Detailed Description

See base class CAbstractPTGBasedReactive for a description and instructions of use.

This particular implementation assumes a 3D (or "2.5D") robot shape model, build as a vertical stack of "2D slices".

Paper describing the method:

M. Jaimez-Tarifa, J. Gonzalez-Jimenez, J.L. Blanco, "Efficient Reactive Navigation with Exact Collision Determination for 3D Robot Shapes", International Journal of Advanced Robotic Systems, 2015.

Class history:

SEP/2012: First design.
JUL/2013: Integrated into MRPT library.
DEC/2013: Code refactoring between this class and CAbstractHolonomicReactiveMethod
FEB/2017: Refactoring of all parameters for a consistent organization in sections by class names (MRPT 1.5.0)

This class requires a number of parameters which are usually provided via an external config (".ini") file. Alternatively, a memory-only object can be used to avoid physical files, see mrpt::utils::CConfigFileMemory.

A template config file can be generated at any moment by the user by calling saveConfigFile() with a default-constructed object.

Next we provide a self-documented template config file; or see it online: https://github.com/MRPT/mrpt/blob/master/share/mrpt/config_files/navigation-ptgs/reactive3d_config.ini

# ------------------------------------------------------------------------------------------
# Example configuration file for MRPT (>=1.5) Reactive Navigation engine.
# See C++ documentation: http://reference.mrpt.org/devel/classmrpt_1_1nav_1_1_c_reactive_navigation_system3_d.html
# This .ini file is missing information about the equipped sensors and the Short-Term memory
# For more detailed information, please see the App "ReactiveNav3D-Demo" within MRPT
# ------------------------------------------------------------------------------------------

# Max linear vel (m/s):
@define ROBOT_MAX_V  1.0        
# Max angular vel (deg/s):
@define ROBOT_MAX_W  60.0        
# Max distance to "foresee" obstacles (m):
@define NAV_MAX_REF_DIST   10.0

[CAbstractNavigator]
dist_to_target_for_sending_event                  = 0.000000             // Default value=0, means use the `targetAllowedDistance` passed by the user in the navigation request.
alarm_seems_not_approaching_target_timeout        = 30.000000            // navigator timeout (seconds) [Default=30 sec]
dist_check_target_is_blocked                 = 2.0       // When closer than this distance, check if the target is blocked to abort navigation with an error
hysteresis_check_target_is_blocked           = 3         // How many steps should the condition for dist_check_target_is_blocked be fulfilled to raise an event


[CWaypointsNavigator]
max_distance_to_allow_skip_waypoint               = -1.000000            // Max distance to `foresee` waypoints [meters]. (<0: unlimited)
min_timesteps_confirm_skip_waypoints              = 1                    // Min timesteps a `future` waypoint must be seen as reachable to become the active one.
waypoint_angle_tolerance                          = 5.0                  // Angular error tolerance for waypoints with an assigned heading [deg]
multitarget_look_ahead   = 0  // >=0 number of waypoints to forward to the underlying navigation engine, to ease obstacles avoidance when a waypoint is blocked (Default=0 : none).


[CAbstractPTGBasedReactive]
robotMax_V_mps                                    = ${ROBOT_MAX_V}       // Max. linear speed (m/s) [Default=-1 (not set), will raise exception if needed and not set]
robotMax_W_degps                                  = ${ROBOT_MAX_W}       // Max. angular speed (rad/s) [Default=-1 (not set), will raise exception if needed and not set]
#robotMinCurvRadius                                = -1.000000            // Min. radius of curvature of paths (m) [Default=-1 (not set), will raise exception if needed and not set]

holonomic_method                                  = CHolonomicFullEval   // C++ class name of the holonomic navigation method to run in the transformed TP-Space.
# List of known classes:
# - `CHolonomicFullEval`
# - `CHolonomicND`
# - `CHolonomicVFF`


motion_decider_method                             = CMultiObjMotionOpt_Scalarization // C++ class name of the motion decider method.
# List of known classes:
# - `CMultiObjMotionOpt_Scalarization`


ref_distance                                      = ${NAV_MAX_REF_DIST}   // Maximum distance up to obstacles will be considered (D_{max} in papers).
#speedfilter_tau                                   = 0.000000             // Time constant (in seconds) for the low-pass filter applied to kinematic velocity commands (default=0: no filtering)
secure_distance_start                             = 0.050000             // In normalized distance [0,1], start/end of a ramp function that scales the holonomic navigator output velocity.
secure_distance_end                               = 0.150000             // In normalized distance [0,1], start/end of a ramp function that scales the holonomic navigator output velocity.
use_delays_model                                  = false                // Whether to use robot pose inter/extrapolation to improve accuracy (Default:false)
max_distance_predicted_actual_path                = 0.150000             // Max distance [meters] to discard current PTG and issue a new vel cmd (default= 0.05)
min_normalized_free_space_for_ptg_continuation    = 0.200000             // Min normalized dist [0,1] after current pose in a PTG continuation to allow it.

enable_obstacle_filtering                         = true                 // Enabled obstacle filtering (params in its own section)
evaluate_clearance                                = true


[CPointCloudFilterByDistance]
min_dist                                          = 0.100000            
angle_tolerance                                   = 5.000000            
too_old_seconds                                   = 1.000000            
previous_keyframes                                = 1                    // (Default: 1) How many previous keyframes will be compared with the latest pointcloud.
max_deletion_ratio                                = 0.400000             // (Default: 0.4) If the ratio [0,1] of points considered invalid (`deletion` ) is larger than this ratio, no point will be deleted since it'd be too suspicious and may indicate a failure of this filter.


[CHolonomicFullEval]
# [0]=Free space
# [1]=Dist. in sectors
# [2]=Closer to target (Euclidean)
# [3]=Hysteresis
# [4]=clearance along path
factorWeights                                     = [0.25 , 0.1 , 1  , 0.05 , 0.5 ] 
factorNormalizeOrNot                              = [0    , 0   , 0  , 0    , 1 ]

TOO_CLOSE_OBSTACLE                                = 0.15                 // Directions with collision-free distances below this threshold are not elegible.
TARGET_SLOW_APPROACHING_DISTANCE                  = 0.300000             // Start to reduce speed when closer than this to target.
OBSTACLE_SLOW_DOWN_DISTANCE                       = 0.150000             // Start to reduce speed when clearance is below this value ([0,1] ratio wrt obstacle reference/max distance)
HYSTERESIS_SECTOR_COUNT                           = 5.000000             // Range of `sectors` (directions) for hysteresis over successive timesteps
LOG_SCORE_MATRIX                                  = false                // Save the entire score matrix in log files

clearance_threshold_ratio                         = 0.10                 // Ratio [0,1], times path_count, gives the minimum number of paths at each side of a target direction to be accepted as desired direction
gap_width_ratio_threshold                         = 0.20                 // Ratio [0,1], times path_count, gives the minimum gap width to accept a direct motion towards target.

