The pure virtual class that a user of CAbstractReactiveNavigationSystem-derived classes must implement in order to allow the navigator sense the world and send motion commands to the robot.
The user must define a new class derived from CReactiveInterfaceImplementation and reimplement all pure virtual and the desired virtual methods according to the documentation in this class.
Definition at line 30 of file CAbstractReactiveNavigationSystem.h.
#include <mrpt/nav/reactive/CAbstractReactiveNavigationSystem.h>
Public Member Functions | |
virtual bool | getCurrentPoseAndSpeeds (mrpt::poses::CPose2D &curPose, float &curV, float &curW)=0 |
Get the current pose and speeds of the robot. | |
virtual bool | changeSpeeds (float v, float w)=0 |
Change the instantaneous speeds of robot. | |
virtual bool | stop () |
Stop the robot right now. | |
virtual bool | startWatchdog (float T_ms) |
Start the watchdog timer of the robot platform, if any. | |
virtual bool | stopWatchdog () |
Stop the watchdog timer. | |
virtual bool | senseObstacles (mrpt::maps::CSimplePointsMap &obstacles)=0 |
Return the current set of obstacle points, as seen from the local coordinate frame of the robot. | |
virtual void | sendNavigationStartEvent () |
virtual void | sendNavigationEndEvent () |
virtual void | sendNavigationEndDueToErrorEvent () |
virtual void | sendWaySeemsBlockedEvent () |
virtual void | notifyHeadingDirection (const double heading_dir_angle) |
|
pure virtual |
Change the instantaneous speeds of robot.
v | Linear speed, in meters per second. |
w | Angular speed, in radians per second. |
|
pure virtual |
Get the current pose and speeds of the robot.
curPose | Current robot pose. |
curV | Current linear speed, in meters per second. |
curW | Current angular speed, in radians per second. |
|
inlinevirtual |
Definition at line 78 of file CAbstractReactiveNavigationSystem.h.
References MRPT_UNUSED_PARAM.
|
inlinevirtual |
Definition at line 76 of file CAbstractReactiveNavigationSystem.h.
|
inlinevirtual |
Definition at line 75 of file CAbstractReactiveNavigationSystem.h.
|
inlinevirtual |
Definition at line 74 of file CAbstractReactiveNavigationSystem.h.
|
inlinevirtual |
Definition at line 77 of file CAbstractReactiveNavigationSystem.h.
|
pure virtual |
Return the current set of obstacle points, as seen from the local coordinate frame of the robot.
|
inlinevirtual |
Start the watchdog timer of the robot platform, if any.
T_ms | Period, in ms. |
Definition at line 59 of file CAbstractReactiveNavigationSystem.h.
References MRPT_UNUSED_PARAM.
|
inlinevirtual |
Stop the robot right now.
Definition at line 51 of file CAbstractReactiveNavigationSystem.h.
|
inlinevirtual |
Stop the watchdog timer.
Definition at line 67 of file CAbstractReactiveNavigationSystem.h.
Page generated by Doxygen 1.9.6 for MRPT 1.4.0 SVN: at Fri Jan 20 00:45:34 UTC 2023 |