The pure virtual interface between a real or simulated robot and any CAbstractNavigator
-derived class.
The user must define a new class derived from CRobot2NavInterface
and reimplement all pure virtual and the desired virtual methods according to the documentation in this class.
[New in MRPT 1.5.0] This class does not make assumptions about the kinematic model of the robot, so it can work with either Ackermann, differential-driven or holonomic robots. It will depend on the used PTGs, so checkout each PTG documentation for the lenght and meaning of velocity commands.
If used for a simulator, users may prefer to inherit from one of these classes, which already provide partial implementations:
Definition at line 39 of file CRobot2NavInterface.h.
#include <mrpt/nav/reactive/CRobot2NavInterface.h>
Public Member Functions | |
CRobot2NavInterface () | |
virtual | ~CRobot2NavInterface () |
virtual bool | getCurrentPoseAndSpeeds (mrpt::math::TPose2D &curPose, mrpt::math::TTwist2D &curVelGlobal, mrpt::system::TTimeStamp ×tamp, mrpt::math::TPose2D &curOdometry, std::string &frame_id)=0 |
Get the current pose and velocity of the robot. More... | |
virtual bool | changeSpeeds (const mrpt::kinematics::CVehicleVelCmd &vel_cmd)=0 |
Sends a velocity command to the robot. More... | |
virtual bool | changeSpeedsNOP () |
Just like changeSpeeds(), but will be called when the last velocity command is still the preferred solution, so there is no need to change that past command. More... | |
virtual bool | stop (bool isEmergencyStop=true)=0 |
Stop the robot right now. More... | |
virtual mrpt::kinematics::CVehicleVelCmdPtr | getEmergencyStopCmd ()=0 |
Gets the emergency stop command for the current robot. More... | |
virtual mrpt::kinematics::CVehicleVelCmdPtr | getStopCmd ()=0 |
Gets the emergency stop command for the current robot. More... | |
virtual mrpt::kinematics::CVehicleVelCmdPtr | getAlignCmd (const double relative_heading_radians) |
Gets a motion command to make the robot to align with a given relative heading, without translating. More... | |
virtual bool | startWatchdog (float T_ms) |
Start the watchdog timer of the robot platform, if any, for maximum expected delay between consecutive calls to changeSpeeds(). More... | |
virtual bool | stopWatchdog () |
Stop the watchdog timer. More... | |
virtual bool | senseObstacles (mrpt::maps::CSimplePointsMap &obstacles, mrpt::system::TTimeStamp ×tamp)=0 |
Return the current set of obstacle points, as seen from the local coordinate frame of the robot. More... | |
virtual double | getNavigationTime () |
Returns the number of seconds ellapsed since the constructor of this class was invoked, or since the last call of resetNavigationTimer(). More... | |
virtual void | resetNavigationTimer () |
see getNavigationTime() More... | |
Navigation event callbacks | |
virtual void | sendNavigationStartEvent () |
Callback: Start of navigation command. More... | |
virtual void | sendNavigationEndEvent () |
Callback: End of navigation command (reach of single goal, or final waypoint of waypoint list) More... | |
virtual void | sendWaypointReachedEvent (int waypoint_index, bool reached_nSkipped) |
Callback: Reached an intermediary waypoint in waypoint list navigation. More... | |
virtual void | sendNewWaypointTargetEvent (int waypoint_index) |
Callback: Heading towards a new intermediary/final waypoint in waypoint list navigation. More... | |
virtual void | sendNavigationEndDueToErrorEvent () |
Callback: Error asking sensory data from robot or sending motor commands. More... | |
virtual void | sendWaySeemsBlockedEvent () |
Callback: No progression made towards target for a predefined period of time. More... | |
virtual void | sendApparentCollisionEvent () |
Callback: Apparent collision event (i.e. More... | |
virtual void | sendCannotGetCloserToBlockedTargetEvent (bool &do_abort_nav) |
Callback: Target seems to be blocked by an obstacle. More... | |
Private Attributes | |
mrpt::utils::CTicTac | m_navtime |
For getNavigationTime. More... | |
mrpt::nav::CRobot2NavInterface::CRobot2NavInterface | ( | ) |
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virtual |
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pure virtual |
Sends a velocity command to the robot.