PHASE_COUNT                                       = 3                    // Number of evaluation phases to run (params for each phase below)
PHASE1_FACTORS                                    = [1 2]                // Indices of the factors above to be considered in this phase
PHASE1_THRESHOLD                                  = 0.5                  // Phase scores must be above this relative range threshold [0,1] to be considered in next phase (Default:`0.75`)
PHASE2_FACTORS                                    = [0 4]                  // Indices of the factors above to be considered in this phase
PHASE2_THRESHOLD                                  = 0.6                  // Phase scores must be above this relative range threshold [0,1] to be considered in next phase (Default:`0.75`)
PHASE3_FACTORS                                    = [0 2]                // Indices of the factors above to be considered in this phase
PHASE3_THRESHOLD                                  = 0.7                  // Phase scores must be above this relative range threshold [0,1] to be considered in next phase (Default:`0.75`)


[CHolonomicND]
WIDE_GAP_SIZE_PERCENT                             = 0.250000            
MAX_SECTOR_DIST_FOR_D2_PERCENT                    = 0.250000            
RISK_EVALUATION_SECTORS_PERCENT                   = 0.100000            
RISK_EVALUATION_DISTANCE                          = 0.400000             // In normalized ps-meters [0,1]
TOO_CLOSE_OBSTACLE                                = 0.150000             // For stopping gradually
TARGET_SLOW_APPROACHING_DISTANCE                  = 0.600000             // In normalized ps-meters
factorWeights                                     = 1.00 0.50 2.00 0.40  // [0]=Free space, [1]=Dist. in sectors, [2]=Closer to target (Euclidean), [3]=Hysteresis


[CHolonomicVFF]
TARGET_SLOW_APPROACHING_DISTANCE                  = 0.100000             // For stopping gradually
TARGET_ATTRACTIVE_FORCE                           = 20.000000            // Dimension-less (may have to be tuned depending on the density of obstacle sampling)

[CMultiObjectiveMotionOptimizerBase]
# Next follows a list of `score%i_{name,formula}` pairs for i=1,...,N
# Each one defines an exprtk formula for one of the scores that will be evaluated for each candidate movement.
# Multiobjective optimizers will then use those scores to select the best candidate, 
# possibly using more parameters that follow below.
# See list of all available variables in documentation of mrpt::nav::CAbstractPTGBasedReactive at http://reference.mrpt.org/devel/classmrpt_1_1nav_1_1_c_abstract_p_t_g_based_reactive.html

score1_name     = target_distance
score1_formula  = \
	var effective_trg_d_norm := max(0,target_d_norm-move_cur_d); \
	if(collision_free_distance>effective_trg_d_norm, \
		1/(1+effective_trg_d_norm^2), \
		0)

score2_name     = collision_free_distance_score
score2_formula  = \
	var effective_trg_d_norm := max(0,target_d_norm-move_cur_d); \
	if (collision_free_distance>(effective_trg_d_norm+0.05), \
		1.0, \
		collision_free_distance)

score3_name     = euclidean_nearness
score3_formula  = 1/(1+dist_eucl_min^2)

score4_name     = hysteresis_score
score4_formula  = hysteresis

score5_name     = path_index_near_target
score5_formula  = \
	var dif:=abs(target_k-move_k); \
	if (dif>(num_paths/2)) \
	{ \
		dif:=num_paths-dif; \
	}; \
	exp(-abs(dif / (num_paths/10.0)));
	
score6_name        = ptg_priority_score
score6_formula     = ptg_priority


# Next follows a list of `movement_assert%i` exprtk expressions for i=1,...,N
# defining expressions for conditions that any candidate movement must fulfill
# in order to get through the evaluation process. *All* assert conditions must be satisfied.
#movement_assert1 = XXX

# Comma-separated list of scores to normalize so the highest is 1.0.
scores_to_normalize  =  
#target_distance

[CMultiObjMotionOpt_Scalarization]
# A formula that takes all/a subset of scores and generates a scalar global score.
scalar_score_formula  = ptg_priority_score*( \
	0.3*target_distance + \
	0.5*collision_free_distance_score + \
	8.0*euclidean_nearness + \
	0.1 * hysteresis_score + \
	0.2*path_index_near_target \
	)


[CReactiveNavigationSystem3D]
min_obstacles_height                              = 0.000000             // Minimum `z` coordinate of obstacles to be considered fo collision checking
max_obstacles_height                              = 10.000000            // Maximum `z` coordinate of obstacles to be considered fo collision checking

#Indicate the geometry of the robot as a set of prisms.
#Format - (LEVELX_HEIGHT, LEVELX_VECTORX, LEVELX_VECTORY)

#Number of height levels used to model the robot
HEIGHT_LEVELS = 2

#Geometrical description of each level
LEVEL1_HEIGHT = 0.6
LEVEL1_VECTORX = 0.3 0.3 -0.3 -0.3
LEVEL1_VECTORY = -0.3 0.3 0.3 -0.3

LEVEL2_HEIGHT = 0.4
LEVEL2_VECTORX = 0.05 0.05 -0.05 -0.05
LEVEL2_VECTORY = -0.1 0.1 0.1 -0.1


# PTGs: See classes derived from mrpt::nav::CParameterizedTrajectoryGenerator ( http://reference.mrpt.org/svn/classmrpt_1_1nav_1_1_c_parameterized_trajectory_generator.html)
# refer to papers for details.
#------------------------------------------------------------------------------
PTG_COUNT      = 1    // Was: 3 (Reduced to speed-up unit tests!)

