives the minimum number of paths at each side of a target direction to be accepted as desired direction
gap_width_ratio_threshold                         = 0.20                 // Ratio [0,1], times path_count, gives the minimum gap width to accept a direct motion towards target.

PHASE_COUNT                                       = 3                    // Number of evaluation phases to run (params for each phase below)
PHASE1_FACTORS                                    = [1 2]                // Indices of the factors above to be considered in this phase
PHASE1_THRESHOLD                                  = 0.5                  // Phase scores must be above this relative range threshold [0,1] to be considered in next phase (Default:`0.75`)
PHASE2_FACTORS                                    = [0 4]                  // Indices of the factors above to be considered in this phase
PHASE2_THRESHOLD                                  = 0.6                  // Phase scores must be above this relative range threshold [0,1] to be considered in next phase (Default:`0.75`)
PHASE3_FACTORS                                    = [0 2]                // Indices of the factors above to be considered in this phase
PHASE3_THRESHOLD                                  = 0.7                  // Phase scores must be above this relative range threshold [0,1] to be considered in next phase (Default:`0.75`)


[CHolonomicND]
WIDE_GAP_SIZE_PERCENT                             = 0.250000            
MAX_SECTOR_DIST_FOR_D2_PERCENT                    = 0.250000            
RISK_EVALUATION_SECTORS_PERCENT                   = 0.100000            
RISK_EVALUATION_DISTANCE                          = 0.400000             // In normalized ps-meters [0,1]
TOO_CLOSE_OBSTACLE                                = 0.150000             // For stopping gradually
TARGET_SLOW_APPROACHING_DISTANCE                  = 0.600000             // In normalized ps-meters
factorWeights                                     = 1.00 0.50 2.00 0.40  // [0]=Free space, [1]=Dist. in sectors, [2]=Closer to target (Euclidean), [3]=Hysteresis


[CHolonomicVFF]
TARGET_SLOW_APPROACHING_DISTANCE                  = 0.100000             // For stopping gradually
TARGET_ATTRACTIVE_FORCE                           = 20.000000            // Dimension-less (may have to be tuned depending on the density of obstacle sampling)

[CMultiObjectiveMotionOptimizerBase]
# Next follows a list of `score%i_{name,formula}` pairs for i=1,...,N
# Each one defines an exprtk formula for one of the scores that will be evaluated for each candidate movement.
# Multiobjective optimizers will then use those scores to select the best candidate, 
# possibly using more parameters that follow below.
# See list of all available variables in documentation of mrpt::nav::CAbstractPTGBasedReactive at http://reference.mrpt.org/devel/classmrpt_1_1nav_1_1_c_abstract_p_t_g_based_reactive.html

score1_name     = target_distance
score1_formula  = \
	var effective_trg_d_norm := max(0,target_d_norm-move_cur_d); \
	if(collision_free_distance>effective_trg_d_norm, \
		1/(1+effective_trg_d_norm^2), \
		0)

score2_name     = collision_free_distance_score
score2_formula  = \
	var effective_trg_d_norm := max(0,target_d_norm-move_cur_d); \
	if (collision_free_distance>(effective_trg_d_norm+0.05), \
		1.0, \
		collision_free_distance)

score3_name     = euclidean_nearness
score3_formula  = 1/(1+dist_eucl_min^2)

score4_name     = hysteresis_score
score4_formula  = hysteresis

score5_name     = path_index_near_target
score5_formula  = \
	var dif:=abs(target_k-move_k); \
	if (dif>(num_paths/2)) \
	{ \
		dif:=num_paths-dif; \
	}; \
	exp(-abs(dif / (num_paths/10.0)));
	
score6_name        = ptg_priority_score
score6_formula     = ptg_priority


# Next follows a list of `movement_assert%i` exprtk expressions for i=1,...,N
# defining expressions for conditions that any candidate movement must fulfill
# in order to get through the evaluation process. *All* assert conditions must be satisfied.
#movement_assert1 = XXX

# Comma-separated list of scores to normalize so the highest is 1.0.
scores_to_normalize  =  
#target_distance

[CMultiObjMotionOpt_Scalarization]
# A formula that takes all/a subset of scores and generates a scalar global score.
scalar_score_formula  = ptg_priority_score*( \
	0.3*target_distance + \
	0.5*collision_free_distance_score + \
	8.0*euclidean_nearness + \
	0.1 * hysteresis_score + \
	0.2*path_index_near_target \
	)


[CReactiveNavigationSystem3D]
min_obstacles_height                              = 0.000000             // Minimum `z` coordinate of obstacles to be considered fo collision checking
max_obstacles_height                              = 10.000000            // Maximum `z` coordinate of obstacles to be considered fo collision checking

#Indicate the geometry of the robot as a set of prisms.
#Format - (LEVELX_HEIGHT, LEVELX_VECTORX, LEVELX_VECTORY)

#Number of height levels used to model the robot
HEIGHT_LEVELS = 2

#Geometrical description of each level
LEVEL1_HEIGHT = 0.6
LEVEL1_VECTORX = 0.3 0.3 -0.3 -0.3
LEVEL1_VECTORY = -0.3 0.3 0.3 -0.3

LEVEL2_HEIGHT = 0.4
LEVEL2_VECTORX = 0.05 0.05 -0.05 -0.05
LEVEL2_VECTORY = -0.1 0.1 0.1 -0.1


# PTGs: See classes derived from mrpt::nav::CParameterizedTrajectoryGenerator ( http://reference.mrpt.org/svn/classmrpt_1_1nav_1_1_c_parameterized_trajectory_generator.html)
# refer to papers for details.
#------------------------------------------------------------------------------
PTG_COUNT      = 1    // Was: 3 (Reduced to speed-up unit tests!)

