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mrpt::nav::CWaypointsNavigator Class Referenceabstract

Detailed Description

This class extends CAbstractNavigator with the capability of following a list of waypoints.

By default, waypoints are followed one by one, but, if they are tagged with allow_skip=true and the derived navigator class supports it, the navigator may choose to skip some to make a smoother, safer and shorter navigation.

Waypoints have an optional target_heading field, which will be honored only for waypoints that are skipped, and if the underlying robot interface supports the pure-rotation methods.

Notes on navigation status and event dispatchment:

See also
Base class CAbstractNavigator, CWaypointsNavigator::navigateWaypoints(), and derived classes.

Definition at line 33 of file CWaypointsNavigator.h.

#include <mrpt/nav/reactive/CWaypointsNavigator.h>

Inheritance diagram for mrpt::nav::CWaypointsNavigator:
Inheritance graph

Classes

struct  TNavigationParamsWaypoints
 The struct for configuring navigation requests to CWaypointsNavigator and derived classes. More...
 
struct  TWaypointsNavigatorParams
 

Public Member Functions

 CWaypointsNavigator (CRobot2NavInterface &robot_interface_impl)
 ctor More...
 
virtual ~CWaypointsNavigator ()
 dtor More...
 
virtual void navigationStep () MRPT_OVERRIDE
 This method must be called periodically in order to effectively run the navigation. More...
 
virtual void cancel () MRPT_OVERRIDE
 Cancel current navegation. More...
 
bool isRelativePointReachable (const mrpt::math::TPoint2D &wp_local_wrt_robot) const
 Returns true if, according to the information gathered at the last navigation step, there is a free path to the given point; false otherwise: if way is blocked or there is missing information, the point is out of range for the existing PTGs, etc. More...
 
virtual void loadConfigFile (const mrpt::utils::CConfigFileBase &c) MRPT_OVERRIDE
 Loads all params from a file. More...
 
virtual void saveConfigFile (mrpt::utils::CConfigFileBase &c) const MRPT_OVERRIDE
 Saves all current options to a config file. More...
 
const mrpt::utils::CTimeLoggergetDelaysTimeLogger () const
 Gives access to a const-ref to the internal time logger used to estimate delays. More...
 
Waypoint navigation control API
virtual void navigateWaypoints (const TWaypointSequence &nav_request)
 Waypoint navigation request. More...
 
virtual void getWaypointNavStatus (TWaypointStatusSequence &out_nav_status) const
 Get a copy of the control structure which describes the progress status of the waypoint navigation. More...
 
TWaypointStatusSequence getWaypointNavStatus () const
 Get a copy of the control structure which describes the progress status of the waypoint navigation. More...
 

Public Attributes

TWaypointsNavigatorParams params_waypoints_navigator
 
TAbstractNavigatorParams params_abstract_navigator
 

Protected Member Functions

virtual bool impl_waypoint_is_reachable (const mrpt::math::TPoint2D &wp_local_wrt_robot) const =0
 Implements the way to waypoint is free function in children classes: true must be returned if, according to the information gathered at the last navigation step, there is a free path to the given point; false otherwise: if way is blocked or there is missing information, the point is out of range, etc. More...
 
virtual void onStartNewNavigation () MRPT_OVERRIDE
 Called whenever a new navigation has been started. More...
 
virtual bool checkHasReachedTarget (const double targetDist) const MRPT_OVERRIDE
 Default implementation: check if target_dist is below the accepted distance. More...
 
virtual void waypoints_navigationStep ()
 The waypoints-specific part of navigationStep() More...
 
bool waypoints_isAligning () const
 
void dispatchPendingNavEvents ()
 
virtual void performNavigationStep ()=0
 To be implemented in derived classes. 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 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...
 

Protected Attributes

TWaypointStatusSequence m_waypoint_nav_status
 The latest waypoints navigation command and the up-to-date control status. More...
 
mrpt::synch::CCriticalSectionRecursive m_nav_waypoints_cs
 
std::vector< TPendingEventm_pending_events
 Events generated during navigationStep(), enqueued to be called at the end of the method execution to avoid user code to change the navigator state. More...
 
