9#ifndef CReactiveNavigationSystem_H
10#define CReactiveNavigationSystem_H
52 bool enableConsoleOutput =
true,
53 bool enableLogFile =
false);
95 std::vector<CParameterizedTrajectoryGenerator*>
PTGs;
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans.
A wrapper of a TPolygon2D class, implementing CSerializable.
Base class for reactive navigator systems based on TP-Space, with an arbitrary holonomic reactive met...
A class for storing, saving and loading a reactive navigation log record for the CReactiveNavigationS...
This is the base class for any user-defined PTG.
The pure virtual class that a user of CAbstractReactiveNavigationSystem-derived classes must implemen...
See base class CAbstractPTGBasedReactive for a description and instructions of use.
virtual void loggingGetWSObstaclesAndShape(CLogFileRecord &out_log)
Generates a pointcloud of obstacles, and the robot shape, to be saved in the logging record for the c...
CReactiveNavigationSystem(CReactiveInterfaceImplementation &react_iterf_impl, bool enableConsoleOutput=true, bool enableLogFile=false)
See docs in ctor of base class.
virtual void STEP3_WSpaceToTPSpace(const size_t ptg_idx, std::vector< float > &out_TPObstacles)
Builds TP-Obstacles from Workspace obstacles for the given PTG.
void loadConfigFile(const mrpt::utils::CConfigFileBase &ini)
Reload the configuration from a file.
std::vector< CParameterizedTrajectoryGenerator * > PTGs
The set of transformations to be used:
virtual ~CReactiveNavigationSystem()
Destructor.
mrpt::maps::CSimplePointsMap m_WS_Obstacles
The obstacle points, as seen from the local robot frame.
void changeRobotShape(const math::CPolygon &shape)
Change the robot shape, which is taken into account for collision grid building.
virtual void STEP1_CollisionGridsBuilder()
virtual CParameterizedTrajectoryGenerator * getPTG(size_t i)
Gets the i'th PTG.
virtual size_t getPTG_count() const
Returns the number of different PTGs that have been setup.
virtual bool STEP2_SenseObstacles()
Return false on any fatal error.
void loadConfigFile(const mrpt::utils::CConfigFileBase &ini, const mrpt::utils::CConfigFileBase &robotIni)
Reload the configuration from a file.
math::CPolygon m_robotShape
The robot 2D shape model.
This class allows loading and storing values and vectors of different types from a configuration text...
#define MRPT_MAKE_ALIGNED_OPERATOR_NEW
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.