00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2009 University of Malaga | 00007 | | 00008 | This software was written by the Perception and Robotics | 00009 | research group, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef CLogFileRecord_H 00029 #define CLogFileRecord_H 00030 00031 #include <mrpt/utils/CSerializable.h> 00032 #include <mrpt/slam/CSimplePointsMap.h> 00033 00034 #include "CHolonomicLogFileRecord.h" 00035 00036 00037 namespace mrpt 00038 { 00039 namespace reactivenav 00040 { 00041 using namespace mrpt::utils; 00042 00043 DEFINE_SERIALIZABLE_PRE_CUSTOM_LINKAGE( CLogFileRecord, RNAVDLLIMPEXP ) 00044 00045 /** A class for storing, saving and loading a reactive navigation 00046 * log record for the CReactiveNavigationSystem class. 00047 * \sa CReactiveNavigationSystem, CHolonomicLogFileRecord 00048 */ 00049 class RNAVDLLIMPEXP CLogFileRecord : public CSerializable 00050 { 00051 DEFINE_SERIALIZABLE( CLogFileRecord ) 00052 00053 00054 public: 00055 /** Constructor, builds an empty record. 00056 */ 00057 CLogFileRecord(); 00058 00059 /** Copy . 00060 */ 00061 void operator =( CLogFileRecord &); 00062 00063 /** Destructor, free all objects. 00064 */ 00065 virtual ~CLogFileRecord(); 00066 00067 /** The structure used to store all relevant information about each 00068 * transformation into TP-Space. 00069 */ 00070 struct TInfoPerPTG 00071 { 00072 /** A short description for the applied PTG 00073 */ 00074 std::string PTG_desc; 00075 00076 /** Distances until obstacles, in "pseudometers", first index for -PI direction, last one for PI direction. 00077 */ 00078 vector_float TP_Obstacles; 00079 00080 /** Target location in TP-Space 00081 */ 00082 mrpt::poses::CPoint2D TP_Target; 00083 00084 /** Time, in seconds. 00085 */ 00086 float timeForTPObsTransformation,timeForHolonomicMethod; 00087 00088 /** The results from the holonomic method. 00089 */ 00090 float desiredDirection,desiredSpeed, evaluation; 00091 00092 /** Evaluation factors 00093 */ 00094 vector_float evalFactors; 00095 00096 /** Other useful info about holonomic method execution. 00097 */ 00098 CHolonomicLogFileRecordPtr HLFR; 00099 }; 00100 00101 /** The number of PTGS: 00102 */ 00103 uint32_t nPTGs; 00104 00105 /** The security distances: 00106 */ 00107 vector_float securityDistances; 00108 00109 /** The info for each applied PTG: must contain "nPTGs·nSecDistances" elements 00110 */ 00111 std::vector<TInfoPerPTG> infoPerPTG; 00112 00113 /** The selected PTG. 00114 */ 00115 int32_t nSelectedPTG; 00116 00117 /** The total computation time, excluding sensing. 00118 */ 00119 float executionTime; 00120 00121 /** The estimated execution period. 00122 */ 00123 float estimatedExecutionPeriod; 00124 00125 /** The WS-Obstacles 00126 */ 00127 mrpt::slam::CSimplePointsMap WS_Obstacles; 00128 00129 /** The raw odometry measurement. 00130 */ 00131 mrpt::poses::CPose2D robotOdometryPose; 00132 00133 /** The relative location of target point in WS. 00134 */ 00135 mrpt::poses::CPoint2D WS_target_relative; 00136 00137 /** The final motion command sent to robot, in "m/sec" and "rad/sec". 00138 */ 00139 float v,w; 00140 00141 /** The actual robot velocities, as read from sensors, in "m/sec" and "rad/sec". 00142 */ 00143 float actual_v,actual_w; 00144 00145 /** Some recent values from previous iterations: 00146 */ 00147 vector_float prevV,prevW,prevSelPTG; 00148 00149 /** The used robot shape in WS. 00150 */ 00151 vector_float robotShape_x,robotShape_y; 00152 00153 /** The navigator behavior. 00154 */ 00155 int32_t navigatorBehavior; 00156 00157 /** The segment of the door-crossing behaviors, when applicable, in relative coordinates. 00158 */ 00159 mrpt::poses::CPoint2D doorCrossing_P1,doorCrossing_P2; 00160 00161 private: 00162 /** Free all objects in infoPerPTGs structures (used internally). 00163 */ 00164 void freeInfoPerPTGs(); 00165 00166 00167 }; 00168 00169 } 00170 } 00171 00172 00173 #endif 00174
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