TState m_navigationState
 Current internal state of navigator: More...
 
TNavigationParamsm_navigationParams
 Current navigation parameters. More...
 
CRobot2NavInterfacem_robot
 The navigator-robot interface. More...
 
mrpt::poses::FrameTransformer< 2 > * m_frame_tf
 Optional, user-provided frame transformer. More...
 
mrpt::synch::CCriticalSectionRecursive m_nav_cs
 mutex for all navigation methods More...
 
TRobotPoseVel m_curPoseVel
 Current robot pose (updated in CAbstractNavigator::navigationStep() ) More...
 
double m_last_curPoseVelUpdate_robot_time
 
std::string m_last_curPoseVelUpdate_pose_frame_id
 
mrpt::poses::CPose2DInterpolator m_latestPoses
 
mrpt::poses::CPose2DInterpolator m_latestOdomPoses
 Latest robot poses (updated in CAbstractNavigator::navigationStep() ) More...
 
mrpt::utils::CTimeLogger m_timlog_delays
 Time logger to collect delay-related stats. More...
 
double m_badNavAlarm_minDistTarget
 For sending an alarm (error event) when it seems that we are not approaching toward the target in a while... More...
 
mrpt::system::TTimeStamp m_badNavAlarm_lastMinDistTime
 

Private Attributes

bool m_was_aligning
 Whether the last timestep was "is_aligning" in a waypoint with heading. More...
 
bool m_is_aligning
 
mrpt::system::TTimeStamp m_last_alignment_cmd
 

Navigation control API

virtual void initialize ()=0
 Must be called before any other navigation command. More...
 
virtual void navigate (const TNavigationParams *params)
 Navigation request to a single target location. 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...
 
enum  TState { IDLE =0, NAVIGATING, SUSPENDED, NAV_ERROR }
 The different states for the navigation system. More...
 

Member Enumeration Documentation

◆ TState

The different states for the navigation system.

Enumerator
IDLE 
NAVIGATING 
SUSPENDED 
NAV_ERROR 

Definition at line 120 of file CAbstractNavigator.h.

Constructor & Destructor Documentation

◆ CWaypointsNavigator()

mrpt::nav::CWaypointsNavigator::CWaypointsNavigator ( CRobot2NavInterface robot_interface_impl)

ctor

◆ ~CWaypointsNavigator()

virtual mrpt::nav::CWaypointsNavigator::~CWaypointsNavigator ( )
virtual

dtor

Member Function Documentation

◆ cancel()

virtual void mrpt::nav::CWaypointsNavigator::cancel ( )
virtual

Cancel current navegation.

Reimplemented from mrpt::nav::CAbstractNavigator.

◆ changeSpeeds()

virtual bool mrpt::nav::CAbstractNavigator::changeSpeeds ( const mrpt::kinematics::CVehicleVelCmd vel_cmd)
protectedvirtualinherited

Default: forward call to m_robot.changeSpeed(). Can be overriden.

◆ changeSpeedsNOP()

virtual bool mrpt::nav::CAbstractNavigator::changeSpeedsNOP ( )
protectedvirtualinherited

Default: forward call to m_robot.changeSpeedsNOP(). Can be overriden.

◆ checkCollisionWithLatestObstacles()

virtual bool mrpt::nav::CAbstractNavigator::checkCollisionWithLatestObstacles ( const mrpt::math::TPose2D relative_robot_pose) const
protectedvirtualinherited

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.

◆ checkHasReachedTarget()

virtual bool mrpt::nav::CWaypointsNavigator::checkHasReachedTarget ( const double  targetDist) const
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 from mrpt::nav::CAbstractNavigator.

