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:
Definition at line 110 of file CAbstractReactiveNavigationSystem.h.
#include <mrpt/reactivenav/CAbstractReactiveNavigationSystem.h>
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: | |
CReactiveInterfaceImplementation & | m_robot |
The navigator-robot interface. | |
Private Attributes | |
TState | m_lastNavigationState |
Last internal state of navigator: |
The different states for the navigation system.
Definition at line 175 of file CAbstractReactiveNavigationSystem.h.
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.
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:
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.
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.
Last internal state of navigator:
Definition at line 190 of file CAbstractReactiveNavigationSystem.h.
TNavigationParams mrpt::reactivenav::CAbstractReactiveNavigationSystem::m_navigationParams [protected] |
Current navigation parameters:
Definition at line 203 of file CAbstractReactiveNavigationSystem.h.
Current internal state of navigator:
Definition at line 199 of file CAbstractReactiveNavigationSystem.h.
CReactiveInterfaceImplementation& mrpt::reactivenav::CAbstractReactiveNavigationSystem::m_robot [protected] |
The navigator-robot interface.
Definition at line 206 of file CAbstractReactiveNavigationSystem.h.
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