#include <mrpt/reactivenav/CAbstractHolonomicReactiveMethod.h>
Public Member Functions | |
virtual void | navigate (poses::CPoint2D &target, vector_float &obstacles, float maxRobotSpeed, float &desiredDirection, float &desiredSpeed, CHolonomicLogFileRecordPtr &logRecord)=0 |
This method performs the holonomic navigation itself. | |
virtual | ~CAbstractHolonomicReactiveMethod () |
Virtual destructor. | |
virtual void | initialize (const mrpt::utils::CConfigFileBase &INI_FILE)=0 |
Initialize the parameters of the navigator. |
Definition at line 45 of file CAbstractHolonomicReactiveMethod.h.
virtual mrpt::reactivenav::CAbstractHolonomicReactiveMethod::~CAbstractHolonomicReactiveMethod | ( | ) | [inline, virtual] |
virtual void mrpt::reactivenav::CAbstractHolonomicReactiveMethod::initialize | ( | const mrpt::utils::CConfigFileBase & | INI_FILE | ) | [pure virtual] |
Initialize the parameters of the navigator.
Implemented in mrpt::reactivenav::CHolonomicND, and mrpt::reactivenav::CHolonomicVFF.
virtual void mrpt::reactivenav::CAbstractHolonomicReactiveMethod::navigate | ( | poses::CPoint2D & | target, | |
vector_float & | obstacles, | |||
float | maxRobotSpeed, | |||
float & | desiredDirection, | |||
float & | desiredSpeed, | |||
CHolonomicLogFileRecordPtr & | logRecord | |||
) | [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. |
pseudometer2= meter2 + (rad ยท r)2
Implemented in mrpt::reactivenav::CHolonomicND, and mrpt::reactivenav::CHolonomicVFF.
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