mrpt::reactivenav::CReactiveInterfaceImplementation Class Reference

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 35 of file CAbstractReactiveNavigationSystem.h.

#include <mrpt/reactivenav/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::slam::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

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

pure virtual

Change the instantaneous speeds of robot.

Parameters

v	Linear speed, in meters per second.
w	Angular speed, in radians per second.

Returns

false on any error.

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

pure virtual

Get the current pose and speeds of the robot.

Parameters

curPose	Current robot pose.
curV	Current linear speed, in meters per second.
curW	Current angular speed, in radians per second.

Returns

false on any error.

virtual void mrpt::reactivenav::CReactiveInterfaceImplementation::notifyHeadingDirection ( const double  heading_dir_angle )

inlinevirtual

Definition at line 83 of file CAbstractReactiveNavigationSystem.h.

References MRPT_UNUSED_PARAM.

virtual void mrpt::reactivenav::CReactiveInterfaceImplementation::sendNavigationEndDueToErrorEvent ( )

inlinevirtual

Definition at line 81 of file CAbstractReactiveNavigationSystem.h.

virtual void mrpt::reactivenav::CReactiveInterfaceImplementation::sendNavigationEndEvent ( )

inlinevirtual

Definition at line 80 of file CAbstractReactiveNavigationSystem.h.

virtual void mrpt::reactivenav::CReactiveInterfaceImplementation::sendNavigationStartEvent ( )

inlinevirtual

Definition at line 79 of file CAbstractReactiveNavigationSystem.h.

virtual void mrpt::reactivenav::CReactiveInterfaceImplementation::sendWaySeemsBlockedEvent ( )

inlinevirtual

Definition at line 82 of file CAbstractReactiveNavigationSystem.h.

virtual bool mrpt::reactivenav::CReactiveInterfaceImplementation::senseObstacles ( mrpt::slam::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.

virtual bool mrpt::reactivenav::CReactiveInterfaceImplementation::startWatchdog ( float  T_ms )

inlinevirtual

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

Parameters

T_ms	Period, in ms.

Returns

false on any error.

Definition at line 64 of file CAbstractReactiveNavigationSystem.h.

References MRPT_UNUSED_PARAM.

virtual bool mrpt::reactivenav::CReactiveInterfaceImplementation::stop ( )

inlinevirtual

Stop the robot right now.

Returns

false on any error.

Definition at line 56 of file CAbstractReactiveNavigationSystem.h.

virtual bool mrpt::reactivenav::CReactiveInterfaceImplementation::stopWatchdog ( )

inlinevirtual

Stop the watchdog timer.

Returns

false on any error.

Definition at line 72 of file CAbstractReactiveNavigationSystem.h.