9 #ifndef CHolonomicVFF_H
10 #define CHolonomicVFF_H
72 const std::vector<float> &obstacles,
74 double &desiredDirection,
76 CHolonomicLogFileRecordPtr &logRecord );
81 options.loadFromConfigFile(INI_FILE, std::string(
"VFF_CONFIG"));
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
A base class for holonomic reactive navigation methods.
A base class for log records for different holonomic navigation methods.
A holonomic reactive navigation method, based on Virtual Force Fields (VFF).
TOptions options
Parameters of the algorithm (can be set manually or loaded from CHolonomicVFF::initialize or options....
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.
CHolonomicVFF(const mrpt::utils::CConfigFileBase *INI_FILE=NULL)
Initialize the parameters of the navigator, from some configuration file, or default values if set to...
void initialize(const mrpt::utils::CConfigFileBase &INI_FILE)
Initialize the parameters of the navigator from section "VFF_CONFIG" of a config file.
A class for storing extra information about the execution of CHolonomicVFF navigation.
This class allows loading and storing values and vectors of different types from a configuration text...
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
#define MRPT_MAKE_ALIGNED_OPERATOR_NEW
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
void saveToConfigFile(mrpt::utils::CConfigFileBase &cfg, const std::string §ion) const MRPT_OVERRIDE
This method saves the options to a ".ini"-like file or memory-stored string list.
double TARGET_SLOW_APPROACHING_DISTANCE
For stopping gradually (Default: 0.10)
void loadFromConfigFile(const mrpt::utils::CConfigFileBase &source, const std::string §ion) MRPT_OVERRIDE
This method load the options from a ".ini"-like file or memory-stored string list.
double TARGET_ATTRACTIVE_FORCE
Dimension-less (may have to be tuned depending on the density of obstacle sampling) (Default: 20)