◆ dispatchPendingNavEvents()

void mrpt::nav::CAbstractNavigator::dispatchPendingNavEvents ( )
protectedinherited

◆ doEmergencyStop()

void mrpt::nav::CAbstractNavigator::doEmergencyStop ( const std::string &  msg)
protectedinherited

Stops the robot and set navigation state to error.

◆ getCurrentState()

TState mrpt::nav::CAbstractNavigator::getCurrentState ( ) const
inlineinherited

Returns the current navigator state.

Definition at line 128 of file CAbstractNavigator.h.

◆ getDelaysTimeLogger()

const mrpt::utils::CTimeLogger& mrpt::nav::CAbstractNavigator::getDelaysTimeLogger ( ) const
inlineinherited

Gives access to a const-ref to the internal time logger used to estimate delays.

See also
getTimeLogger() in derived classes

Definition at line 158 of file CAbstractNavigator.h.

◆ getFrameTF()

const mrpt::poses::FrameTransformer<2>* mrpt::nav::CAbstractNavigator::getFrameTF ( ) const
inlineinherited

Get the current frame tf object (defaults to nullptr)

See also
setFrameTF

Definition at line 139 of file CAbstractNavigator.h.

◆ getWaypointNavStatus() [1/2]

virtual void mrpt::nav::CWaypointsNavigator::getWaypointNavStatus ( TWaypointStatusSequence out_nav_status) const
virtual

Get a copy of the control structure which describes the progress status of the waypoint navigation.

◆ getWaypointNavStatus() [2/2]

TWaypointStatusSequence mrpt::nav::CWaypointsNavigator::getWaypointNavStatus ( ) const
inline

Get a copy of the control structure which describes the progress status of the waypoint navigation.

Definition at line 69 of file CWaypointsNavigator.h.

◆ impl_waypoint_is_reachable()

virtual bool mrpt::nav::CWaypointsNavigator::impl_waypoint_is_reachable ( const mrpt::math::TPoint2D wp_local_wrt_robot) const
protectedpure virtual

Implements the way to waypoint is free function in children classes: true must be returned if, according to the information gathered at the last navigation step, there is a free path to the given point; false otherwise: if way is blocked or there is missing information, the point is out of range, etc.

Implemented in mrpt::nav::CAbstractPTGBasedReactive.

◆ initialize()

virtual void mrpt::nav::CAbstractNavigator::initialize ( )
pure virtualinherited

Must be called before any other navigation command.

Implemented in mrpt::nav::CAbstractPTGBasedReactive, and mrpt::nav::CNavigatorManualSequence.

◆ isRelativePointReachable()

bool mrpt::nav::CWaypointsNavigator::isRelativePointReachable ( const mrpt::math::TPoint2D wp_local_wrt_robot) const

Returns true if, according to the information gathered at the last navigation step, there is a free path to the given point; false otherwise: if way is blocked or there is missing information, the point is out of range for the existing PTGs, etc.

◆ loadConfigFile()

virtual void mrpt::nav::CWaypointsNavigator::loadConfigFile ( const mrpt::utils::CConfigFileBase c)
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 from mrpt::nav::CAbstractNavigator.

Reimplemented in mrpt::nav::CAbstractPTGBasedReactive, mrpt::nav::CReactiveNavigationSystem3D, and mrpt::nav::CReactiveNavigationSystem.

◆ navigate()

virtual void mrpt::nav::CAbstractNavigator::navigate ( const TNavigationParams params)
virtualinherited

Navigation request to a single target location.

It starts a new navigation.

Parameters
[in]paramsPointer to structure with navigation info (its contents will be copied, so the original can be freely destroyed upon return if it was dynamically allocated.)
Note
A pointer is used so the passed object can be polymorphic with derived types.

Reimplemented in mrpt::nav::CNavigatorManualSequence.

◆ navigateWaypoints()

virtual void mrpt::nav::CWaypointsNavigator::navigateWaypoints ( const TWaypointSequence nav_request)
virtual

Waypoint navigation request.

This immediately cancels any other previous on-going navigation.