# C-PTG (circular arcs), driving forward (K=+1)
PTG1_Type      = CPTG_DiffDrive_C
PTG1_resolution = 0.02      # Look-up-table cell size or resolution (in meters)
PTG1_refDistance= ${NAV_MAX_REF_DIST}      # Max distance to account for obstacles 
PTG1_num_paths = 41   // Was: 121 (Reduced to speed-up unit tests!)
PTG1_v_max_mps = ${ROBOT_MAX_V}
PTG1_w_max_dps = ${ROBOT_MAX_W}
PTG1_K         = 1.0
PTG1_score_priority = 1.0

# alpha-a PTG
PTG2_Type        = CPTG_DiffDrive_alpha
PTG2_resolution = 0.02      # Look-up-table cell size or resolution (in meters)
PTG2_refDistance= ${NAV_MAX_REF_DIST}      # Max distance to account for obstacles 
PTG2_num_paths   = 121
PTG2_v_max_mps   = ${ROBOT_MAX_V}
PTG2_w_max_dps   = ${ROBOT_MAX_W}
PTG2_cte_a0v_deg = 57
PTG2_cte_a0w_deg = 57
PTG2_score_priority = 1.0

# C-PTG (circular arcs), backwards (K=-1)
# lower priority since we prefer driving forward
PTG3_Type      = CPTG_DiffDrive_C
PTG3_resolution = 0.02      # Look-up-table cell size or resolution (in meters)
PTG3_refDistance= ${NAV_MAX_REF_DIST}      # Max distance to account for obstacles 
PTG3_num_paths = 121
PTG3_v_max_mps = ${ROBOT_MAX_V}
PTG3_w_max_dps = ${ROBOT_MAX_W}
PTG3_K         = -1.0
PTG3_score_priority = 1.0

See also
CAbstractNavigator, CParameterizedTrajectoryGenerator, CAbstractHolonomicReactiveMethod

Definition at line 71 of file nav/reactive/CReactiveNavigationSystem3D.h.

#include <mrpt/nav/reactive/CReactiveNavigationSystem3D.h>

Inheritance diagram for mrpt::nav::CReactiveNavigationSystem3D:
Inheritance graph

Classes

struct  TPTGmultilevel
 A set of PTGs of the same type, one per "height level". More...
 

Public Member Functions

 CReactiveNavigationSystem3D (CRobot2NavInterface &react_iterf_impl, bool enableConsoleOutput=true, bool enableLogFile=false, const std::string &logFileDirectory=std::string("./reactivenav.logs"))
 See docs in ctor of base class. More...
 
virtual ~CReactiveNavigationSystem3D ()
 Destructor. More...
 
void changeRobotShape (TRobotShape robotShape)
 Change the robot shape, which is taken into account for collision grid building. More...
 
virtual bool checkCollisionWithLatestObstacles (const mrpt::math::TPose2D &relative_robot_pose) const MRPT_OVERRIDE
 Checks whether the robot shape, when placed at the given pose (relative to the current pose), is colliding with any of the latest known obstacles. More...
 
virtual size_t getPTG_count () const MRPT_OVERRIDE
 Returns the number of different PTGs that have been setup. More...
 
virtual CParameterizedTrajectoryGeneratorgetPTG (size_t i) MRPT_OVERRIDE
 Gets the i'th PTG. More...
 
virtual const CParameterizedTrajectoryGeneratorgetPTG (size_t i) const MRPT_OVERRIDE
 Gets the i'th PTG. More...
 
virtual void loadConfigFile (const mrpt::utils::CConfigFileBase &c) MRPT_OVERRIDE
 Loads all params from a file. More...
 
virtual void saveConfigFile (mrpt::utils::CConfigFileBase &c) const MRPT_OVERRIDE
 Saves all current options to a config file. More...
 
void initialize () MRPT_OVERRIDE
 Must be called for loading collision grids, or the first navigation command may last a long time to be executed. More...
 
void setHolonomicMethod (const std::string &method, const mrpt::utils::CConfigFileBase &cfgBase)
 Selects which one from the set of available holonomic methods will be used into transformed TP-Space, and sets its configuration from a configuration file. More...
 
void setHolonomicMethod (THolonomicMethod method, const mrpt::utils::CConfigFileBase &cfgBase)
 
void getLastLogRecord (CLogFileRecord &o)
 Provides a copy of the last log record with information about execution. More...
 
void enableKeepLogRecords (bool enable=true)
 Enables keeping an internal registry of navigation logs that can be queried with getLastLogRecord() More...
 
void enableLogFile (bool enable)
 Enables/disables saving log files. More...
 
void setLogFileDirectory (const std::string &sDir)
 Changes the prefix for new log files. More...
 
std::string getLogFileDirectory () const
 
void enableTimeLog (bool enable=true)
 Enables/disables the detailed time logger (default:disabled upon construction) When enabled, a report will be dumped to std::cout upon destruction. More...
 
const mrpt::utils::CTimeLoggergetTimeLogger () const
 Gives access to a const-ref to the internal time logger. More...
 
const mrpt::kinematics::CVehicleVelCmd::TVelCmdParamsgetCurrentRobotSpeedLimits () const
 Get the current, global (honored for all PTGs) robot speed limits. More...
 
mrpt::kinematics::CVehicleVelCmd::TVelCmdParamschangeCurrentRobotSpeedLimits ()
 Changes the current, global (honored for all PTGs) robot speed limits, via returning a reference to a structure that holds those limits. More...
 
void setTargetApproachSlowDownDistance (const double dist)
 Changes this parameter in all inner holonomic navigator instances [m]. More...
 
double getTargetApproachSlowDownDistance () const
 Returns this parameter for the first inner holonomic navigator instances [m] (should be the same in all of them?) More...
 
virtual void navigationStep () MRPT_OVERRIDE
 This method must be called periodically in order to effectively run the navigation. More...
 
virtual void cancel () MRPT_OVERRIDE
 Cancel current navegation. More...
 
bool isRelativePointReachable (const mrpt::math::TPoint2D &wp_local_wrt_robot) const
 Returns true if, according to the information gathered at the last navigation step, there is a free path to the given point; false otherwise: if way is blocked or there is missing information, the point is out of range for the existing PTGs, etc. More...
 
const mrpt::utils::CTimeLoggergetDelaysTimeLogger () const
 Gives access to a const-ref to the internal time logger used to estimate delays. More...
 
Waypoint navigation control API
virtual void navigateWaypoints (const TWaypointSequence &nav_request)
 Waypoint navigation request. More...
 
virtual void getWaypointNavStatus (TWaypointStatusSequence &out_nav_status) const
 Get a copy of the control structure which describes the progress status of the waypoint navigation. More...
 
TWaypointStatusSequence getWaypointNavStatus () const
 Get a copy of the control structure which describes the progress status of the waypoint navigation. More...
 

