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mrpt::reactivenav::CReactiveInterfaceImplementation Class Reference


Detailed Description

The pure virtual class that a user of CAbstractReactiveNavigationSystem-derived classes must implement in order to allow the navigator sense the world and send motion commands to the robot.

The user must define a new class derived from CReactiveInterfaceImplementation and reimplement all pure virtual and the desired virtual methods according to the documentation in this class.

See also:
CReactiveNavigationSystem, CAbstractReactiveNavigationSystem

Definition at line 44 of file CAbstractReactiveNavigationSystem.h.

#include <mrpt/reactivenav/CAbstractReactiveNavigationSystem.h>

List of all members.

Public Member Functions

virtual bool getCurrentPoseAndSpeeds (mrpt::poses::CPose2D &curPose, float &curV, float &curW)=0
 Get the current pose and speeds of the robot.
virtual bool changeSpeeds (float v, float w)=0
 Change the instantaneous speeds of robot.
virtual bool stop ()
 Stop the robot right now.
virtual bool startWatchdog (float T_ms)
 Start the watchdog timer of the robot platform, if any.
virtual bool stopWatchdog ()
 Stop the watchdog timer.
virtual bool senseObstacles (mrpt::slam::CSimplePointsMap &obstacles)=0
 Return the current set of obstacle points.
virtual void sendNavigationStartEvent ()
virtual void sendNavigationEndEvent ()
virtual void sendNavigationEndDueToErrorEvent ()
virtual void sendWaySeemsBlockedEvent ()
virtual void notifyHeadingDirection (const double heading_dir_angle)

Member Function Documentation

virtual bool mrpt::reactivenav::CReactiveInterfaceImplementation::changeSpeeds ( float  v,
float  w 
) [pure virtual]

Change the instantaneous speeds of robot.

Parameters:
vLinear speed, in meters per second.
wAngular speed, in radians per second.
Returns:
false on any error.
virtual bool mrpt::reactivenav::CReactiveInterfaceImplementation::getCurrentPoseAndSpeeds ( mrpt::poses::CPose2D curPose,
float &  curV,
float &  curW 
) [pure virtual]

Get the current pose and speeds of the robot.

Parameters:
curPoseCurrent robot pose.
curVCurrent linear speed, in meters per second.
curWCurrent angular speed, in radians per second.
Returns:
false on any error.
virtual void mrpt::reactivenav::CReactiveInterfaceImplementation::notifyHeadingDirection ( const double  heading_dir_angle ) [inline, virtual]

Definition at line 93 of file CAbstractReactiveNavigationSystem.h.

virtual void mrpt::reactivenav::CReactiveInterfaceImplementation::sendNavigationEndDueToErrorEvent (  ) [inline, virtual]

Definition at line 89 of file CAbstractReactiveNavigationSystem.h.

virtual void mrpt::reactivenav::CReactiveInterfaceImplementation::sendNavigationEndEvent (  ) [inline, virtual]

Definition at line 87 of file CAbstractReactiveNavigationSystem.h.

virtual void mrpt::reactivenav::CReactiveInterfaceImplementation::sendNavigationStartEvent (  ) [inline, virtual]

Definition at line 85 of file CAbstractReactiveNavigationSystem.h.

virtual void mrpt::reactivenav::CReactiveInterfaceImplementation::sendWaySeemsBlockedEvent (  ) [inline, virtual]

Definition at line 91 of file CAbstractReactiveNavigationSystem.h.

virtual bool mrpt::reactivenav::CReactiveInterfaceImplementation::senseObstacles ( mrpt::slam::CSimplePointsMap obstacles ) [pure virtual]

Return the current set of obstacle points.

Returns:
false on any error.
virtual bool mrpt::reactivenav::CReactiveInterfaceImplementation::startWatchdog ( float  T_ms ) [inline, virtual]

Start the watchdog timer of the robot platform, if any.

Parameters:
T_msPeriod, in ms.
Returns:
false on any error.

Definition at line 73 of file CAbstractReactiveNavigationSystem.h.

virtual bool mrpt::reactivenav::CReactiveInterfaceImplementation::stop (  ) [inline, virtual]

Stop the robot right now.

Returns:
false on any error.

Definition at line 65 of file CAbstractReactiveNavigationSystem.h.

virtual bool mrpt::reactivenav::CReactiveInterfaceImplementation::stopWatchdog (  ) [inline, virtual]

Stop the watchdog timer.

Returns:
false on any error.

Definition at line 78 of file CAbstractReactiveNavigationSystem.h.




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