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mrpt::reactivenav::CAbstractReactiveNavigationSystem Class Reference


Detailed Description

This is the base class for any reactive navigation system.

Here is defined the interface that users will use with derived classes where algorithms are really implemented.

Changes history:

See also:
CReactiveNavigationSystem, CReactiveInterfaceImplementation

Definition at line 110 of file CAbstractReactiveNavigationSystem.h.

#include <mrpt/reactivenav/CAbstractReactiveNavigationSystem.h>

Inheritance diagram for mrpt::reactivenav::CAbstractReactiveNavigationSystem:
Inheritance graph
[legend]

List of all members.

Classes

struct  TNavigationParams
 The struct for configuring the navigation request. More...

Public Types

enum  TState { IDLE = 0, NAVIGATING, SUSPENDED, NAV_ERROR }
 

The different states for the navigation system.

More...

Public Member Functions

 CAbstractReactiveNavigationSystem (CReactiveInterfaceImplementation &react_iterf_impl)
 Constructor.
virtual ~CAbstractReactiveNavigationSystem ()
 Destructor.
void cancel ()
 Cancel current navegacion.
void resume ()
 Continues with suspended navigation.
virtual float evaluate (TNavigationParams *params)=0
 Evaluates the practicability of a navigation for given parameters:
void navigationStep ()
 This method must be called periodically in order to effectively run the navigation.
virtual void navigate (TNavigationParams *params)=0
 Navigation request.
virtual void setParams (TNavigationParams *params)=0
 Changes the parameters for current navigation.
virtual void suspend ()
 Suspend current navegation.
TState getCurrentState () const
 Returns the current navigator state.

Protected Member Functions

virtual void performNavigationStep ()=0
 To be implemented in derived classes.

Protected Attributes

TState m_navigationState
 Current internal state of navigator:
TNavigationParams m_navigationParams
 Current navigation parameters:
CReactiveInterfaceImplementationm_robot
 The navigator-robot interface.

Private Attributes

TState m_lastNavigationState
 Last internal state of navigator:

Member Enumeration Documentation

The different states for the navigation system.

Enumerator:
IDLE 
NAVIGATING 
SUSPENDED 
NAV_ERROR 

Definition at line 175 of file CAbstractReactiveNavigationSystem.h.


Constructor & Destructor Documentation

mrpt::reactivenav::CAbstractReactiveNavigationSystem::CAbstractReactiveNavigationSystem ( CReactiveInterfaceImplementation react_iterf_impl )

Constructor.

virtual mrpt::reactivenav::CAbstractReactiveNavigationSystem::~CAbstractReactiveNavigationSystem (  ) [inline, virtual]

Destructor.

Definition at line 121 of file CAbstractReactiveNavigationSystem.h.


Member Function Documentation

void mrpt::reactivenav::CAbstractReactiveNavigationSystem::cancel (  )

Cancel current navegacion.

virtual float mrpt::reactivenav::CAbstractReactiveNavigationSystem::evaluate ( TNavigationParams params ) [pure virtual]

Evaluates the practicability of a navigation for given parameters:

Returns:
An estimation in the range [0,1], for 0 being imposible and 1 being easy.

Implemented in mrpt::reactivenav::CReactiveNavigationSystem.

TState mrpt::reactivenav::CAbstractReactiveNavigationSystem::getCurrentState (  ) const [inline]

Returns the current navigator state.

Definition at line 185 of file CAbstractReactiveNavigationSystem.h.

virtual void mrpt::reactivenav::CAbstractReactiveNavigationSystem::navigate ( TNavigationParams params ) [pure virtual]

Navigation request.

It starts a new navigation.

Implemented in mrpt::reactivenav::CReactiveNavigationSystem.

void mrpt::reactivenav::CAbstractReactiveNavigationSystem::navigationStep (  )

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

virtual void mrpt::reactivenav::CAbstractReactiveNavigationSystem::performNavigationStep (  ) [protected, pure virtual]

To be implemented in derived classes.

Implemented in mrpt::reactivenav::CReactiveNavigationSystem.

void mrpt::reactivenav::CAbstractReactiveNavigationSystem::resume (  )

Continues with suspended navigation.

See also:
suspend
virtual void mrpt::reactivenav::CAbstractReactiveNavigationSystem::setParams ( TNavigationParams params ) [pure virtual]

Changes the parameters for current navigation.

Implemented in mrpt::reactivenav::CReactiveNavigationSystem.

virtual void mrpt::reactivenav::CAbstractReactiveNavigationSystem::suspend (  ) [virtual]

Suspend current navegation.

See also:
resume

Member Data Documentation

Last internal state of navigator:

Definition at line 190 of file CAbstractReactiveNavigationSystem.h.

Current navigation parameters:

Definition at line 203 of file CAbstractReactiveNavigationSystem.h.

Current internal state of navigator:

Definition at line 199 of file CAbstractReactiveNavigationSystem.h.

The navigator-robot interface.

Definition at line 206 of file CAbstractReactiveNavigationSystem.h.




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