Public Attributes

TAbstractPTGNavigatorParams params_abstract_ptg_navigator
 
TWaypointsNavigatorParams params_waypoints_navigator
 
TAbstractNavigatorParams params_abstract_navigator
 

Protected Member Functions

virtual void performNavigationStep () MRPT_OVERRIDE
 The main method for the navigator. More...
 
virtual bool impl_waypoint_is_reachable (const mrpt::math::TPoint2D &wp_local_wrt_robot) const MRPT_OVERRIDE
 Implements the way to waypoint is free function in children classes: true must be returned if, according to the information gathered at the last navigation step, there is a free path to the given point; false otherwise: if way is blocked or there is missing information, the point is out of range, etc. More...
 
bool STEP2_SenseObstacles ()
 
void calc_move_candidate_scores (TCandidateMovementPTG &holonomicMovement, const std::vector< double > &in_TPObstacles, const mrpt::nav::ClearanceDiagram &in_clearance, const std::vector< mrpt::math::TPose2D > &WS_Targets, const std::vector< PTGTarget > &TP_Targets, CLogFileRecord::TInfoPerPTG &log, CLogFileRecord &newLogRec, const bool this_is_PTG_continuation, const mrpt::math::TPose2D &relPoseVelCmd_NOP, const unsigned int ptg_idx4weights, const mrpt::system::TTimeStamp tim_start_iteration)
 Scores holonomicMovement. More...
 
virtual double generate_vel_cmd (const TCandidateMovementPTG &in_movement, mrpt::kinematics::CVehicleVelCmdPtr &new_vel_cmd)
 Return the [0,1] velocity scale of raw PTG cmd_vel. More...
 
void STEP8_GenerateLogRecord (CLogFileRecord &newLogRec, const std::vector< mrpt::math::TPose2D > &relTargets, int nSelectedPTG, const mrpt::kinematics::CVehicleVelCmdPtr &new_vel_cmd, int nPTGs, const bool best_is_NOP_cmdvel, const math::TPose2D &rel_cur_pose_wrt_last_vel_cmd_NOP, const math::TPose2D &rel_pose_PTG_origin_wrt_sense_NOP, const double executionTimeValue, const double tim_changeSpeed, const mrpt::system::TTimeStamp &tim_start_iteration)
 
void preDestructor ()
 To be called during children destructors to assure thread-safe destruction, and free of shared objects. More...
 
virtual void onStartNewNavigation () MRPT_OVERRIDE
 Called whenever a new navigation has been started. More...
 
void build_movement_candidate (CParameterizedTrajectoryGenerator *ptg, const size_t indexPTG, const std::vector< mrpt::math::TPose2D > &relTargets, const mrpt::math::TPose2D &rel_pose_PTG_origin_wrt_sense, TInfoPerPTG &ipf, TCandidateMovementPTG &holonomicMovement, CLogFileRecord &newLogRec, const bool this_is_PTG_continuation, mrpt::nav::CAbstractHolonomicReactiveMethod *holoMethod, const mrpt::system::TTimeStamp tim_start_iteration, const TNavigationParams &navp=TNavigationParams(), const mrpt::math::TPose2D &relPoseVelCmd_NOP=mrpt::poses::CPose2D())
 
virtual bool checkHasReachedTarget (const double targetDist) const MRPT_OVERRIDE
 Default implementation: check if target_dist is below the accepted distance. More...
 
virtual void waypoints_navigationStep ()
 The waypoints-specific part of navigationStep() More...
 
void updateCurrentPoseAndSpeeds ()
 Call to the robot getCurrentPoseAndSpeeds() and updates members m_curPoseVel accordingly. More...
 
virtual void performNavigationStepNavigating (bool call_virtual_nav_method=true)
 Factorization of the part inside navigationStep(), for the case of state being NAVIGATING. More...
 
void doEmergencyStop (const std::string &msg)
 Stops the robot and set navigation state to error. More...
 
virtual bool changeSpeeds (const mrpt::kinematics::CVehicleVelCmd &vel_cmd)
 Default: forward call to m_robot.changeSpeed(). Can be overriden. More...
 
virtual bool changeSpeedsNOP ()
 Default: forward call to m_robot.changeSpeedsNOP(). Can be overriden. More...
 
virtual bool stop (bool isEmergencyStop)
 Default: forward call to m_robot.stop(). Can be overriden. More...
 

Protected Attributes

std::vector< CAbstractHolonomicReactiveMethod * > m_holonomicMethod
 The holonomic navigation algorithm (one object per PTG, so internal states are maintained) More...
 
mrpt::utils::CStreamm_logFile
 
mrpt::utils::CStreamm_prev_logfile
 The current log file stream, or NULL if not being used. More...
 
bool m_enableKeepLogRecords
 See enableKeepLogRecords. More...
 
CLogFileRecord lastLogRecord
 The last log. More...
 
mrpt::kinematics::CVehicleVelCmdPtr m_last_vel_cmd
 Last velocity commands. More...
 
mrpt::synch::CCriticalSectionRecursive m_critZoneLastLog
 Critical zones. More...
 
bool m_enableConsoleOutput
 Enables / disables the console debug output. More...
 
bool m_init_done
 Whether loadConfigFile() has been called or not. More...
 
mrpt::utils::CTicTac timerForExecutionPeriod
 
mrpt::utils::CTimeLogger m_timelogger
 A complete time logger. More...
 
bool m_PTGsMustBeReInitialized
 
bool m_closing_navigator
 Signal that the destructor has been called, so no more calls are accepted from other threads. More...
 
mrpt::system::TTimeStamp m_WS_Obstacles_timestamp
 
mrpt::maps::CPointCloudFilterBasePtr m_WS_filter
 Default: none. More...
 
mrpt::nav::CMultiObjectiveMotionOptimizerBasePtr m_multiobjopt
 
std::vector< TInfoPerPTGm_infoPerPTG
 Temporary buffers for working with each PTG during a navigationStep() More...
 
mrpt::system::TTimeStamp m_infoPerPTG_timestamp
 
TSentVelCmd m_lastSentVelCmd
 
TWaypointStatusSequence m_waypoint_nav_status
 The latest waypoints navigation command and the up-to-date control status. More...
 
mrpt::synch::CCriticalSectionRecursive m_nav_waypoints_cs
 
TState m_navigationState
 Current internal state of navigator: More...
 
TNavigationParamsm_navigationParams
 Current navigation parameters. More...
 
CRobot2NavInterfacem_robot
 The navigator-robot interface. More...
 
mrpt::poses::FrameTransformer< 2 > * m_frame_tf
 Optional, user-provided frame transformer. More...
 
mrpt::synch::CCriticalSectionRecursive m_nav_cs
 mutex for all navigation methods More...
 