# C-PTG (circular arcs), driving forward (K=+1)
PTG1_Type      = CPTG_DiffDrive_C
PTG1_resolution = 0.02      # Look-up-table cell size or resolution (in meters)
PTG1_refDistance= ${NAV_MAX_REF_DIST}      # Max distance to account for obstacles 
PTG1_num_paths = 41   // Was: 121 (Reduced to speed-up unit tests!)
PTG1_v_max_mps = ${ROBOT_MAX_V}
PTG1_w_max_dps = ${ROBOT_MAX_W}
PTG1_K         = 1.0
PTG1_score_priority = 1.0

# alpha-a PTG
PTG2_Type        = CPTG_DiffDrive_alpha
PTG2_resolution = 0.02      # Look-up-table cell size or resolution (in meters)
PTG2_refDistance= ${NAV_MAX_REF_DIST}      # Max distance to account for obstacles 
PTG2_num_paths   = 121
PTG2_v_max_mps   = ${ROBOT_MAX_V}
PTG2_w_max_dps   = ${ROBOT_MAX_W}
PTG2_cte_a0v_deg = 57
PTG2_cte_a0w_deg = 57
PTG2_score_priority = 1.0

# C-PTG (circular arcs), backwards (K=-1)
# lower priority since we prefer driving forward
PTG3_Type      = CPTG_DiffDrive_C
PTG3_resolution = 0.02      # Look-up-table cell size or resolution (in meters)
PTG3_refDistance= ${NAV_MAX_REF_DIST}      # Max distance to account for obstacles 
PTG3_num_paths = 121
PTG3_v_max_mps = ${ROBOT_MAX_V}
PTG3_w_max_dps = ${ROBOT_MAX_W}
PTG3_K         = -1.0
PTG3_score_priority = 1.0

See also: CAbstractNavigator, CParameterizedTrajectoryGenerator, CAbstractHolonomicReactiveMethod

Definition at line 71 of file nav/reactive/CReactiveNavigationSystem3D.h.

#include <mrpt/nav/reactive/CReactiveNavigationSystem3D.h>

Inheritance diagram for mrpt::nav::CReactiveNavigationSystem3D:

Classes
struct	TPTGmultilevel
	A set of PTGs of the same type, one per "height level". More...

Public Member Functions
	CReactiveNavigationSystem3D (CRobot2NavInterface &react_iterf_impl, bool enableConsoleOutput=true, bool enableLogFile=false, const std::string &logFileDirectory=std::string("./reactivenav.logs"))
	See docs in ctor of base class. More...

virtual	~CReactiveNavigationSystem3D ()
	Destructor. More...

void	changeRobotShape (TRobotShape robotShape)
	Change the robot shape, which is taken into account for collision grid building. More...

virtual bool	checkCollisionWithLatestObstacles (const mrpt::math::TPose2D &relative_robot_pose) const MRPT_OVERRIDE
	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...

virtual size_t	getPTG_count () const MRPT_OVERRIDE
	Returns the number of different PTGs that have been setup. More...

virtual CParameterizedTrajectoryGenerator *	getPTG (size_t i) MRPT_OVERRIDE
	Gets the i'th PTG. More...

virtual const CParameterizedTrajectoryGenerator *	getPTG (size_t i) const MRPT_OVERRIDE
	Gets the i'th PTG. 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...

void	initialize () MRPT_OVERRIDE
	Must be called for loading collision grids, or the first navigation command may last a long time to be executed. More...

void	setHolonomicMethod (const std::string &method, const mrpt::utils::CConfigFileBase &cfgBase)
	Selects which one from the set of available holonomic methods will be used into transformed TP-Space, and sets its configuration from a configuration file. More...

void	setHolonomicMethod (THolonomicMethod method, const mrpt::utils::CConfigFileBase &cfgBase)

void	getLastLogRecord (CLogFileRecord &o)
	Provides a copy of the last log record with information about execution. More...

void	enableKeepLogRecords (bool enable=true)
	Enables keeping an internal registry of navigation logs that can be queried with getLastLogRecord() More...

void	enableLogFile (bool enable)
	Enables/disables saving log files. More...

void	setLogFileDirectory (const std::string &sDir)
	Changes the prefix for new log files. More...

std::string	getLogFileDirectory () const

void	enableTimeLog (bool enable=true)
	Enables/disables the detailed time logger (default:disabled upon construction) When enabled, a report will be dumped to std::cout upon destruction. More...

const mrpt::utils::CTimeLogger &	getTimeLogger () const
	Gives access to a const-ref to the internal time logger. More...

const mrpt::kinematics::CVehicleVelCmd::TVelCmdParams &	getCurrentRobotSpeedLimits () const
	Get the current, global (honored for all PTGs) robot speed limits. More...

mrpt::kinematics::CVehicleVelCmd::TVelCmdParams &	changeCurrentRobotSpeedLimits ()
	Changes the current, global (honored for all PTGs) robot speed limits, via returning a reference to a structure that holds those limits. More...

void	setTargetApproachSlowDownDistance (const double dist)
	Changes this parameter in all inner holonomic navigator instances [m]. More...

double	getTargetApproachSlowDownDistance () const
	Returns this parameter for the first inner holonomic navigator instances [m] (should be the same in all of them?) 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...

const mrpt::utils::CTimeLogger &	getDelaysTimeLogger () 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
TAbstractPTGNavigatorParams	params_abstract_ptg_navigator

TWaypointsNavigatorParams	params_waypoints_navigator

TAbstractNavigatorParams	params_abstract_navigator

Protected Member Functions
virtual void	performNavigationStep () MRPT_OVERRIDE
	The main method for the navigator. More...

virtual bool	impl_waypoint_is_reachable (const mrpt::math::TPoint2D &wp_local_wrt_robot) const MRPT_OVERRIDE
	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...

bool	STEP2_SenseObstacles ()

void	calc_move_candidate_scores (TCandidateMovementPTG &holonomicMovement, const std::vector< double > &in_TPObstacles, const mrpt::nav::ClearanceDiagram &in_clearance, const std::vector< mrpt::math::TPose2D > &WS_Targets, const std::vector< PTGTarget > &TP_Targets, CLogFileRecord::TInfoPerPTG &log, CLogFileRecord &newLogRec, const bool this_is_PTG_continuation, const mrpt::math::TPose2D &relPoseVelCmd_NOP, const unsigned int ptg_idx4weights, const mrpt::system::TTimeStamp tim_start_iteration)
	Scores holonomicMovement. More...

