MRPT logo

mrpt::reactivenav::CHolonomicVFF Class Reference

A holonomic reactive navigation method, based on Virtual Force Fields (VFF). More...

#include <mrpt/reactivenav/CHolonomicVFF.h>

Inheritance diagram for mrpt::reactivenav::CHolonomicVFF:

mrpt::reactivenav::CAbstractHolonomicReactiveMethod

List of all members.

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_float &obstacles, float maxRobotSpeed, float &desiredDirection, float &desiredSpeed, CHolonomicLogFileRecordPtr &logRecord)
 This method performs the holonomic navigation itself.
void initialize (const mrpt::utils::CConfigFileBase &INI_FILE)
 Initialize the parameters of the navigator.


Detailed Description

A holonomic reactive navigation method, based on Virtual Force Fields (VFF).

See also:
CAbstractHolonomicReactiveMethod,CReactiveNavigationSystem

Definition at line 59 of file CHolonomicVFF.h.


Constructor & Destructor Documentation

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.


Member Function Documentation

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_float obstacles,
float  maxRobotSpeed,
float &  desiredDirection,
float &  desiredSpeed,
CHolonomicLogFileRecordPtr &  logRecord 
) [virtual]

This method performs the holonomic navigation itself.

Parameters:
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.




Page generated by Doxygen 1.5.9 for MRPT 0.6.5 SVN: at Sun Aug 2 11:41:17 CDT 2009