TRobotPoseVel m_curPoseVel
 Current robot pose (updated in CAbstractNavigator::navigationStep() ) More...
 
double m_last_curPoseVelUpdate_robot_time
 
std::string m_last_curPoseVelUpdate_pose_frame_id
 
mrpt::poses::CPose2DInterpolator m_latestPoses
 
mrpt::poses::CPose2DInterpolator m_latestOdomPoses
 Latest robot poses (updated in CAbstractNavigator::navigationStep() ) More...
 
mrpt::utils::CTimeLogger m_timlog_delays
 Time logger to collect delay-related stats. More...
 
double m_badNavAlarm_minDistTarget
 For sending an alarm (error event) when it seems that we are not approaching toward the target in a while... More...
 
mrpt::system::TTimeStamp m_badNavAlarm_lastMinDistTime
 
Variables for CReactiveNavigationSystem::performNavigationStep
mrpt::utils::CTicTac totalExecutionTime
 
mrpt::utils::CTicTac executionTime
 
mrpt::utils::CTicTac tictac
 
mrpt::math::LowPassFilter_IIR1 meanExecutionTime
 
mrpt::math::LowPassFilter_IIR1 meanTotalExecutionTime
 
mrpt::math::LowPassFilter_IIR1 meanExecutionPeriod
 Runtime estimation of execution period of the method. More...
 
mrpt::math::LowPassFilter_IIR1 tim_changeSpeed_avr
 
mrpt::math::LowPassFilter_IIR1 timoff_obstacles_avr
 
mrpt::math::LowPassFilter_IIR1 timoff_curPoseAndSpeed_avr
 
mrpt::math::LowPassFilter_IIR1 timoff_sendVelCmd_avr
 

Private Member Functions

virtual void STEP1_InitPTGs () MRPT_OVERRIDE
 
bool implementSenseObstacles (mrpt::system::TTimeStamp &obs_timestamp) MRPT_OVERRIDE
 Return false on any fatal error. More...
 
void STEP3_WSpaceToTPSpace (const size_t ptg_idx, std::vector< double > &out_TPObstacles, mrpt::nav::ClearanceDiagram &out_clearance, const mrpt::math::TPose2D &rel_pose_PTG_origin_wrt_sense, const bool eval_clearance) MRPT_OVERRIDE
 Builds TP-Obstacles from Workspace obstacles for the given PTG. More...
 
virtual void loggingGetWSObstaclesAndShape (CLogFileRecord &out_log) MRPT_OVERRIDE
 Generates a pointcloud of obstacles, and the robot shape, to be saved in the logging record for the current timestep. More...
 

Private Attributes

mrpt::maps::CSimplePointsMap m_WS_Obstacles_unsorted
 The unsorted set of obstacles from the sensors. More...
 
std::vector< mrpt::maps::CSimplePointsMapm_WS_Obstacles_inlevels
 One point cloud per 2.5D robot-shape-slice, coordinates relative to the robot local frame. More...
 
TRobotShape m_robotShape
 The robot 3D shape model. More...
 
std::vector< TPTGmultilevelm_ptgmultilevel
 The set of PTG-transformations to be used: indices are [ptg_index][height_index]. More...
 

Navigation control API

virtual void navigate (const TNavigationParams *params)
 Navigation request to a single target location. More...
 
virtual void resume ()
 Continues with suspended navigation. More...
 
virtual void suspend ()
 Suspend current navegation. More...
 
virtual void resetNavError ()
 Resets a NAV_ERROR state back to IDLE More...
 
TState getCurrentState () const
 Returns the current navigator state. More...
 
void setFrameTF (mrpt::poses::FrameTransformer< 2 > *frame_tf)
 Sets a user-provided frame transformer object; used only if providing targets in a frame ID different than the one in which robot odometry is given (both IDs default to "map"). More...
 
const mrpt::poses::FrameTransformer< 2 > * getFrameTF () const
 Get the current frame tf object (defaults to nullptr) More...
 
enum  TState { IDLE =0, NAVIGATING, SUSPENDED, NAV_ERROR }
 The different states for the navigation system. More...
 

Member Enumeration Documentation

The different states for the navigation system.

Enumerator
IDLE 
NAVIGATING 
SUSPENDED 
NAV_ERROR 

Definition at line 120 of file CAbstractNavigator.h.

Constructor & Destructor Documentation

mrpt::nav::CReactiveNavigationSystem3D::CReactiveNavigationSystem3D ( CRobot2NavInterface react_iterf_impl,
bool  enableConsoleOutput = true,
bool  enableLogFile = false,
const std::string &  logFileDirectory = std::string("./reactivenav.logs") 
)

See docs in ctor of base class.

virtual mrpt::nav::CReactiveNavigationSystem3D::~CReactiveNavigationSystem3D ( )
virtual

Destructor.

Member Function Documentation

void mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate ( CParameterizedTrajectoryGenerator ptg,
const size_t  indexPTG,
const std::vector< mrpt::math::TPose2D > &  relTargets,
const mrpt::math::TPose2D rel_pose_PTG_origin_wrt_sense,
TInfoPerPTG ipf,
TCandidateMovementPTG holonomicMovement,
CLogFileRecord newLogRec,
const bool  this_is_PTG_continuation,
mrpt::nav::CAbstractHolonomicReactiveMethod holoMethod,
const mrpt::system::TTimeStamp  tim_start_iteration,
const TNavigationParams navp = TNavigationParams(),
const mrpt::math::TPose2D relPoseVelCmd_NOP = mrpt::poses::CPose2D() 
)
protectedinherited
void mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores ( TCandidateMovementPTG holonomicMovement,
const std::vector< double > &  in_TPObstacles,
const mrpt::nav::ClearanceDiagram in_clearance,
const std::vector< mrpt::math::TPose2D > &  WS_Targets,
const std::vector< PTGTarget > &  TP_Targets,
CLogFileRecord::TInfoPerPTG log,
CLogFileRecord newLogRec,
const bool  this_is_PTG_continuation,
const mrpt::math::TPose2D relPoseVelCmd_NOP,
const unsigned int  ptg_idx4weights,
const mrpt::system::TTimeStamp  tim_start_iteration 
)
protectedinherited

Scores holonomicMovement.

virtual void mrpt::nav::CWaypointsNavigator::cancel ( )
virtualinherited

Cancel current navegation.

Reimplemented from mrpt::nav::CAbstractNavigator.

mrpt::kinematics::CVehicleVelCmd::TVelCmdParams& mrpt::nav::CAbstractPTGBasedReactive::changeCurrentRobotSpeedLimits ( )
inlineinherited

Changes the current, global (honored for all PTGs) robot speed limits, via returning a reference to a structure that holds those limits.

Definition at line 202 of file CAbstractPTGBasedReactive.h.