The number components in each command depends on children classes of mrpt::kinematics::CVehicleVelCmd. One robot may accept one or more different CVehicleVelCmd classes. This method resets the watchdog timer (that may be or may be not implemented in a particular robotic platform) started with startWatchdog()
Implemented in mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven, and mrpt::nav::CRobot2NavInterfaceForSimulator_Holo.
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virtual |
Just like changeSpeeds(), but will be called when the last velocity command is still the preferred solution, so there is no need to change that past command.
The unique effect of this callback would be resetting the watchdog timer.
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virtual |
Gets a motion command to make the robot to align with a given relative heading, without translating.
Only for circular robots that can rotate in place; otherwise, return an empty smart pointer to indicate that the operation is not possible (this is what the default implementation does).
Reimplemented in mrpt::nav::CRobot2NavInterfaceForSimulator_Holo.
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pure virtual |
Get the current pose and velocity of the robot.
The implementation should not take too much time to return, so if it might take more than ~10ms to ask the robot for the instantaneous data, it may be good enough to return the latest values from a cache which is updated in a parallel thread.
curPose | (output) The latest robot pose (typically from a mapping/localization module), in world coordinates. (x,y: meters, phi: radians) |
curVelGlobal | (output) The latest robot velocity vector, in world coordinates. (vx,vy: m/s, omega: rad/s) |
timestamp | (output) The timestamp for the read pose and velocity values. Use mrpt::system::now() unless you have something more accurate. |
curOdometry | (output) The latest robot raw odometry pose; may have long-time drift should be more locally consistent than curPose (x,y: meters, phi: radians) |
frame_id | (output) ID of the coordinate frame for curPose. Default is not modified is "map". [Only for future support to submapping,etc.] |
Implemented in mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven, and mrpt::nav::CRobot2NavInterfaceForSimulator_Holo.
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pure virtual |
Gets the emergency stop command for the current robot.
Implemented in mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven, and mrpt::nav::CRobot2NavInterfaceForSimulator_Holo.
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virtual |
Returns the number of seconds ellapsed since the constructor of this class was invoked, or since the last call of resetNavigationTimer().
This will be normally wall-clock time, except in simulators where this method will return simulation time.
Reimplemented in mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven, and mrpt::nav::CRobot2NavInterfaceForSimulator_Holo.
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pure virtual |
Gets the emergency stop command for the current robot.
Implemented in mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven, and mrpt::nav::CRobot2NavInterfaceForSimulator_Holo.
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virtual |
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virtual |
Callback: Apparent collision event (i.e.
there is at least one obstacle point inside the robot shape)
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virtual |
Callback: Target seems to be blocked by an obstacle.
If user sets do_abort_nav
to true
(default is false
), after this callback returns, navigation will end with an ERROR state and another call to sendWaySeemsBlockedEvent() will be done.
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virtual |
Callback: Error asking sensory data from robot or sending motor commands.
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virtual |
Callback: End of navigation command (reach of single goal, or final waypoint of waypoint list)
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virtual |
Callback: Start of navigation command.
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virtual |
Callback: Heading towards a new intermediary/final waypoint in waypoint list navigation.
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virtual |
Callback: Reached an intermediary waypoint in waypoint list navigation.
reached_nSkipped will be true
if the waypoint was physically reached; false
if it was actually "skipped".
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virtual |
Callback: No progression made towards target for a predefined period of time.
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pure virtual |
Return the current set of obstacle points, as seen from the local coordinate frame of the robot.
[out] | obstacles | A representation of obstacles in robot-centric coordinates. |
[out] | timestamp | The timestamp for the read obstacles. Use mrpt::system::now() unless you have something more accurate. |
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virtual |
Start the watchdog timer of the robot platform, if any, for maximum expected delay between consecutive calls to changeSpeeds().
T_ms | Period, in ms. |
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pure virtual |
Stop the robot right now.
[in] | isEmergencyStop | true if stop is due to some unexpected error. false if "stop" happens as part of a normal operation (e.g. target reached). |
Implemented in mrpt::nav::CRobot2NavInterfaceForSimulator_DiffDriven, and mrpt::nav::CRobot2NavInterfaceForSimulator_Holo.
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virtual |
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private |
For getNavigationTime.
Definition at line 150 of file CRobot2NavInterface.h.
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