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mrpt::nav::CReactiveInterfaceImplementation Class Referenceabstract

Detailed Description

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.

See also
CReactiveNavigationSystem, CAbstractReactiveNavigationSystem

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. More...
 
virtual bool changeSpeeds (float v, float w)=0
 Change the instantaneous speeds of robot. More...
 
virtual bool stop ()
 Stop the robot right now. More...
 
virtual bool startWatchdog (float T_ms)
 Start the watchdog timer of the robot platform, if any. More...
 
virtual bool stopWatchdog ()
 Stop the watchdog timer. More...
 
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. More...
 
virtual void sendNavigationStartEvent ()
 
virtual void sendNavigationEndEvent ()
 
virtual void sendNavigationEndDueToErrorEvent ()
 
virtual void sendWaySeemsBlockedEvent ()
 
virtual void notifyHeadingDirection (const double heading_dir_angle)
 

Member Function Documentation

◆ changeSpeeds()

virtual bool mrpt::nav::CReactiveInterfaceImplementation::changeSpeeds ( float  v,
float  w 
)
pure virtual

Change the instantaneous speeds of robot.

Parameters
vLinear speed, in meters per second.
wAngular speed, in radians per second.
Returns
false on any error.

◆ getCurrentPoseAndSpeeds()

virtual bool mrpt::nav::CReactiveInterfaceImplementation::getCurrentPoseAndSpeeds ( mrpt::poses::CPose2D curPose,
float &  curV,
float &  curW 
)
pure virtual

Get the current pose and speeds of the robot.

Parameters
curPoseCurrent robot pose.
curVCurrent linear speed, in meters per second.
curWCurrent angular speed, in radians per second.
Returns
false on any error.

◆ notifyHeadingDirection()

virtual void mrpt::nav::CReactiveInterfaceImplementation::notifyHeadingDirection ( const double  heading_dir_angle)
inlinevirtual

Definition at line 78 of file CAbstractReactiveNavigationSystem.h.

References MRPT_UNUSED_PARAM.

◆ sendNavigationEndDueToErrorEvent()

virtual void mrpt::nav::CReactiveInterfaceImplementation::sendNavigationEndDueToErrorEvent ( )
inlinevirtual

Definition at line 76 of file CAbstractReactiveNavigationSystem.h.

◆ sendNavigationEndEvent()

virtual void mrpt::nav::CReactiveInterfaceImplementation::sendNavigationEndEvent ( )
inlinevirtual

Definition at line 75 of file CAbstractReactiveNavigationSystem.h.

◆ sendNavigationStartEvent()

virtual void mrpt::nav::CReactiveInterfaceImplementation::sendNavigationStartEvent ( )
inlinevirtual

Definition at line 74 of file CAbstractReactiveNavigationSystem.h.

◆ sendWaySeemsBlockedEvent()

virtual void mrpt::nav::CReactiveInterfaceImplementation::sendWaySeemsBlockedEvent ( )
inlinevirtual

Definition at line 77 of file CAbstractReactiveNavigationSystem.h.

◆ senseObstacles()

virtual bool mrpt::nav::CReactiveInterfaceImplementation::senseObstacles ( mrpt::maps::CSimplePointsMap obstacles)
pure virtual

Return the current set of obstacle points, as seen from the local coordinate frame of the robot.

Returns
false on any error.

◆ startWatchdog()

virtual bool mrpt::nav::CReactiveInterfaceImplementation::startWatchdog ( float  T_ms)
inlinevirtual

Start the watchdog timer of the robot platform, if any.

Parameters
T_msPeriod, in ms.
Returns
false on any error.

Definition at line 59 of file CAbstractReactiveNavigationSystem.h.

References MRPT_UNUSED_PARAM.

◆ stop()

virtual bool mrpt::nav::CReactiveInterfaceImplementation::stop ( )
inlinevirtual

Stop the robot right now.

Returns
false on any error.

Definition at line 51 of file CAbstractReactiveNavigationSystem.h.

◆ stopWatchdog()

virtual bool mrpt::nav::CReactiveInterfaceImplementation::stopWatchdog ( )
inlinevirtual

Stop the watchdog timer.

Returns
false on any error.

Definition at line 67 of file CAbstractReactiveNavigationSystem.h.




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