This is the base class for any reactive/planned navigation system.
See derived classes.
How to use:
CRobot2NavInterface
with callbacks must be defined by the user and provided to the constructor.navigationStep()
must be called periodically in order to effectively run the navigation. This method will internally call the callbacks to gather sensor data and robot positioning data.It implements the following state machine (see CAbstractNavigator::getCurrentState() ), taking into account the extensions described in CWaypointsNavigator
Definition at line 51 of file CAbstractNavigator.h.
#include <mrpt/nav/reactive/CAbstractNavigator.h>
Classes | |
struct | TAbstractNavigatorParams |
struct | TargetInfo |
Individual target info in CAbstractNavigator::TNavigationParamsBase and derived classes. More... | |
struct | TNavigationParams |
The struct for configuring navigation requests. More... | |
struct | TNavigationParamsBase |
Base for all high-level navigation commands. More... | |
struct | TPendingEvent |
struct | TRobotPoseVel |
Public Member Functions | |
CAbstractNavigator (CRobot2NavInterface &robot_interface_impl) | |
ctor More... | |
virtual | ~CAbstractNavigator () |
dtor More... | |
const mrpt::utils::CTimeLogger & | getDelaysTimeLogger () const |
Gives access to a const-ref to the internal time logger used to estimate delays. More... | |
Public Attributes | |
TAbstractNavigatorParams | params_abstract_navigator |
Protected Member Functions | |
void | dispatchPendingNavEvents () |
virtual void | performNavigationStep ()=0 |
To be implemented in derived classes. More... | |
virtual void | onStartNewNavigation ()=0 |
Called whenever a new navigation has been started. More... | |
void | updateCurrentPoseAndSpeeds () |
Call to the robot getCurrentPoseAndSpeeds() and updates members m_curPoseVel accordingly. More... | |
virtual void | performNavigationStepNavigating (bool call_virtual_nav_method=true) |
Factorization of the part inside navigationStep(), for the case of state being NAVIGATING. More... | |
void | doEmergencyStop (const std::string &msg) |
Stops the robot and set navigation state to error. More... | |
virtual bool | changeSpeeds (const mrpt::kinematics::CVehicleVelCmd &vel_cmd) |
Default: forward call to m_robot.changeSpeed(). Can be overriden. More... | |
virtual bool | changeSpeedsNOP () |
Default: forward call to m_robot.changeSpeedsNOP(). Can be overriden. More... | |
virtual bool | stop (bool isEmergencyStop) |
Default: forward call to m_robot.stop(). Can be overriden. More... | |
virtual bool | checkHasReachedTarget (const double targetDist) const |
Default implementation: check if target_dist is below the accepted distance. More... | |
virtual bool | checkCollisionWithLatestObstacles (const mrpt::math::TPose2D &relative_robot_pose) const |
Checks whether the robot shape, when placed at the given pose (relative to the current pose), is colliding with any of the latest known obstacles. More... | |
Private Member Functions | |
void | internal_onStartNewNavigation () |
Called before starting a new navigation. More... | |
Private Attributes | |
TState | m_lastNavigationState |
Last internal state of navigator: More... | |
bool | m_navigationEndEventSent |
Will be false until the navigation end is sent, and it is reset with each new command. More... | |
int | m_counter_check_target_is_blocked |
Navigation control API | |
enum | TState { IDLE =0, NAVIGATING, SUSPENDED, NAV_ERROR } |
The different states for the navigation system. More... | |
virtual void | loadConfigFile (const mrpt::utils::CConfigFileBase &c) |
Loads all params from a file. More... | |
virtual void | saveConfigFile (mrpt::utils::CConfigFileBase &c) const |
Saves all current options to a config file. More... | |
virtual void | initialize ()=0 |
Must be called before any other navigation command. More... | |
virtual void | navigationStep () |
This method must be called periodically in order to effectively run the navigation. More... | |
virtual void | navigate (const TNavigationParams *params) |
Navigation request to a single target location. More... | |
virtual void | cancel () |
Cancel current navegation. More... | |
virtual void | resume () |
Continues with suspended navigation. More... | |
virtual void | suspend () |
Suspend current navegation. More... | |
virtual void | resetNavError () |
Resets a NAV_ERROR state back to IDLE More... | |
TState | getCurrentState () const |
Returns the current navigator state. More... | |
void | setFrameTF (mrpt::poses::FrameTransformer< 2 > *frame_tf) |
Sets a user-provided frame transformer object; used only if providing targets in a frame ID different than the one in which robot odometry is given (both IDs default to "map" ). More... | |
const mrpt::poses::FrameTransformer< 2 > * | getFrameTF () const |
Get the current frame tf object (defaults to nullptr) More... | |
The different states for the navigation system.
Enumerator | |
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IDLE | |
NAVIGATING | |
SUSPENDED | |
NAV_ERROR |
Definition at line 120 of file CAbstractNavigator.h.
mrpt::nav::CAbstractNavigator::CAbstractNavigator | ( | CRobot2NavInterface & | robot_interface_impl | ) |
ctor
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virtual |
dtor
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Cancel current navegation.
Reimplemented in mrpt::nav::CWaypointsNavigator.
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protectedvirtual |
Default: forward call to m_robot.changeSpeed(). Can be overriden.
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protectedvirtual |
Default: forward call to m_robot.changeSpeedsNOP(). Can be overriden.
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protectedvirtual |
Checks whether the robot shape, when placed at the given pose (relative to the current pose), is colliding with any of the latest known obstacles.
Default implementation: always returns false.
Reimplemented in mrpt::nav::CReactiveNavigationSystem3D, and mrpt::nav::CReactiveNavigationSystem.
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protectedvirtual |
Default implementation: check if target_dist is below the accepted distance.