References MRPT_OVERRIDE, and mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::robot_absolute_speed_limits.

void mrpt::nav::CReactiveNavigationSystem3D::changeRobotShape ( TRobotShape  robotShape)

Change the robot shape, which is taken into account for collision grid building.

virtual bool mrpt::nav::CAbstractNavigator::changeSpeeds ( const mrpt::kinematics::CVehicleVelCmd vel_cmd)
protectedvirtualinherited

Default: forward call to m_robot.changeSpeed(). Can be overriden.

virtual bool mrpt::nav::CAbstractNavigator::changeSpeedsNOP ( )
protectedvirtualinherited

Default: forward call to m_robot.changeSpeedsNOP(). Can be overriden.

virtual bool mrpt::nav::CReactiveNavigationSystem3D::checkCollisionWithLatestObstacles ( const mrpt::math::TPose2D relative_robot_pose) const
virtual

Checks whether the robot shape, when placed at the given pose (relative to the current pose), is colliding with any of the latest known obstacles.

Default implementation: always returns false.

Reimplemented from mrpt::nav::CAbstractNavigator.

virtual bool mrpt::nav::CWaypointsNavigator::checkHasReachedTarget ( const double  targetDist) const
protectedvirtualinherited

Default implementation: check if target_dist is below the accepted distance.

If true is returned here, the end-of-navigation event will be sent out (only for non-intermediary targets).

Reimplemented from mrpt::nav::CAbstractNavigator.

void mrpt::nav::CAbstractNavigator::doEmergencyStop ( const std::string &  msg)
protectedinherited

Stops the robot and set navigation state to error.

void mrpt::nav::CAbstractPTGBasedReactive::enableKeepLogRecords ( bool  enable = true)
inlineinherited

Enables keeping an internal registry of navigation logs that can be queried with getLastLogRecord()

Definition at line 125 of file CAbstractPTGBasedReactive.h.

void mrpt::nav::CAbstractPTGBasedReactive::enableLogFile ( bool  enable)
inherited

Enables/disables saving log files.

void mrpt::nav::CAbstractPTGBasedReactive::enableTimeLog ( bool  enable = true)
inlineinherited

Enables/disables the detailed time logger (default:disabled upon construction) When enabled, a report will be dumped to std::cout upon destruction.

See also
getTimeLogger

Definition at line 185 of file CAbstractPTGBasedReactive.h.

virtual double mrpt::nav::CAbstractPTGBasedReactive::generate_vel_cmd ( const TCandidateMovementPTG in_movement,
mrpt::kinematics::CVehicleVelCmdPtr &  new_vel_cmd 
)
protectedvirtualinherited

Return the [0,1] velocity scale of raw PTG cmd_vel.

const mrpt::kinematics::CVehicleVelCmd::TVelCmdParams& mrpt::nav::CAbstractPTGBasedReactive::getCurrentRobotSpeedLimits ( ) const
inlineinherited

Get the current, global (honored for all PTGs) robot speed limits.

Definition at line 197 of file CAbstractPTGBasedReactive.h.

References mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::robot_absolute_speed_limits.

TState mrpt::nav::CAbstractNavigator::getCurrentState ( ) const
inlineinherited

Returns the current navigator state.

Definition at line 128 of file CAbstractNavigator.h.

const mrpt::utils::CTimeLogger& mrpt::nav::CAbstractNavigator::getDelaysTimeLogger ( ) const
inlineinherited

Gives access to a const-ref to the internal time logger used to estimate delays.

See also
getTimeLogger() in derived classes

Definition at line 158 of file CAbstractNavigator.h.

const mrpt::poses::FrameTransformer<2>* mrpt::nav::CAbstractNavigator::getFrameTF ( ) const
inlineinherited

Get the current frame tf object (defaults to nullptr)

See also
setFrameTF

Definition at line 139 of file CAbstractNavigator.h.

void mrpt::nav::CAbstractPTGBasedReactive::getLastLogRecord ( CLogFileRecord o)
inherited

Provides a copy of the last log record with information about execution.

Parameters
oAn object where the log will be stored into.
Note
Log records are not prepared unless either "enableLogFile" is enabled in the constructor or "enableLogFile()" has been called.
std::string mrpt::nav::CAbstractPTGBasedReactive::getLogFileDirectory ( ) const
inlineinherited

Definition at line 132 of file CAbstractPTGBasedReactive.h.

virtual CParameterizedTrajectoryGenerator* mrpt::nav::CReactiveNavigationSystem3D::getPTG ( size_t  i)
inlinevirtual

Gets the i'th PTG.

Implements mrpt::nav::CAbstractPTGBasedReactive.

Definition at line 93 of file nav/reactive/CReactiveNavigationSystem3D.h.

References ASSERT_.

virtual const CParameterizedTrajectoryGenerator* mrpt::nav::CReactiveNavigationSystem3D::getPTG ( size_t  i) const
inlinevirtual

Gets the i'th PTG.

Implements mrpt::nav::CAbstractPTGBasedReactive.

Definition at line 97 of file nav/reactive/CReactiveNavigationSystem3D.h.

References ASSERT_, and MRPT_OVERRIDE.

virtual size_t mrpt::nav::CReactiveNavigationSystem3D::getPTG_count ( ) const
inlinevirtual

Returns the number of different PTGs that have been setup.

Implements mrpt::nav::CAbstractPTGBasedReactive.

Definition at line 92 of file nav/reactive/CReactiveNavigationSystem3D.h.

References ASSERT_.

double mrpt::nav::CAbstractPTGBasedReactive::getTargetApproachSlowDownDistance ( ) const
inherited

Returns this parameter for the first inner holonomic navigator instances [m] (should be the same in all of them?)

const mrpt::utils::CTimeLogger& mrpt::nav::CAbstractPTGBasedReactive::getTimeLogger ( ) const
inlineinherited

Gives access to a const-ref to the internal time logger.

See also
enableTimeLog

Definition at line 190 of file CAbstractPTGBasedReactive.h.

virtual void mrpt::nav::CWaypointsNavigator::getWaypointNavStatus ( TWaypointStatusSequence out_nav_status) const
virtualinherited

Get a copy of the control structure which describes the progress status of the waypoint navigation.

TWaypointStatusSequence mrpt::nav::CWaypointsNavigator::getWaypointNavStatus ( ) const
inlineinherited

Get a copy of the control structure which describes the progress status of the waypoint navigation.

Definition at line 69 of file CWaypointsNavigator.h.

virtual bool mrpt::nav::CAbstractPTGBasedReactive::impl_waypoint_is_reachable ( const mrpt::math::TPoint2D wp_local_wrt_robot) const
protectedvirtualinherited

Implements the way to waypoint is free function in children classes: true must be returned if, according to the information gathered at the last navigation step, there is a free path to the given point; false otherwise: if way is blocked or there is missing information, the point is out of range, etc.