virtual double	generate_vel_cmd (const TCandidateMovementPTG &in_movement, mrpt::kinematics::CVehicleVelCmdPtr &new_vel_cmd)
	Return the [0,1] velocity scale of raw PTG cmd_vel. More...

void	STEP8_GenerateLogRecord (CLogFileRecord &newLogRec, const std::vector< mrpt::math::TPose2D > &relTargets, int nSelectedPTG, const mrpt::kinematics::CVehicleVelCmdPtr &new_vel_cmd, int nPTGs, const bool best_is_NOP_cmdvel, const math::TPose2D &rel_cur_pose_wrt_last_vel_cmd_NOP, const math::TPose2D &rel_pose_PTG_origin_wrt_sense_NOP, const double executionTimeValue, const double tim_changeSpeed, const mrpt::system::TTimeStamp &tim_start_iteration)

void	preDestructor ()
	To be called during children destructors to assure thread-safe destruction, and free of shared objects. More...

virtual void	onStartNewNavigation () MRPT_OVERRIDE
	Called whenever a new navigation has been started. More...

void	build_movement_candidate (CParameterizedTrajectoryGenerator ptg, const size_t indexPTG, const std::vector< mrpt::math::TPose2D > &relTargets, const mrpt::math::TPose2D &rel_pose_PTG_origin_wrt_sense, TInfoPerPTG &ipf, TCandidateMovementPTG &holonomicMovement, CLogFileRecord &newLogRec, const bool this_is_PTG_continuation, mrpt::nav::CAbstractHolonomicReactiveMethod holoMethod, const mrpt::system::TTimeStamp tim_start_iteration, const TNavigationParams &navp=TNavigationParams(), const mrpt::math::TPose2D &relPoseVelCmd_NOP=mrpt::poses::CPose2D())

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 ()

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...

Protected Attributes
std::vector< CAbstractHolonomicReactiveMethod * >	m_holonomicMethod
	The holonomic navigation algorithm (one object per PTG, so internal states are maintained) More...

mrpt::utils::CStream *	m_logFile

mrpt::utils::CStream *	m_prev_logfile
	The current log file stream, or NULL if not being used. More...

bool	m_enableKeepLogRecords
	See enableKeepLogRecords. More...

CLogFileRecord	lastLogRecord
	The last log. More...

mrpt::kinematics::CVehicleVelCmdPtr	m_last_vel_cmd
	Last velocity commands. More...

mrpt::synch::CCriticalSectionRecursive	m_critZoneLastLog
	Critical zones. More...

bool	m_enableConsoleOutput
	Enables / disables the console debug output. More...

bool	m_init_done
	Whether loadConfigFile() has been called or not. More...

mrpt::utils::CTicTac	timerForExecutionPeriod

mrpt::utils::CTimeLogger	m_timelogger
	A complete time logger. More...

bool	m_PTGsMustBeReInitialized

bool	m_closing_navigator
	Signal that the destructor has been called, so no more calls are accepted from other threads. More...

mrpt::system::TTimeStamp	m_WS_Obstacles_timestamp

mrpt::maps::CPointCloudFilterBasePtr	m_WS_filter
	Default: none. More...

mrpt::nav::CMultiObjectiveMotionOptimizerBasePtr	m_multiobjopt

std::vector< TInfoPerPTG >	m_infoPerPTG
	Temporary buffers for working with each PTG during a navigationStep() More...

mrpt::system::TTimeStamp	m_infoPerPTG_timestamp

TSentVelCmd	m_lastSentVelCmd

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< TPendingEvent >	m_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...

TNavigationParams *	m_navigationParams
	Current navigation parameters. More...

CRobot2NavInterface &	m_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

Variables for CReactiveNavigationSystem::performNavigationStep
mrpt::utils::CTicTac	totalExecutionTime

mrpt::utils::CTicTac	executionTime

mrpt::utils::CTicTac	tictac

mrpt::math::LowPassFilter_IIR1	meanExecutionTime

mrpt::math::LowPassFilter_IIR1	meanTotalExecutionTime

mrpt::math::LowPassFilter_IIR1	meanExecutionPeriod
	Runtime estimation of execution period of the method. More...

mrpt::math::LowPassFilter_IIR1	tim_changeSpeed_avr

mrpt::math::LowPassFilter_IIR1	timoff_obstacles_avr

mrpt::math::LowPassFilter_IIR1	timoff_curPoseAndSpeed_avr

mrpt::math::LowPassFilter_IIR1	timoff_sendVelCmd_avr

Private Member Functions
virtual void	STEP1_InitPTGs () MRPT_OVERRIDE

bool	implementSenseObstacles (mrpt::system::TTimeStamp &obs_timestamp) MRPT_OVERRIDE
	Return false on any fatal error. More...

void	STEP3_WSpaceToTPSpace (const size_t ptg_idx, std::vector< double > &out_TPObstacles, mrpt::nav::ClearanceDiagram &out_clearance, const mrpt::math::TPose2D &rel_pose_PTG_origin_wrt_sense, const bool eval_clearance) MRPT_OVERRIDE
	Builds TP-Obstacles from Workspace obstacles for the given PTG. More...

virtual void	loggingGetWSObstaclesAndShape (CLogFileRecord &out_log) MRPT_OVERRIDE
	Generates a pointcloud of obstacles, and the robot shape, to be saved in the logging record for the current timestep. More...

Private Attributes
mrpt::maps::CSimplePointsMap	m_WS_Obstacles_unsorted
	The unsorted set of obstacles from the sensors. More...

std::vector< mrpt::maps::CSimplePointsMap >	m_WS_Obstacles_inlevels
	One point cloud per 2.5D robot-shape-slice, coordinates relative to the robot local frame. More...

TRobotShape	m_robotShape
	The robot 3D shape model. More...

std::vector< TPTGmultilevel >	m_ptgmultilevel
	The set of PTG-transformations to be used: indices are [ptg_index][height_index]. More...

Navigation control API
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

enum mrpt::nav::CAbstractNavigator::TState

inherited

The different states for the navigation system.

Enumerator
IDLE
NAVIGATING
SUSPENDED
NAV_ERROR

Definition at line 120 of file CAbstractNavigator.h.

Constructor & Destructor Documentation

◆ CReactiveNavigationSystem3D()

mrpt::nav::CReactiveNavigationSystem3D::CReactiveNavigationSystem3D	(	CRobot2NavInterface &	react_iterf_impl,
		bool	enableConsoleOutput = `true`,
		bool	enableLogFile = `false`,
		const std::string &	logFileDirectory = `std::string("./reactivenav.logs")`
	)

See docs in ctor of base class.

