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CHolonomicVFF.h

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00001 /* +---------------------------------------------------------------------------+
00002    |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
00003    |                                                                           |
00004    |                   http://mrpt.sourceforge.net/                            |
00005    |                                                                           |
00006    |   Copyright (C) 2005-2011  University of Malaga                           |
00007    |                                                                           |
00008    |    This software was written by the Machine Perception and Intelligent    |
00009    |      Robotics Lab, University of Malaga (Spain).                          |
00010    |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
00011    |                                                                           |
00012    |  This file is part of the MRPT project.                                   |
00013    |                                                                           |
00014    |     MRPT is free software: you can redistribute it and/or modify          |
00015    |     it under the terms of the GNU General Public License as published by  |
00016    |     the Free Software Foundation, either version 3 of the License, or     |
00017    |     (at your option) any later version.                                   |
00018    |                                                                           |
00019    |   MRPT is distributed in the hope that it will be useful,                 |
00020    |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
00021    |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
00022    |     GNU General Public License for more details.                          |
00023    |                                                                           |
00024    |     You should have received a copy of the GNU General Public License     |
00025    |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
00026    |                                                                           |
00027    +---------------------------------------------------------------------------+ */
00028 #ifndef CHolonomicVFF_H
00029 #define CHolonomicVFF_H
00030 
00031 #include "CAbstractHolonomicReactiveMethod.h"
00032 #include "CHolonomicLogFileRecord.h"
00033 
00034 namespace mrpt
00035 {
00036   namespace reactivenav
00037   {
00038          DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CLogFileRecord_VFF, CHolonomicLogFileRecord, REACTIVENAV_IMPEXP )
00039 
00040         /** A class for storing extra information about the execution of
00041          *    CHolonomicVFF navigation.
00042          * \sa CHolonomicVFF, CHolonomicLogFileRecord
00043          */
00044         class REACTIVENAV_IMPEXP CLogFileRecord_VFF : public CHolonomicLogFileRecord
00045         {
00046                 DEFINE_SERIALIZABLE( CLogFileRecord_VFF )
00047 
00048          public:
00049 
00050                  /** Member data.
00051                    */
00052 
00053         };
00054 
00055 
00056         /** A holonomic reactive navigation method, based on Virtual Force Fields (VFF).
00057          *  \sa CAbstractHolonomicReactiveMethod,CReactiveNavigationSystem
00058          */
00059         class CHolonomicVFF : public CAbstractHolonomicReactiveMethod
00060         {
00061          public:
00062                  /**  Initialize the parameters of the navigator, from some configuration file, or default values if set to NULL.
00063                    */
00064                  CHolonomicVFF(const mrpt::utils::CConfigFileBase *INI_FILE=NULL);
00065 
00066                  /** This method performs the holonomic navigation itself.
00067                    *  \param target [IN] The relative location (x,y) of target point.
00068                    *  \param 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.
00069                    *  \param maxRobotSpeed [IN] Maximum robot speed, in "pseudometers/sec". See note below.
00070                    *  \param desiredDirection [OUT] The desired motion direction, in the range [-PI,PI]
00071                    *  \param desiredSpeed [OUT] The desired motion speed in that direction, in "pseudometers"/sec. (See note below)
00072                    *  \param 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 <b>must free memory</b> using "delete logRecord" after using it.
00073                    *
00074                    *  NOTE: With "pseudometers" we refer to the distance unit in TP-Space, thus:
00075                    *     <br><center><code>pseudometer<sup>2</sup>= meter<sup>2</sup> + (rad ยท r)<sup>2</sup></code><br></center>
00076                    */
00077                  void  navigate(        poses::CPoint2D &target,
00078                                                         vector_double   &obstacles,
00079                                                         double                  maxRobotSpeed,
00080                                                         double                  &desiredDirection,
00081                                                         double                  &desiredSpeed,
00082                                                         CHolonomicLogFileRecordPtr &logRecord );
00083 
00084                  /**  Initialize the parameters of the navigator.
00085                    */
00086                  void  initialize( const mrpt::utils::CConfigFileBase &INI_FILE  );
00087 
00088         };
00089   }
00090 }
00091 
00092 
00093 #endif
00094 
00095 
00096 



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