CAbstractHolonomicReactiveMethod.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2014, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
#ifndef CAbstractHolonomicReactiveMethod_H
#define CAbstractHolonomicReactiveMethod_H

#include <mrpt/math/lightweight_geom_data.h>
#include <mrpt/utils/TEnumType.h>
#include <mrpt/utils/CConfigFileBase.h>

#include "CHolonomicLogFileRecord.h"

namespace mrpt
{
        namespace reactivenav
        {
                using namespace mrpt::utils;
                using namespace mrpt::poses;

        /**  The implemented reactive navigation methods. This enum works with mrpt::utils::TEnumType
        *  \ingroup mrpt_reactivenav_grp
        */
        enum THolonomicMethod
        {
                hmVIRTUAL_FORCE_FIELDS = 0,
                hmSEARCH_FOR_BEST_GAP = 1
        };

        /** A base class for holonomic reactive navigation methods.
         *  \sa CHolonomicVFF,CHolonomicND, CReactiveNavigationSystem
         *  \ingroup mrpt_reactivenav_grp
         */
        class REACTIVENAV_IMPEXP CAbstractHolonomicReactiveMethod
        {
         public:
                 /** This method performs the holonomic navigation itself.
                   *  \param target [IN] The relative location (x,y) of target point.
                   *  \param 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, but normalized in the range [0,1]
                   *  \param maxRobotSpeed [IN] Maximum robot speed, in "pseudometers/sec". See note below.
                   *  \param desiredDirection [OUT] The desired motion direction, in the range [-PI,PI]
                   *  \param desiredSpeed [OUT] The desired motion speed in that direction, in "pseudometers"/sec. (See note below)
                   *  \param 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 <b>must free memory</b> using "delete logRecord" after using it.
                   *
                   *  NOTE: With "pseudometers" we refer to the distance unit in TP-Space, thus:
                   *     <br><center><code>pseudometer<sup>2</sup>= meter<sup>2</sup> + (rad · r)<sup>2</sup></code><br></center>
                   */
                 virtual void  navigate(const mrpt::math::TPoint2D &target,
                                                                const std::vector<float>        &obstacles,
                                                                double                  maxRobotSpeed,
                                                                double                  &desiredDirection,
                                                                double                  &desiredSpeed,
                                                                CHolonomicLogFileRecordPtr &logRecord) = 0;

        /** Virtual destructor
          */
        virtual ~CAbstractHolonomicReactiveMethod() { };

                 /**  Initialize the parameters of the navigator.
                   */
                 virtual void  initialize( const mrpt::utils::CConfigFileBase &INI_FILE  ) = 0;

        };
  }
        // Specializations MUST occur at the same namespace:
        namespace utils
        {
                template <>
                struct TEnumTypeFiller<reactivenav::THolonomicMethod>
                {
                        typedef reactivenav::THolonomicMethod enum_t;
                        static void fill(bimap<enum_t,std::string>  &m_map)
                        {
                                m_map.insert(reactivenav::hmVIRTUAL_FORCE_FIELDS, "hmVIRTUAL_FORCE_FIELDS");
                                m_map.insert(reactivenav::hmSEARCH_FOR_BEST_GAP, "hmSEARCH_FOR_BEST_GAP");
                        }
                };
        } // End of namespace
}


#endif