Implements mrpt::nav::CWaypointsNavigator.

bool mrpt::nav::CReactiveNavigationSystem3D::implementSenseObstacles ( mrpt::system::TTimeStamp obs_timestamp)
privatevirtual

Return false on any fatal error.

Implements mrpt::nav::CAbstractPTGBasedReactive.

void mrpt::nav::CAbstractPTGBasedReactive::initialize ( )
virtualinherited

Must be called for loading collision grids, or the first navigation command may last a long time to be executed.

Internally, it just calls STEP1_CollisionGridsBuilder().

Implements mrpt::nav::CAbstractNavigator.

bool mrpt::nav::CWaypointsNavigator::isRelativePointReachable ( const mrpt::math::TPoint2D wp_local_wrt_robot) const
inherited

Returns true if, according to the information gathered at the last navigation step, there is a free path to the given point; false otherwise: if way is blocked or there is missing information, the point is out of range for the existing PTGs, etc.

virtual void mrpt::nav::CReactiveNavigationSystem3D::loadConfigFile ( const mrpt::utils::CConfigFileBase c)
virtual

Loads all params from a file.

To be called before initialize(). Each derived class MUST load its own parameters, and then call ITS PARENT'S overriden method to ensure all params are loaded.

Reimplemented from mrpt::nav::CAbstractPTGBasedReactive.

virtual void mrpt::nav::CReactiveNavigationSystem3D::loggingGetWSObstaclesAndShape ( CLogFileRecord out_log)
privatevirtual

Generates a pointcloud of obstacles, and the robot shape, to be saved in the logging record for the current timestep.

Implements mrpt::nav::CAbstractPTGBasedReactive.

virtual void mrpt::nav::CAbstractNavigator::navigate ( const TNavigationParams params)
virtualinherited

Navigation request to a single target location.

It starts a new navigation.

Parameters
[in]paramsPointer to structure with navigation info (its contents will be copied, so the original can be freely destroyed upon return if it was dynamically allocated.)
Note
A pointer is used so the passed object can be polymorphic with derived types.

Reimplemented in mrpt::nav::CNavigatorManualSequence.

virtual void mrpt::nav::CWaypointsNavigator::navigateWaypoints ( const TWaypointSequence nav_request)
virtualinherited

Waypoint navigation request.

This immediately cancels any other previous on-going navigation.

See also
CAbstractNavigator::navigate() for single waypoint navigation requests.
virtual void mrpt::nav::CWaypointsNavigator::navigationStep ( )
virtualinherited

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

Reimplemented from mrpt::nav::CAbstractNavigator.

virtual void mrpt::nav::CAbstractPTGBasedReactive::onStartNewNavigation ( )
protectedvirtualinherited

Called whenever a new navigation has been started.

Can be used to reset state variables, etc.

Reimplemented from mrpt::nav::CWaypointsNavigator.

virtual void mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep ( )
protectedvirtualinherited

The main method for the navigator.

Implements mrpt::nav::CAbstractNavigator.

virtual void mrpt::nav::CAbstractNavigator::performNavigationStepNavigating ( bool  call_virtual_nav_method = true)
protectedvirtualinherited

Factorization of the part inside navigationStep(), for the case of state being NAVIGATING.

Performs house-hold tasks like raising events in case of starting/ending navigation, timeout reaching destination, etc. call_virtual_nav_method can be set to false to avoid calling the virtual method performNavigationStep()

void mrpt::nav::CAbstractPTGBasedReactive::preDestructor ( )
protectedinherited

To be called during children destructors to assure thread-safe destruction, and free of shared objects.

virtual void mrpt::nav::CAbstractNavigator::resetNavError ( )
virtualinherited

Resets a NAV_ERROR state back to IDLE

virtual void mrpt::nav::CAbstractNavigator::resume ( )
virtualinherited

Continues with suspended navigation.

See also
suspend
virtual void mrpt::nav::CReactiveNavigationSystem3D::saveConfigFile ( mrpt::utils::CConfigFileBase c) const
virtual

Saves all current options to a config file.

Each derived class MUST save its own parameters, and then call ITS PARENT'S overriden method to ensure all params are saved.

Reimplemented from mrpt::nav::CAbstractPTGBasedReactive.

void mrpt::nav::CAbstractNavigator::setFrameTF ( mrpt::poses::FrameTransformer< 2 > *  frame_tf)
inherited

Sets a user-provided frame transformer object; used only if providing targets in a frame ID different than the one in which robot odometry is given (both IDs default to "map").

Ownership of the pointee object remains belonging to the user, which is responsible of deleting it and ensuring its a valid pointer during the lifetime of this navigator object.

Todo:
[MRPT 2.0: Make this a weak_ptr]
void mrpt::nav::CAbstractPTGBasedReactive::setHolonomicMethod ( const std::string &  method,
const mrpt::utils::CConfigFileBase cfgBase 
)
inherited

Selects which one from the set of available holonomic methods will be used into transformed TP-Space, and sets its configuration from a configuration file.

Available methods: class names of those derived from CAbstractHolonomicReactiveMethod

void mrpt::nav::CAbstractPTGBasedReactive::setHolonomicMethod ( THolonomicMethod  method,
const mrpt::utils::CConfigFileBase cfgBase 
)
inherited
void mrpt::nav::CAbstractPTGBasedReactive::setLogFileDirectory ( const std::string &  sDir)
inlineinherited

Changes the prefix for new log files.

Definition at line 131 of file CAbstractPTGBasedReactive.h.

void mrpt::nav::CAbstractPTGBasedReactive::setTargetApproachSlowDownDistance ( const double  dist)
inherited

Changes this parameter in all inner holonomic navigator instances [m].

virtual void mrpt::nav::CReactiveNavigationSystem3D::STEP1_InitPTGs ( )
privatevirtual
bool mrpt::nav::CAbstractPTGBasedReactive::STEP2_SenseObstacles ( )
protectedinherited
void mrpt::nav::CReactiveNavigationSystem3D::STEP3_WSpaceToTPSpace ( const size_t  ptg_idx,
std::vector< double > &  out_TPObstacles,
mrpt::nav::ClearanceDiagram out_clearance,
const mrpt::math::TPose2D rel_pose_PTG_origin_wrt_sense,
const bool  eval_clearance 
)
privatevirtual

Builds TP-Obstacles from Workspace obstacles for the given PTG.