See also
CAbstractNavigator::navigate() for single waypoint navigation requests.

◆ navigationStep()

virtual void mrpt::nav::CWaypointsNavigator::navigationStep ( )
virtual

This method must be called periodically in order to effectively run the navigation.

Reimplemented from mrpt::nav::CAbstractNavigator.

◆ onStartNewNavigation()

virtual void mrpt::nav::CWaypointsNavigator::onStartNewNavigation ( )
protectedvirtual

Called whenever a new navigation has been started.

Can be used to reset state variables, etc.

Implements mrpt::nav::CAbstractNavigator.

Reimplemented in mrpt::nav::CAbstractPTGBasedReactive.

◆ performNavigationStep()

virtual void mrpt::nav::CAbstractNavigator::performNavigationStep ( )
protectedpure virtualinherited

To be implemented in derived classes.

Implemented in mrpt::nav::CAbstractPTGBasedReactive, and mrpt::nav::CNavigatorManualSequence.

◆ performNavigationStepNavigating()

virtual void mrpt::nav::CAbstractNavigator::performNavigationStepNavigating ( bool  call_virtual_nav_method = true)
protectedvirtualinherited

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()

◆ resetNavError()

virtual void mrpt::nav::CAbstractNavigator::resetNavError ( )
virtualinherited

Resets a NAV_ERROR state back to IDLE

◆ resume()

virtual void mrpt::nav::CAbstractNavigator::resume ( )
virtualinherited

Continues with suspended navigation.

See also
suspend

◆ saveConfigFile()

virtual void mrpt::nav::CWaypointsNavigator::saveConfigFile ( mrpt::utils::CConfigFileBase c) const
virtual

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 from mrpt::nav::CAbstractNavigator.

Reimplemented in mrpt::nav::CAbstractPTGBasedReactive, mrpt::nav::CReactiveNavigationSystem3D, and mrpt::nav::CReactiveNavigationSystem.

◆ setFrameTF()

void mrpt::nav::CAbstractNavigator::setFrameTF ( mrpt::poses::FrameTransformer< 2 > *  frame_tf)
inherited

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.

Todo:
[MRPT 2.0: Make this a weak_ptr]

◆ stop()

virtual bool mrpt::nav::CAbstractNavigator::stop ( bool  isEmergencyStop)
protectedvirtualinherited

Default: forward call to m_robot.stop(). Can be overriden.

◆ suspend()

virtual void mrpt::nav::CAbstractNavigator::suspend ( )
virtualinherited

Suspend current navegation.

See also
resume

◆ updateCurrentPoseAndSpeeds()

void mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds ( )
protectedinherited

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.

◆ waypoints_isAligning()

bool mrpt::nav::CWaypointsNavigator::waypoints_isAligning ( ) const
inlineprotected

Definition at line 113 of file CWaypointsNavigator.h.

◆ waypoints_navigationStep()

virtual void mrpt::nav::CWaypointsNavigator::waypoints_navigationStep ( )
protectedvirtual

The waypoints-specific part of navigationStep()

Member Data Documentation

◆ m_badNavAlarm_lastMinDistTime

mrpt::system::TTimeStamp mrpt::nav::CAbstractNavigator::m_badNavAlarm_lastMinDistTime
protectedinherited

Definition at line 255 of file CAbstractNavigator.h.

◆ m_badNavAlarm_minDistTarget

double mrpt::nav::CAbstractNavigator::m_badNavAlarm_minDistTarget
protectedinherited

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.

◆ m_curPoseVel

TRobotPoseVel mrpt::nav::CAbstractNavigator::m_curPoseVel
protectedinherited

Current robot pose (updated in CAbstractNavigator::navigationStep() )

Definition at line 246 of file CAbstractNavigator.h.

◆ m_frame_tf

mrpt::poses::FrameTransformer<2>* mrpt::nav::CAbstractNavigator::m_frame_tf
protectedinherited

Optional, user-provided frame transformer.

