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.
Definition at line 44 of file CAbstractReactiveNavigationSystem.h.
#include <mrpt/reactivenav/CAbstractReactiveNavigationSystem.h>
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) |
virtual bool mrpt::reactivenav::CReactiveInterfaceImplementation::changeSpeeds | ( | float | v, |
float | w | ||
) | [pure virtual] |
Change the instantaneous speeds of robot.
v | Linear speed, in meters per second. |
w | Angular speed, in radians per second. |
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.
curPose | Current robot pose. |
curV | Current linear speed, in meters per second. |
curW | Current angular speed, in radians per second. |
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.
virtual bool mrpt::reactivenav::CReactiveInterfaceImplementation::startWatchdog | ( | float | T_ms ) | [inline, virtual] |
Start the watchdog timer of the robot platform, if any.
T_ms | Period, in ms. |
Definition at line 73 of file CAbstractReactiveNavigationSystem.h.
virtual bool mrpt::reactivenav::CReactiveInterfaceImplementation::stop | ( | ) | [inline, virtual] |
Stop the robot right now.
Definition at line 65 of file CAbstractReactiveNavigationSystem.h.
virtual bool mrpt::reactivenav::CReactiveInterfaceImplementation::stopWatchdog | ( | ) | [inline, virtual] |
Stop the watchdog timer.
Definition at line 78 of file CAbstractReactiveNavigationSystem.h.
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