◆ ~CReactiveNavigationSystem3D()

virtual mrpt::nav::CReactiveNavigationSystem3D::~CReactiveNavigationSystem3D ( )

virtual

Destructor.

Member Function Documentation

◆ build_movement_candidate()

void mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate	(	CParameterizedTrajectoryGenerator *	ptg,
		const size_t	indexPTG,
		const std::vector< mrpt::math::TPose2D > &	relTargets,
		const mrpt::math::TPose2D &	rel_pose_PTG_origin_wrt_sense,
		TInfoPerPTG &	ipf,
		TCandidateMovementPTG &	holonomicMovement,
		CLogFileRecord &	newLogRec,
		const bool	this_is_PTG_continuation,
		mrpt::nav::CAbstractHolonomicReactiveMethod *	holoMethod,
		const mrpt::system::TTimeStamp	tim_start_iteration,
		const TNavigationParams &	navp = `TNavigationParams()`,
		const mrpt::math::TPose2D &	relPoseVelCmd_NOP = `mrpt::poses::CPose2D()`
	)

protectedinherited

◆ calc_move_candidate_scores()

void mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores	(	TCandidateMovementPTG &	holonomicMovement,
		const std::vector< double > &	in_TPObstacles,
		const mrpt::nav::ClearanceDiagram &	in_clearance,
		const std::vector< mrpt::math::TPose2D > &	WS_Targets,
		const std::vector< PTGTarget > &	TP_Targets,
		CLogFileRecord::TInfoPerPTG &	log,
		CLogFileRecord &	newLogRec,
		const bool	this_is_PTG_continuation,
		const mrpt::math::TPose2D &	relPoseVelCmd_NOP,
		const unsigned int	ptg_idx4weights,
		const mrpt::system::TTimeStamp	tim_start_iteration
	)

protectedinherited

Scores holonomicMovement.

◆ cancel()

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

virtualinherited

Cancel current navegation.

Reimplemented from mrpt::nav::CAbstractNavigator.

◆ changeCurrentRobotSpeedLimits()

mrpt::kinematics::CVehicleVelCmd::TVelCmdParams& mrpt::nav::CAbstractPTGBasedReactive::changeCurrentRobotSpeedLimits ( )

inlineinherited

Changes the current, global (honored for all PTGs) robot speed limits, via returning a reference to a structure that holds those limits.

Definition at line 202 of file CAbstractPTGBasedReactive.h.

References MRPT_OVERRIDE, and mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::robot_absolute_speed_limits.

◆ changeRobotShape()

void mrpt::nav::CReactiveNavigationSystem3D::changeRobotShape ( TRobotShape robotShape )

Change the robot shape, which is taken into account for collision grid building.

◆ 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::CReactiveNavigationSystem3D::checkCollisionWithLatestObstacles ( const mrpt::math::TPose2D & relative_robot_pose ) const

virtual

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 from mrpt::nav::CAbstractNavigator.

◆ checkHasReachedTarget()

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

protectedvirtualinherited

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.

◆ enableKeepLogRecords()

void mrpt::nav::CAbstractPTGBasedReactive::enableKeepLogRecords ( bool enable = true )

inlineinherited

Enables keeping an internal registry of navigation logs that can be queried with getLastLogRecord()

Definition at line 125 of file CAbstractPTGBasedReactive.h.

◆ enableLogFile()

void mrpt::nav::CAbstractPTGBasedReactive::enableLogFile ( bool enable )

inherited

Enables/disables saving log files.

◆ enableTimeLog()

void mrpt::nav::CAbstractPTGBasedReactive::enableTimeLog ( bool enable = true )

inlineinherited

Enables/disables the detailed time logger (default:disabled upon construction) When enabled, a report will be dumped to std::cout upon destruction.

See also: getTimeLogger

Definition at line 185 of file CAbstractPTGBasedReactive.h.

◆ generate_vel_cmd()

virtual double mrpt::nav::CAbstractPTGBasedReactive::generate_vel_cmd	(	const TCandidateMovementPTG &	in_movement,
		mrpt::kinematics::CVehicleVelCmdPtr &	new_vel_cmd
	)

protectedvirtualinherited

Return the [0,1] velocity scale of raw PTG cmd_vel.

◆ getCurrentRobotSpeedLimits()

const mrpt::kinematics::CVehicleVelCmd::TVelCmdParams& mrpt::nav::CAbstractPTGBasedReactive::getCurrentRobotSpeedLimits ( ) const

inlineinherited

Get the current, global (honored for all PTGs) robot speed limits.

Definition at line 197 of file CAbstractPTGBasedReactive.h.

References mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::robot_absolute_speed_limits.

◆ 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.

◆ getLastLogRecord()

void mrpt::nav::CAbstractPTGBasedReactive::getLastLogRecord ( CLogFileRecord & o )

inherited

Provides a copy of the last log record with information about execution.

Parameters

o	An object where the log will be stored into.

Note: Log records are not prepared unless either "enableLogFile" is enabled in the constructor or "enableLogFile()" has been called.

◆ getLogFileDirectory()

std::string mrpt::nav::CAbstractPTGBasedReactive::getLogFileDirectory ( ) const

inlineinherited

Definition at line 132 of file CAbstractPTGBasedReactive.h.

◆ getPTG() [1/2]

virtual CParameterizedTrajectoryGenerator* mrpt::nav::CReactiveNavigationSystem3D::getPTG ( size_t i )

inlinevirtual

Gets the i'th PTG.

Implements mrpt::nav::CAbstractPTGBasedReactive.

Definition at line 93 of file nav/reactive/CReactiveNavigationSystem3D.h.

References ASSERT_.

◆ getPTG() [2/2]

virtual const CParameterizedTrajectoryGenerator* mrpt::nav::CReactiveNavigationSystem3D::getPTG ( size_t i ) const

inlinevirtual

Gets the i'th PTG.

Implements mrpt::nav::CAbstractPTGBasedReactive.

Definition at line 97 of file nav/reactive/CReactiveNavigationSystem3D.h.

References ASSERT_, and MRPT_OVERRIDE.