Note: We dont have ownership of the pointee object!

Definition at line 232 of file CAbstractNavigator.h.

◆ m_is_aligning

bool mrpt::nav::CWaypointsNavigator::m_is_aligning
private

Definition at line 117 of file CWaypointsNavigator.h.

◆ m_last_alignment_cmd

mrpt::system::TTimeStamp mrpt::nav::CWaypointsNavigator::m_last_alignment_cmd
private

Definition at line 118 of file CWaypointsNavigator.h.

◆ m_last_curPoseVelUpdate_pose_frame_id

std::string mrpt::nav::CAbstractNavigator::m_last_curPoseVelUpdate_pose_frame_id
protectedinherited

Definition at line 248 of file CAbstractNavigator.h.

◆ m_last_curPoseVelUpdate_robot_time

double mrpt::nav::CAbstractNavigator::m_last_curPoseVelUpdate_robot_time
protectedinherited

Definition at line 247 of file CAbstractNavigator.h.

◆ m_latestOdomPoses

mrpt::poses::CPose2DInterpolator mrpt::nav::CAbstractNavigator::m_latestOdomPoses
protectedinherited

Latest robot poses (updated in CAbstractNavigator::navigationStep() )

Definition at line 249 of file CAbstractNavigator.h.

◆ m_latestPoses

mrpt::poses::CPose2DInterpolator mrpt::nav::CAbstractNavigator::m_latestPoses
protectedinherited

Definition at line 249 of file CAbstractNavigator.h.

◆ m_nav_cs

mrpt::synch::CCriticalSectionRecursive mrpt::nav::CAbstractNavigator::m_nav_cs
protectedinherited

mutex for all navigation methods

Definition at line 234 of file CAbstractNavigator.h.

◆ m_nav_waypoints_cs

mrpt::synch::CCriticalSectionRecursive mrpt::nav::CWaypointsNavigator::m_nav_waypoints_cs
protected

Definition at line 101 of file CWaypointsNavigator.h.

◆ m_navigationParams

TNavigationParams* mrpt::nav::CAbstractNavigator::m_navigationParams
protectedinherited

Current navigation parameters.

Definition at line 226 of file CAbstractNavigator.h.

◆ m_navigationState

TState mrpt::nav::CAbstractNavigator::m_navigationState
protectedinherited

Current internal state of navigator:

Definition at line 225 of file CAbstractNavigator.h.

◆ m_pending_events

std::vector<TPendingEvent> mrpt::nav::CAbstractNavigator::m_pending_events
protectedinherited

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.

◆ m_robot

CRobot2NavInterface& mrpt::nav::CAbstractNavigator::m_robot
protectedinherited

The navigator-robot interface.

Definition at line 228 of file CAbstractNavigator.h.

◆ m_timlog_delays

mrpt::utils::CTimeLogger mrpt::nav::CAbstractNavigator::m_timlog_delays
protectedinherited

Time logger to collect delay-related stats.

Definition at line 251 of file CAbstractNavigator.h.

◆ m_was_aligning

bool mrpt::nav::CWaypointsNavigator::m_was_aligning
private

Whether the last timestep was "is_aligning" in a waypoint with heading.

Definition at line 116 of file CWaypointsNavigator.h.

◆ m_waypoint_nav_status

TWaypointStatusSequence mrpt::nav::CWaypointsNavigator::m_waypoint_nav_status
protected

The latest waypoints navigation command and the up-to-date control status.

Definition at line 100 of file CWaypointsNavigator.h.

◆ params_abstract_navigator

TAbstractNavigatorParams mrpt::nav::CAbstractNavigator::params_abstract_navigator
inherited

Definition at line 155 of file CAbstractNavigator.h.

◆ params_waypoints_navigator

TWaypointsNavigatorParams mrpt::nav::CWaypointsNavigator::params_waypoints_navigator

Definition at line 94 of file CWaypointsNavigator.h.




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