A holonomic reactive navigation method, based on Virtual Force Fields (VFF).
These are the optional parameters of the method which can be set by means of a configuration file passed to the constructor or to CHolonomicND::initialize (see also the field CHolonomicVFF::options).
Definition at line 51 of file CHolonomicVFF.h.
#include <mrpt/nav/holonomic/CHolonomicVFF.h>
Classes | |
struct | TOptions |
Algorithm options. More... | |
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 (const mrpt::math::TPoint2D &target, const std::vector< float > &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 from section "VFF_CONFIG" of a config file. | |
Public Attributes | |
TOptions | options |
Parameters of the algorithm (can be set manually or loaded from CHolonomicVFF::initialize or options.loadFromConfigFile(), etc.) | |
mrpt::nav::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.
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inlinevirtual |
Initialize the parameters of the navigator from section "VFF_CONFIG" of a config file.
Implements mrpt::nav::CAbstractHolonomicReactiveMethod.
Definition at line 79 of file CHolonomicVFF.h.
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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 * r)2
Implements mrpt::nav::CAbstractHolonomicReactiveMethod.
TOptions mrpt::nav::CHolonomicVFF::options |
Parameters of the algorithm (can be set manually or loaded from CHolonomicVFF::initialize or options.loadFromConfigFile(), etc.)
Definition at line 95 of file CHolonomicVFF.h.
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