◆ getPTG_count()

virtual size_t mrpt::nav::CReactiveNavigationSystem3D::getPTG_count ( ) const

inlinevirtual

Returns the number of different PTGs that have been setup.

Implements mrpt::nav::CAbstractPTGBasedReactive.

Definition at line 92 of file nav/reactive/CReactiveNavigationSystem3D.h.

References ASSERT_.

◆ getTargetApproachSlowDownDistance()

double mrpt::nav::CAbstractPTGBasedReactive::getTargetApproachSlowDownDistance ( ) const

inherited

Returns this parameter for the first inner holonomic navigator instances [m] (should be the same in all of them?)

◆ getTimeLogger()

const mrpt::utils::CTimeLogger& mrpt::nav::CAbstractPTGBasedReactive::getTimeLogger ( ) const

inlineinherited

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

See also: enableTimeLog

Definition at line 190 of file CAbstractPTGBasedReactive.h.

◆ getWaypointNavStatus() [1/2]

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

virtualinherited

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

inlineinherited

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::CAbstractPTGBasedReactive::impl_waypoint_is_reachable ( const mrpt::math::TPoint2D & wp_local_wrt_robot ) const

protectedvirtualinherited

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.

Implements mrpt::nav::CWaypointsNavigator.

◆ implementSenseObstacles()

bool mrpt::nav::CReactiveNavigationSystem3D::implementSenseObstacles ( mrpt::system::TTimeStamp & obs_timestamp )

privatevirtual

Return false on any fatal error.

Implements mrpt::nav::CAbstractPTGBasedReactive.

◆ initialize()

void mrpt::nav::CAbstractPTGBasedReactive::initialize ( )

virtualinherited

Must be called for loading collision grids, or the first navigation command may last a long time to be executed.

Internally, it just calls STEP1_CollisionGridsBuilder().

Implements mrpt::nav::CAbstractNavigator.

◆ isRelativePointReachable()

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

inherited

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::CReactiveNavigationSystem3D::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::CAbstractPTGBasedReactive.

◆ loggingGetWSObstaclesAndShape()

virtual void mrpt::nav::CReactiveNavigationSystem3D::loggingGetWSObstaclesAndShape ( CLogFileRecord & out_log )

privatevirtual

Generates a pointcloud of obstacles, and the robot shape, to be saved in the logging record for the current timestep.

Implements mrpt::nav::CAbstractPTGBasedReactive.

◆ 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] 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.)

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 )

virtualinherited

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 ( )

virtualinherited

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

Reimplemented from mrpt::nav::CAbstractNavigator.

◆ onStartNewNavigation()

virtual void mrpt::nav::CAbstractPTGBasedReactive::onStartNewNavigation ( )

protectedvirtualinherited

Called whenever a new navigation has been started.

Can be used to reset state variables, etc.

Reimplemented from mrpt::nav::CWaypointsNavigator.

◆ performNavigationStep()

virtual void mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep ( )

protectedvirtualinherited

The main method for the navigator.

Implements mrpt::nav::CAbstractNavigator.

◆ 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()

◆ preDestructor()

void mrpt::nav::CAbstractPTGBasedReactive::preDestructor ( )

protectedinherited

To be called during children destructors to assure thread-safe destruction, and free of shared objects.

◆ 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::CReactiveNavigationSystem3D::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::CAbstractPTGBasedReactive.

◆ 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]

◆ setHolonomicMethod() [1/2]

void mrpt::nav::CAbstractPTGBasedReactive::setHolonomicMethod	(	const std::string &	method,
		const mrpt::utils::CConfigFileBase &	cfgBase
	)

inherited

Selects which one from the set of available holonomic methods will be used into transformed TP-Space, and sets its configuration from a configuration file.

Available methods: class names of those derived from CAbstractHolonomicReactiveMethod

◆ setHolonomicMethod() [2/2]

void mrpt::nav::CAbstractPTGBasedReactive::setHolonomicMethod	(	THolonomicMethod	method,
		const mrpt::utils::CConfigFileBase &	cfgBase
	)

inherited

◆ setLogFileDirectory()

void mrpt::nav::CAbstractPTGBasedReactive::setLogFileDirectory ( const std::string & sDir )

inlineinherited

Changes the prefix for new log files.

Definition at line 131 of file CAbstractPTGBasedReactive.h.

◆ setTargetApproachSlowDownDistance()

void mrpt::nav::CAbstractPTGBasedReactive::setTargetApproachSlowDownDistance ( const double dist )

inherited

Changes this parameter in all inner holonomic navigator instances [m].

◆ STEP1_InitPTGs()

virtual void mrpt::nav::CReactiveNavigationSystem3D::STEP1_InitPTGs ( )

privatevirtual

Implements mrpt::nav::CAbstractPTGBasedReactive.

◆ STEP2_SenseObstacles()

bool mrpt::nav::CAbstractPTGBasedReactive::STEP2_SenseObstacles ( )

protectedinherited

◆ STEP3_WSpaceToTPSpace()

void mrpt::nav::CReactiveNavigationSystem3D::STEP3_WSpaceToTPSpace	(	const size_t	ptg_idx,
		std::vector< double > &	out_TPObstacles,
		mrpt::nav::ClearanceDiagram &	out_clearance,
		const mrpt::math::TPose2D &	rel_pose_PTG_origin_wrt_sense,
		const bool	eval_clearance
	)

privatevirtual

Builds TP-Obstacles from Workspace obstacles for the given PTG.

"out_TPObstacles" is already initialized to the proper length and maximum collision-free distance for each "k" trajectory index. Distances are in "pseudo-meters". They will be normalized automatically to [0,1] upon return.

Implements mrpt::nav::CAbstractPTGBasedReactive.

◆ STEP8_GenerateLogRecord()

void mrpt::nav::CAbstractPTGBasedReactive::STEP8_GenerateLogRecord	(	CLogFileRecord &	newLogRec,
		const std::vector< mrpt::math::TPose2D > &	relTargets,
		int	nSelectedPTG,
		const mrpt::kinematics::CVehicleVelCmdPtr &	new_vel_cmd,
		int	nPTGs,
		const bool	best_is_NOP_cmdvel,
		const math::TPose2D &	rel_cur_pose_wrt_last_vel_cmd_NOP,
		const math::TPose2D &	rel_pose_PTG_origin_wrt_sense_NOP,
		const double	executionTimeValue,
		const double	tim_changeSpeed,
		const mrpt::system::TTimeStamp &	tim_start_iteration
	)

protectedinherited

◆ 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

inlineprotectedinherited

Definition at line 113 of file CWaypointsNavigator.h.