"out_TPObstacles" is already initialized to the proper length and maximum collision-free distance for each "k" trajectory index. Distances are in "pseudo-meters". They will be normalized automatically to [0,1] upon return.

Implements mrpt::nav::CAbstractPTGBasedReactive.

void mrpt::nav::CAbstractPTGBasedReactive::STEP8_GenerateLogRecord ( CLogFileRecord newLogRec,
const std::vector< mrpt::math::TPose2D > &  relTargets,
int  nSelectedPTG,
const mrpt::kinematics::CVehicleVelCmdPtr &  new_vel_cmd,
int  nPTGs,
const bool  best_is_NOP_cmdvel,
const math::TPose2D rel_cur_pose_wrt_last_vel_cmd_NOP,
const math::TPose2D rel_pose_PTG_origin_wrt_sense_NOP,
const double  executionTimeValue,
const double  tim_changeSpeed,
const mrpt::system::TTimeStamp tim_start_iteration 
)
protectedinherited
virtual bool mrpt::nav::CAbstractNavigator::stop ( bool  isEmergencyStop)
protectedvirtualinherited

Default: forward call to m_robot.stop(). Can be overriden.

virtual void mrpt::nav::CAbstractNavigator::suspend ( )
virtualinherited

Suspend current navegation.

See also
resume
void mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds ( )
protectedinherited

Call to the robot getCurrentPoseAndSpeeds() and updates members m_curPoseVel accordingly.

If an error is returned by the user callback, first, it calls robot.stop() ,then throws an std::runtime_error exception.

virtual void mrpt::nav::CWaypointsNavigator::waypoints_navigationStep ( )
protectedvirtualinherited

The waypoints-specific part of navigationStep()

Member Data Documentation

mrpt::utils::CTicTac mrpt::nav::CAbstractPTGBasedReactive::executionTime
protectedinherited

Definition at line 230 of file CAbstractPTGBasedReactive.h.

CLogFileRecord mrpt::nav::CAbstractPTGBasedReactive::lastLogRecord
protectedinherited

The last log.

Definition at line 216 of file CAbstractPTGBasedReactive.h.

mrpt::system::TTimeStamp mrpt::nav::CAbstractNavigator::m_badNavAlarm_lastMinDistTime
protectedinherited

Definition at line 231 of file CAbstractNavigator.h.

double mrpt::nav::CAbstractNavigator::m_badNavAlarm_minDistTarget
protectedinherited

For sending an alarm (error event) when it seems that we are not approaching toward the target in a while...

Definition at line 230 of file CAbstractNavigator.h.

bool mrpt::nav::CAbstractPTGBasedReactive::m_closing_navigator
protectedinherited

Signal that the destructor has been called, so no more calls are accepted from other threads.

Definition at line 284 of file CAbstractPTGBasedReactive.h.

mrpt::synch::CCriticalSectionRecursive mrpt::nav::CAbstractPTGBasedReactive::m_critZoneLastLog
protectedinherited

Critical zones.

Definition at line 219 of file CAbstractPTGBasedReactive.h.

TRobotPoseVel mrpt::nav::CAbstractNavigator::m_curPoseVel
protectedinherited

Current robot pose (updated in CAbstractNavigator::navigationStep() )

Definition at line 222 of file CAbstractNavigator.h.

bool mrpt::nav::CAbstractPTGBasedReactive::m_enableConsoleOutput
protectedinherited

Enables / disables the console debug output.

Definition at line 221 of file CAbstractPTGBasedReactive.h.

bool mrpt::nav::CAbstractPTGBasedReactive::m_enableKeepLogRecords
protectedinherited

See enableKeepLogRecords.

Definition at line 215 of file CAbstractPTGBasedReactive.h.

mrpt::poses::FrameTransformer<2>* mrpt::nav::CAbstractNavigator::m_frame_tf
protectedinherited

Optional, user-provided frame transformer.

Note: We dont have ownership of the pointee object!

Definition at line 208 of file CAbstractNavigator.h.

std::vector<CAbstractHolonomicReactiveMethod*> mrpt::nav::CAbstractPTGBasedReactive::m_holonomicMethod
protectedinherited

The holonomic navigation algorithm (one object per PTG, so internal states are maintained)

Definition at line 213 of file CAbstractPTGBasedReactive.h.

std::vector<TInfoPerPTG> mrpt::nav::CAbstractPTGBasedReactive::m_infoPerPTG
protectedinherited

Temporary buffers for working with each PTG during a navigationStep()

Definition at line 299 of file CAbstractPTGBasedReactive.h.

mrpt::system::TTimeStamp mrpt::nav::CAbstractPTGBasedReactive::m_infoPerPTG_timestamp
protectedinherited

Definition at line 300 of file CAbstractPTGBasedReactive.h.

bool mrpt::nav::CAbstractPTGBasedReactive::m_init_done
protectedinherited

Whether loadConfigFile() has been called or not.

Definition at line 222 of file CAbstractPTGBasedReactive.h.

std::string mrpt::nav::CAbstractNavigator::m_last_curPoseVelUpdate_pose_frame_id
protectedinherited

Definition at line 224 of file CAbstractNavigator.h.

double mrpt::nav::CAbstractNavigator::m_last_curPoseVelUpdate_robot_time
protectedinherited

Definition at line 223 of file CAbstractNavigator.h.

mrpt::kinematics::CVehicleVelCmdPtr mrpt::nav::CAbstractPTGBasedReactive::m_last_vel_cmd
protectedinherited

Last velocity commands.

Definition at line 217 of file CAbstractPTGBasedReactive.h.

TSentVelCmd mrpt::nav::CAbstractPTGBasedReactive::m_lastSentVelCmd
protectedinherited

Definition at line 332 of file CAbstractPTGBasedReactive.h.

mrpt::poses::CPose2DInterpolator mrpt::nav::CAbstractNavigator::m_latestOdomPoses
protectedinherited

Latest robot poses (updated in CAbstractNavigator::navigationStep() )

Definition at line 225 of file CAbstractNavigator.h.

mrpt::poses::CPose2DInterpolator mrpt::nav::CAbstractNavigator::m_latestPoses
protectedinherited

Definition at line 225 of file CAbstractNavigator.h.

mrpt::utils::CStream* mrpt::nav::CAbstractPTGBasedReactive::m_logFile
protectedinherited

Definition at line 214 of file CAbstractPTGBasedReactive.h.

mrpt::nav::CMultiObjectiveMotionOptimizerBasePtr mrpt::nav::CAbstractPTGBasedReactive::m_multiobjopt
protectedinherited

Definition at line 289 of file CAbstractPTGBasedReactive.h.

mrpt::synch::CCriticalSectionRecursive mrpt::nav::CAbstractNavigator::m_nav_cs
protectedinherited

mutex for all navigation methods

Definition at line 210 of file CAbstractNavigator.h.

mrpt::synch::CCriticalSectionRecursive mrpt::nav::CWaypointsNavigator::m_nav_waypoints_cs
protectedinherited

Definition at line 101 of file CWaypointsNavigator.h.

