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9 #ifndef CHolonomicVFF_H
10 #define CHolonomicVFF_H
72 const std::vector<float> &obstacles,
74 double &desiredDirection,
76 CHolonomicLogFileRecordPtr &logRecord );
81 options.loadFromConfigFile(INI_FILE, std::string(
"VFF_CONFIG"));
TOptions options
Parameters of the algorithm (can be set manually or loaded from CHolonomicVFF::initialize or options....
A holonomic reactive navigation method, based on Virtual Force Fields (VFF).
A class for storing extra information about the execution of CHolonomicVFF navigation.
CHolonomicVFF(const mrpt::utils::CConfigFileBase *INI_FILE=NULL)
Initialize the parameters of the navigator, from some configuration file, or default values if set to...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
double TARGET_ATTRACTIVE_FORCE
Dimension-less (may have to be tuned depending on the density of obstacle sampling) (Default: 20)
void saveToConfigFile(mrpt::utils::CConfigFileBase &cfg, const std::string §ion) const MRPT_OVERRIDE
This method saves the options to a ".ini"-like file or memory-stored string list.
A base class for holonomic reactive navigation methods.
#define MRPT_MAKE_ALIGNED_OPERATOR_NEW
This class allows loading and storing values and vectors of different types from a configuration text...
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
void loadFromConfigFile(const mrpt::utils::CConfigFileBase &source, const std::string §ion) MRPT_OVERRIDE
This method load the options from a ".ini"-like file or memory-stored string list.
double TARGET_SLOW_APPROACHING_DISTANCE
For stopping gradually (Default: 0.10)
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
void navigate(const mrpt::math::TPoint2D &target, const std::vector< float > &obstacles, double maxRobotSpeed, double &desiredDirection, double &desiredSpeed, CHolonomicLogFileRecordPtr &logRecord)
This method performs the holonomic navigation itself.
A base class for log records for different holonomic navigation methods.
void initialize(const mrpt::utils::CConfigFileBase &INI_FILE)
Initialize the parameters of the navigator from section "VFF_CONFIG" of a config file.
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
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