◆ waypoints_navigationStep()

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

protectedvirtualinherited

The waypoints-specific part of navigationStep()

Member Data Documentation

◆ executionTime

mrpt::utils::CTicTac mrpt::nav::CAbstractPTGBasedReactive::executionTime

protectedinherited

Definition at line 230 of file CAbstractPTGBasedReactive.h.

◆ lastLogRecord

CLogFileRecord mrpt::nav::CAbstractPTGBasedReactive::lastLogRecord

protectedinherited

The last log.

Definition at line 216 of file CAbstractPTGBasedReactive.h.

◆ 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_closing_navigator

bool mrpt::nav::CAbstractPTGBasedReactive::m_closing_navigator

protectedinherited

Signal that the destructor has been called, so no more calls are accepted from other threads.

Definition at line 284 of file CAbstractPTGBasedReactive.h.

◆ m_critZoneLastLog

mrpt::synch::CCriticalSectionRecursive mrpt::nav::CAbstractPTGBasedReactive::m_critZoneLastLog

protectedinherited

Critical zones.

Definition at line 219 of file CAbstractPTGBasedReactive.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_enableConsoleOutput

bool mrpt::nav::CAbstractPTGBasedReactive::m_enableConsoleOutput

protectedinherited

Enables / disables the console debug output.

Definition at line 221 of file CAbstractPTGBasedReactive.h.

◆ m_enableKeepLogRecords

bool mrpt::nav::CAbstractPTGBasedReactive::m_enableKeepLogRecords

protectedinherited

See enableKeepLogRecords.

Definition at line 215 of file CAbstractPTGBasedReactive.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_holonomicMethod

std::vector<CAbstractHolonomicReactiveMethod*> mrpt::nav::CAbstractPTGBasedReactive::m_holonomicMethod

protectedinherited

The holonomic navigation algorithm (one object per PTG, so internal states are maintained)

Definition at line 213 of file CAbstractPTGBasedReactive.h.

◆ m_infoPerPTG

std::vector<TInfoPerPTG> mrpt::nav::CAbstractPTGBasedReactive::m_infoPerPTG

protectedinherited

Temporary buffers for working with each PTG during a navigationStep()

Definition at line 299 of file CAbstractPTGBasedReactive.h.

◆ m_infoPerPTG_timestamp

mrpt::system::TTimeStamp mrpt::nav::CAbstractPTGBasedReactive::m_infoPerPTG_timestamp

protectedinherited

Definition at line 300 of file CAbstractPTGBasedReactive.h.

◆ m_init_done

bool mrpt::nav::CAbstractPTGBasedReactive::m_init_done

protectedinherited

Whether loadConfigFile() has been called or not.

Definition at line 222 of file CAbstractPTGBasedReactive.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_last_vel_cmd

mrpt::kinematics::CVehicleVelCmdPtr mrpt::nav::CAbstractPTGBasedReactive::m_last_vel_cmd

protectedinherited

Last velocity commands.

Definition at line 217 of file CAbstractPTGBasedReactive.h.

◆ m_lastSentVelCmd

TSentVelCmd mrpt::nav::CAbstractPTGBasedReactive::m_lastSentVelCmd

protectedinherited

Definition at line 332 of file CAbstractPTGBasedReactive.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_logFile

mrpt::utils::CStream* mrpt::nav::CAbstractPTGBasedReactive::m_logFile

protectedinherited

Definition at line 214 of file CAbstractPTGBasedReactive.h.

◆ m_multiobjopt

mrpt::nav::CMultiObjectiveMotionOptimizerBasePtr mrpt::nav::CAbstractPTGBasedReactive::m_multiobjopt

protectedinherited

Definition at line 289 of file CAbstractPTGBasedReactive.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

protectedinherited

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_prev_logfile

mrpt::utils::CStream * mrpt::nav::CAbstractPTGBasedReactive::m_prev_logfile

protectedinherited

The current log file stream, or NULL if not being used.

Definition at line 214 of file CAbstractPTGBasedReactive.h.

◆ m_ptgmultilevel

std::vector<TPTGmultilevel> mrpt::nav::CReactiveNavigationSystem3D::m_ptgmultilevel

private

The set of PTG-transformations to be used: indices are [ptg_index][height_index].

Definition at line 132 of file nav/reactive/CReactiveNavigationSystem3D.h.

◆ m_PTGsMustBeReInitialized

bool mrpt::nav::CAbstractPTGBasedReactive::m_PTGsMustBeReInitialized

protectedinherited

Definition at line 226 of file CAbstractPTGBasedReactive.h.

◆ m_robot

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

protectedinherited

The navigator-robot interface.

Definition at line 228 of file CAbstractNavigator.h.

◆ m_robotShape

TRobotShape mrpt::nav::CReactiveNavigationSystem3D::m_robotShape

private

The robot 3D shape model.

Definition at line 129 of file nav/reactive/CReactiveNavigationSystem3D.h.

◆ m_timelogger

mrpt::utils::CTimeLogger mrpt::nav::CAbstractPTGBasedReactive::m_timelogger

protectedinherited

A complete time logger.

See also: enableTimeLog()

Definition at line 225 of file CAbstractPTGBasedReactive.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_waypoint_nav_status

TWaypointStatusSequence mrpt::nav::CWaypointsNavigator::m_waypoint_nav_status

protectedinherited

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

Definition at line 100 of file CWaypointsNavigator.h.

◆ m_WS_filter

mrpt::maps::CPointCloudFilterBasePtr mrpt::nav::CAbstractPTGBasedReactive::m_WS_filter

protectedinherited

Default: none.

Definition at line 287 of file CAbstractPTGBasedReactive.h.

◆ m_WS_Obstacles_inlevels

std::vector<mrpt::maps::CSimplePointsMap> mrpt::nav::CReactiveNavigationSystem3D::m_WS_Obstacles_inlevels

private

One point cloud per 2.5D robot-shape-slice, coordinates relative to the robot local frame.

Definition at line 125 of file nav/reactive/CReactiveNavigationSystem3D.h.

