A holonomic reactive navigation method, based on Virtual Force Fields (VFF).
Definition at line 59 of file CHolonomicVFF.h.
#include <mrpt/reactivenav/CHolonomicVFF.h>
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. | |
void | navigate (poses::CPoint2D &target, vector_double &obstacles, double maxRobotSpeed, double &desiredDirection, double &desiredSpeed, CHolonomicLogFileRecordPtr &logRecord) |
This method performs the holonomic navigation itself. | |
void | initialize (const mrpt::utils::CConfigFileBase &INI_FILE) |
Initialize the parameters of the navigator. |
mrpt::reactivenav::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.
void mrpt::reactivenav::CHolonomicVFF::initialize | ( | const mrpt::utils::CConfigFileBase & | INI_FILE | ) | [virtual] |
Initialize the parameters of the navigator.
Implements mrpt::reactivenav::CAbstractHolonomicReactiveMethod.
void mrpt::reactivenav::CHolonomicVFF::navigate | ( | poses::CPoint2D & | target, |
vector_double & | obstacles, | ||
double | maxRobotSpeed, | ||
double & | desiredDirection, | ||
double & | desiredSpeed, | ||
CHolonomicLogFileRecordPtr & | logRecord | ||
) | [virtual] |
This method performs the holonomic navigation itself.
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 ยท r)2
Implements mrpt::reactivenav::CAbstractHolonomicReactiveMethod.
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