If true is returned here, the end-of-navigation event will be sent out (only for non-intermediary targets).
Reimplemented in mrpt::nav::CWaypointsNavigator.
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protected |
Stops the robot and set navigation state to error.
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inline |
Returns the current navigator state.
Definition at line 128 of file CAbstractNavigator.h.
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inline |
Gives access to a const-ref to the internal time logger used to estimate delays.
Definition at line 158 of file CAbstractNavigator.h.
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inline |
Get the current frame tf object (defaults to nullptr)
Definition at line 139 of file CAbstractNavigator.h.
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pure virtual |
Must be called before any other navigation command.
Implemented in mrpt::nav::CAbstractPTGBasedReactive, and mrpt::nav::CNavigatorManualSequence.
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private |
Called before starting a new navigation.
Internally, it calls to child-implemented onStartNewNavigation()
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virtual |
Loads all params from a file.
To be called before initialize(). Each derived class MUST load its own parameters, and then call ITS PARENT'S overriden method to ensure all params are loaded.
Reimplemented in mrpt::nav::CAbstractPTGBasedReactive, mrpt::nav::CReactiveNavigationSystem3D, mrpt::nav::CWaypointsNavigator, mrpt::nav::CReactiveNavigationSystem, and mrpt::nav::CNavigatorManualSequence.
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virtual |
Navigation request to a single target location.
It starts a new navigation.
[in] | params | Pointer to structure with navigation info (its contents will be copied, so the original can be freely destroyed upon return if it was dynamically allocated.) |
Reimplemented in mrpt::nav::CNavigatorManualSequence.
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virtual |
This method must be called periodically in order to effectively run the navigation.
Reimplemented in mrpt::nav::CWaypointsNavigator, and mrpt::nav::CNavigatorManualSequence.
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protectedpure virtual |
Called whenever a new navigation has been started.
Can be used to reset state variables, etc.
Implemented in mrpt::nav::CAbstractPTGBasedReactive, mrpt::nav::CWaypointsNavigator, and mrpt::nav::CNavigatorManualSequence.
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protectedpure virtual |
To be implemented in derived classes.
Implemented in mrpt::nav::CAbstractPTGBasedReactive, and mrpt::nav::CNavigatorManualSequence.
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protectedvirtual |
Factorization of the part inside navigationStep(), for the case of state being NAVIGATING.
Performs house-hold tasks like raising events in case of starting/ending navigation, timeout reaching destination, etc. call_virtual_nav_method
can be set to false to avoid calling the virtual method performNavigationStep()
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Resets a NAV_ERROR
state back to IDLE
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virtual |
Continues with suspended navigation.
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Saves all current options to a config file.
Each derived class MUST save its own parameters, and then call ITS PARENT'S overriden method to ensure all params are saved.
Reimplemented in mrpt::nav::CAbstractPTGBasedReactive, mrpt::nav::CReactiveNavigationSystem3D, mrpt::nav::CWaypointsNavigator, mrpt::nav::CReactiveNavigationSystem, and mrpt::nav::CNavigatorManualSequence.
void mrpt::nav::CAbstractNavigator::setFrameTF | ( | mrpt::poses::FrameTransformer< 2 > * | frame_tf | ) |
Sets a user-provided frame transformer object; used only if providing targets in a frame ID different than the one in which robot odometry is given (both IDs default to "map"
).
Ownership of the pointee object remains belonging to the user, which is responsible of deleting it and ensuring its a valid pointer during the lifetime of this navigator object.
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protectedvirtual |
Default: forward call to m_robot.stop(). Can be overriden.
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Suspend current navegation.
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protected |
Call to the robot getCurrentPoseAndSpeeds() and updates members m_curPoseVel accordingly.
If an error is returned by the user callback, first, it calls robot.stop() ,then throws an std::runtime_error exception.
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protected |
Definition at line 255 of file CAbstractNavigator.h.
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For sending an alarm (error event) when it seems that we are not approaching toward the target in a while...
Definition at line 254 of file CAbstractNavigator.h.
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private |
Definition at line 163 of file CAbstractNavigator.h.
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Current robot pose (updated in CAbstractNavigator::navigationStep() )
Definition at line 246 of file CAbstractNavigator.h.
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Optional, user-provided frame transformer.
Note: We dont have ownership of the pointee object!
Definition at line 232 of file CAbstractNavigator.h.
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Definition at line 248 of file CAbstractNavigator.h.
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Definition at line 247 of file CAbstractNavigator.h.
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private |
Last internal state of navigator:
Definition at line 161 of file CAbstractNavigator.h.
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Latest robot poses (updated in CAbstractNavigator::navigationStep() )
Definition at line 249 of file CAbstractNavigator.h.
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protected |
Definition at line 249 of file CAbstractNavigator.h.
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mutex for all navigation methods
Definition at line 234 of file CAbstractNavigator.h.
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private |
Will be false until the navigation end is sent, and it is reset with each new command.
Definition at line 162 of file CAbstractNavigator.h.
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Current navigation parameters.
Definition at line 226 of file CAbstractNavigator.h.
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Current internal state of navigator:
Definition at line 225 of file CAbstractNavigator.h.
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Events generated during navigationStep(), enqueued to be called at the end of the method execution to avoid user code to change the navigator state.
Definition at line 188 of file CAbstractNavigator.h.
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The navigator-robot interface.
Definition at line 228 of file CAbstractNavigator.h.
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Time logger to collect delay-related stats.
Definition at line 251 of file CAbstractNavigator.h.
TAbstractNavigatorParams mrpt::nav::CAbstractNavigator::params_abstract_navigator |
Definition at line 155 of file CAbstractNavigator.h.
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