TNavigationParams* mrpt::nav::CAbstractNavigator::m_navigationParams
protectedinherited

Current navigation parameters.

Definition at line 202 of file CAbstractNavigator.h.

TState mrpt::nav::CAbstractNavigator::m_navigationState
protectedinherited

Current internal state of navigator:

Definition at line 201 of file CAbstractNavigator.h.

mrpt::utils::CStream * mrpt::nav::CAbstractPTGBasedReactive::m_prev_logfile
protectedinherited

The current log file stream, or NULL if not being used.

Definition at line 214 of file CAbstractPTGBasedReactive.h.

std::vector<TPTGmultilevel> mrpt::nav::CReactiveNavigationSystem3D::m_ptgmultilevel
private

The set of PTG-transformations to be used: indices are [ptg_index][height_index].

Definition at line 132 of file nav/reactive/CReactiveNavigationSystem3D.h.

bool mrpt::nav::CAbstractPTGBasedReactive::m_PTGsMustBeReInitialized
protectedinherited

Definition at line 226 of file CAbstractPTGBasedReactive.h.

CRobot2NavInterface& mrpt::nav::CAbstractNavigator::m_robot
protectedinherited

The navigator-robot interface.

Definition at line 204 of file CAbstractNavigator.h.

TRobotShape mrpt::nav::CReactiveNavigationSystem3D::m_robotShape
private

The robot 3D shape model.

Definition at line 129 of file nav/reactive/CReactiveNavigationSystem3D.h.

mrpt::utils::CTimeLogger mrpt::nav::CAbstractPTGBasedReactive::m_timelogger
protectedinherited

A complete time logger.

See also
enableTimeLog()

Definition at line 225 of file CAbstractPTGBasedReactive.h.

mrpt::utils::CTimeLogger mrpt::nav::CAbstractNavigator::m_timlog_delays
protectedinherited

Time logger to collect delay-related stats.

Definition at line 227 of file CAbstractNavigator.h.

TWaypointStatusSequence mrpt::nav::CWaypointsNavigator::m_waypoint_nav_status
protectedinherited

The latest waypoints navigation command and the up-to-date control status.

Definition at line 100 of file CWaypointsNavigator.h.

mrpt::maps::CPointCloudFilterBasePtr mrpt::nav::CAbstractPTGBasedReactive::m_WS_filter
protectedinherited

Default: none.

Definition at line 287 of file CAbstractPTGBasedReactive.h.

std::vector<mrpt::maps::CSimplePointsMap> mrpt::nav::CReactiveNavigationSystem3D::m_WS_Obstacles_inlevels
private

One point cloud per 2.5D robot-shape-slice, coordinates relative to the robot local frame.

Definition at line 125 of file nav/reactive/CReactiveNavigationSystem3D.h.

mrpt::system::TTimeStamp mrpt::nav::CAbstractPTGBasedReactive::m_WS_Obstacles_timestamp
protectedinherited

Definition at line 286 of file CAbstractPTGBasedReactive.h.

mrpt::maps::CSimplePointsMap mrpt::nav::CReactiveNavigationSystem3D::m_WS_Obstacles_unsorted
private

The unsorted set of obstacles from the sensors.

Definition at line 124 of file nav/reactive/CReactiveNavigationSystem3D.h.

mrpt::math::LowPassFilter_IIR1 mrpt::nav::CAbstractPTGBasedReactive::meanExecutionPeriod
protectedinherited

Runtime estimation of execution period of the method.

Definition at line 233 of file CAbstractPTGBasedReactive.h.

mrpt::math::LowPassFilter_IIR1 mrpt::nav::CAbstractPTGBasedReactive::meanExecutionTime
protectedinherited

Definition at line 231 of file CAbstractPTGBasedReactive.h.

mrpt::math::LowPassFilter_IIR1 mrpt::nav::CAbstractPTGBasedReactive::meanTotalExecutionTime
protectedinherited

Definition at line 232 of file CAbstractPTGBasedReactive.h.

TAbstractNavigatorParams mrpt::nav::CAbstractNavigator::params_abstract_navigator
inherited

Definition at line 155 of file CAbstractNavigator.h.

TAbstractPTGNavigatorParams mrpt::nav::CAbstractPTGBasedReactive::params_abstract_ptg_navigator
inherited

Definition at line 175 of file CAbstractPTGBasedReactive.h.

TWaypointsNavigatorParams mrpt::nav::CWaypointsNavigator::params_waypoints_navigator
inherited

Definition at line 94 of file CWaypointsNavigator.h.

mrpt::utils::CTicTac mrpt::nav::CAbstractPTGBasedReactive::tictac
protectedinherited

Definition at line 230 of file CAbstractPTGBasedReactive.h.

mrpt::math::LowPassFilter_IIR1 mrpt::nav::CAbstractPTGBasedReactive::tim_changeSpeed_avr
protectedinherited

Definition at line 234 of file CAbstractPTGBasedReactive.h.

mrpt::utils::CTicTac mrpt::nav::CAbstractPTGBasedReactive::timerForExecutionPeriod
protectedinherited

Definition at line 223 of file CAbstractPTGBasedReactive.h.

mrpt::math::LowPassFilter_IIR1 mrpt::nav::CAbstractPTGBasedReactive::timoff_curPoseAndSpeed_avr
protectedinherited

Definition at line 234 of file CAbstractPTGBasedReactive.h.

mrpt::math::LowPassFilter_IIR1 mrpt::nav::CAbstractPTGBasedReactive::timoff_obstacles_avr
protectedinherited

Definition at line 234 of file CAbstractPTGBasedReactive.h.

mrpt::math::LowPassFilter_IIR1 mrpt::nav::CAbstractPTGBasedReactive::timoff_sendVelCmd_avr
protectedinherited

Definition at line 234 of file CAbstractPTGBasedReactive.h.

mrpt::utils::CTicTac mrpt::nav::CAbstractPTGBasedReactive::totalExecutionTime
protectedinherited

Definition at line 230 of file CAbstractPTGBasedReactive.h.




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