9 #ifndef CAbstractHolonomicReactiveMethod_H
10 #define CAbstractHolonomicReactiveMethod_H
51 const std::vector<float> &obstacles,
53 double &desiredDirection,
55 CHolonomicLogFileRecordPtr &logRecord) = 0;
A base class for holonomic reactive navigation methods.
virtual ~CAbstractHolonomicReactiveMethod()
Virtual destructor.
virtual void navigate(const mrpt::math::TPoint2D &target, const std::vector< float > &obstacles, double maxRobotSpeed, double &desiredDirection, double &desiredSpeed, CHolonomicLogFileRecordPtr &logRecord)=0
This method performs the holonomic navigation itself.
virtual void initialize(const mrpt::utils::CConfigFileBase &INI_FILE)=0
Initialize the parameters of the navigator.
This class allows loading and storing values and vectors of different types from a configuration text...
A bidirectional version of std::map, declared as bimap<KEY,VALUE> and which actually contains two std...
void insert(const KEY &k, const VALUE &v)
Insert a new pair KEY<->VALUE in the bi-map.
THolonomicMethod
The implemented reactive navigation methods.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
nav::THolonomicMethod enum_t
static void fill(bimap< enum_t, std::string > &m_map)
Only specializations of this class are defined for each enum type of interest.