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mrpt::nav::CHolonomicVFF Class Reference

Detailed Description

A holonomic reactive navigation method, based on Virtual Force Fields (VFF).

These are the optional parameters of the method which can be set by means of a configuration file passed to the constructor or to CHolonomicND::initialize (see also the field CHolonomicVFF::options).

[VFF_CONFIG]
TARGET_SLOW_APPROACHING_DISTANCE = 0.10 // For stopping gradually
TARGET_ATTRACTIVE_FORCE = 20 // Dimension-less (may have to be tuned depending on the density of obstacle sampling)
See also
CAbstractHolonomicReactiveMethod,CReactiveNavigationSystem

Definition at line 51 of file CHolonomicVFF.h.

#include <mrpt/nav/holonomic/CHolonomicVFF.h>

Inheritance diagram for mrpt::nav::CHolonomicVFF:
Inheritance graph

Classes

struct  TOptions
 Algorithm options. More...
 

Public Member Functions

 CHolonomicVFF (const mrpt::utils::CConfigFileBase *INI_FILE=NULL)
 Initialize the parameters of the navigator, from some configuration file, or default values if set to NULL. More...
 
void navigate (const mrpt::math::TPoint2D &target, const std::vector< float > &obstacles, double maxRobotSpeed, double &desiredDirection, double &desiredSpeed, CHolonomicLogFileRecordPtr &logRecord)
 This method performs the holonomic navigation itself. More...
 
void initialize (const mrpt::utils::CConfigFileBase &INI_FILE)
 Initialize the parameters of the navigator from section "VFF_CONFIG" of a config file. More...
 

Public Attributes

TOptions options
 Parameters of the algorithm (can be set manually or loaded from CHolonomicVFF::initialize or options.loadFromConfigFile(), etc.) More...
 

Constructor & Destructor Documentation

mrpt::nav::CHolonomicVFF::CHolonomicVFF ( const mrpt::utils::CConfigFileBase INI_FILE = NULL)

Initialize the parameters of the navigator, from some configuration file, or default values if set to NULL.

Member Function Documentation

void mrpt::nav::CHolonomicVFF::initialize ( const mrpt::utils::CConfigFileBase INI_FILE)
inlinevirtual

Initialize the parameters of the navigator from section "VFF_CONFIG" of a config file.

See also
options

Implements mrpt::nav::CAbstractHolonomicReactiveMethod.

Definition at line 79 of file CHolonomicVFF.h.

void mrpt::nav::CHolonomicVFF::navigate ( const mrpt::math::TPoint2D target,
const std::vector< float > &  obstacles,
double  maxRobotSpeed,
double &  desiredDirection,
double &  desiredSpeed,
CHolonomicLogFileRecordPtr &  logRecord 
)
virtual

This method performs the holonomic navigation itself.

Parameters
target[IN] The relative location (x,y) of target point.
obstacles[IN] Distance to obstacles from robot location (0,0). First index refers to -PI direction, and last one to +PI direction. Distances can be dealed as "meters", although they are "pseudometers", see note below.
maxRobotSpeed[IN] Maximum robot speed, in "pseudometers/sec". See note below.
desiredDirection[OUT] The desired motion direction, in the range [-PI,PI]
desiredSpeed[OUT] The desired motion speed in that direction, in "pseudometers"/sec. (See note below)
logRecord[IN/OUT] A placeholder for a pointer to a log record with extra info about the execution. Set to NULL if not required. User must free memory using "delete logRecord" after using it.

NOTE: With "pseudometers" we refer to the distance unit in TP-Space, thus:

pseudometer2= meter2 + (rad * r)2

Implements mrpt::nav::CAbstractHolonomicReactiveMethod.

Member Data Documentation

TOptions mrpt::nav::CHolonomicVFF::options

Parameters of the algorithm (can be set manually or loaded from CHolonomicVFF::initialize or options.loadFromConfigFile(), etc.)

Definition at line 95 of file CHolonomicVFF.h.




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