◆ m_WS_Obstacles_timestamp

mrpt::system::TTimeStamp mrpt::nav::CAbstractPTGBasedReactive::m_WS_Obstacles_timestamp

protectedinherited

Definition at line 286 of file CAbstractPTGBasedReactive.h.

◆ m_WS_Obstacles_unsorted

mrpt::maps::CSimplePointsMap mrpt::nav::CReactiveNavigationSystem3D::m_WS_Obstacles_unsorted

private

The unsorted set of obstacles from the sensors.

Definition at line 124 of file nav/reactive/CReactiveNavigationSystem3D.h.

◆ meanExecutionPeriod

mrpt::math::LowPassFilter_IIR1 mrpt::nav::CAbstractPTGBasedReactive::meanExecutionPeriod

protectedinherited

Runtime estimation of execution period of the method.

Definition at line 233 of file CAbstractPTGBasedReactive.h.

◆ meanExecutionTime

mrpt::math::LowPassFilter_IIR1 mrpt::nav::CAbstractPTGBasedReactive::meanExecutionTime

protectedinherited

Definition at line 231 of file CAbstractPTGBasedReactive.h.

◆ meanTotalExecutionTime

mrpt::math::LowPassFilter_IIR1 mrpt::nav::CAbstractPTGBasedReactive::meanTotalExecutionTime

protectedinherited

Definition at line 232 of file CAbstractPTGBasedReactive.h.

◆ params_abstract_navigator

TAbstractNavigatorParams mrpt::nav::CAbstractNavigator::params_abstract_navigator

inherited

Definition at line 155 of file CAbstractNavigator.h.

◆ params_abstract_ptg_navigator

TAbstractPTGNavigatorParams mrpt::nav::CAbstractPTGBasedReactive::params_abstract_ptg_navigator

inherited

Definition at line 175 of file CAbstractPTGBasedReactive.h.

◆ params_waypoints_navigator

TWaypointsNavigatorParams mrpt::nav::CWaypointsNavigator::params_waypoints_navigator

inherited

Definition at line 94 of file CWaypointsNavigator.h.

◆ tictac

mrpt::utils::CTicTac mrpt::nav::CAbstractPTGBasedReactive::tictac

protectedinherited

Definition at line 230 of file CAbstractPTGBasedReactive.h.

◆ tim_changeSpeed_avr

mrpt::math::LowPassFilter_IIR1 mrpt::nav::CAbstractPTGBasedReactive::tim_changeSpeed_avr

protectedinherited

Definition at line 234 of file CAbstractPTGBasedReactive.h.

◆ timerForExecutionPeriod

mrpt::utils::CTicTac mrpt::nav::CAbstractPTGBasedReactive::timerForExecutionPeriod

protectedinherited

Definition at line 223 of file CAbstractPTGBasedReactive.h.

◆ timoff_curPoseAndSpeed_avr

mrpt::math::LowPassFilter_IIR1 mrpt::nav::CAbstractPTGBasedReactive::timoff_curPoseAndSpeed_avr

protectedinherited

Definition at line 234 of file CAbstractPTGBasedReactive.h.

◆ timoff_obstacles_avr

mrpt::math::LowPassFilter_IIR1 mrpt::nav::CAbstractPTGBasedReactive::timoff_obstacles_avr

protectedinherited

Definition at line 234 of file CAbstractPTGBasedReactive.h.

◆ timoff_sendVelCmd_avr

mrpt::math::LowPassFilter_IIR1 mrpt::nav::CAbstractPTGBasedReactive::timoff_sendVelCmd_avr

protectedinherited

Definition at line 234 of file CAbstractPTGBasedReactive.h.

◆ totalExecutionTime

mrpt::utils::CTicTac mrpt::nav::CAbstractPTGBasedReactive::totalExecutionTime

protectedinherited

Definition at line 230 of file CAbstractPTGBasedReactive.h.

Detailed Description

Classes

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Navigation control API

Member Enumeration Documentation

◆ TState

Constructor & Destructor Documentation

◆ CReactiveNavigationSystem3D()

◆ ~CReactiveNavigationSystem3D()

Member Function Documentation

◆ build_movement_candidate()

◆ calc_move_candidate_scores()

◆ cancel()

◆ changeCurrentRobotSpeedLimits()

◆ changeRobotShape()

◆ changeSpeeds()

◆ changeSpeedsNOP()

◆ checkCollisionWithLatestObstacles()

◆ checkHasReachedTarget()

◆ dispatchPendingNavEvents()

◆ doEmergencyStop()

◆ enableKeepLogRecords()

◆ enableLogFile()

◆ enableTimeLog()

◆ generate_vel_cmd()

◆ getCurrentRobotSpeedLimits()

◆ getCurrentState()

◆ getDelaysTimeLogger()

◆ getFrameTF()

◆ getLastLogRecord()

◆ getLogFileDirectory()

◆ getPTG() [1/2]

◆ getPTG() [2/2]

◆ getPTG_count()

◆ getTargetApproachSlowDownDistance()

◆ getTimeLogger()

◆ getWaypointNavStatus() [1/2]

◆ getWaypointNavStatus() [2/2]

◆ impl_waypoint_is_reachable()

◆ implementSenseObstacles()

◆ initialize()

◆ isRelativePointReachable()

◆ loadConfigFile()

◆ loggingGetWSObstaclesAndShape()

◆ navigate()

◆ navigateWaypoints()

◆ navigationStep()

◆ onStartNewNavigation()

◆ performNavigationStep()

◆ performNavigationStepNavigating()

◆ preDestructor()

◆ resetNavError()

◆ resume()

◆ saveConfigFile()

◆ setFrameTF()

◆ setHolonomicMethod() [1/2]

◆ setHolonomicMethod() [2/2]

◆ setLogFileDirectory()

◆ setTargetApproachSlowDownDistance()

◆ STEP1_InitPTGs()

◆ STEP2_SenseObstacles()

◆ STEP3_WSpaceToTPSpace()

◆ STEP8_GenerateLogRecord()

◆ stop()

◆ suspend()

◆ updateCurrentPoseAndSpeeds()

◆ waypoints_isAligning()

◆ waypoints_navigationStep()

Member Data Documentation

◆ executionTime

◆ lastLogRecord

◆ m_badNavAlarm_lastMinDistTime

◆ m_badNavAlarm_minDistTarget

◆ m_closing_navigator

◆ m_critZoneLastLog