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mrpt::reactivenav::CPRRTNavigator::TOptions Class Referenceabstract

Detailed Description

Definition at line 134 of file CPRRTNavigator.h.

#include <mrpt/reactivenav/CPRRTNavigator.h>

Inheritance diagram for mrpt::reactivenav::CPRRTNavigator::TOptions:
Inheritance graph
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Classes

struct  TPathTrackingOpts
 
struct  TPlannerOpts
 

Public Member Functions

 TOptions ()
 Initial values.
 
void loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
 This method load the options from a ".ini"-like file or memory-stored string list.
 
void dumpToTextStream (CStream &out) const
 This method displays clearly all the contents of the structure in textual form, sending it to a CStream.
 
void loadFromConfigFileName (const std::string &config_file, const std::string &section)
 Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file.
 
virtual void saveToConfigFile (mrpt::utils::CConfigFileBase &source, const std::string &section)
 This method saves the options to a ".ini"-like file or memory-stored string list.
 
void saveToConfigFileName (const std::string &config_file, const std::string &section)
 Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file.
 
void dumpToConsole () const
 This method must display clearly all the contents of the structure in textual form, sending it to a CStream.
 
virtual void dumpToTextStream (CStream &out) const =0
 This method must display clearly all the contents of the structure in textual form, sending it to a CStream.
 

Public Attributes

double absolute_max_v
 Max linear speed (m/s)
 
double absolute_max_w
 Max angular speed (rad/s)
 
double max_accel_v
 Max desired linear speed acceleration (m/s^2)
 
double max_accel_w
 Max desired angular speed acceleration (rad/s^2)
 
double max_age_observations
 Max age (in seconds) for an observation to be considered invalid for navigation purposes.
 
TPolygon2D robot_shape
 The robot shape used when computing collisions; it's loaded from the config file/text as a single 2xN matrix in MATLAB format, first row are Xs, second are Ys, e.g:
 
TPathTrackingOpts pathtrack
 
TPlannerOpts planner
 

Static Protected Member Functions

static void dumpVar_int (CStream &out, const char *varName, int v)
 Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.
 
static void dumpVar_float (CStream &out, const char *varName, float v)
 
static void dumpVar_double (CStream &out, const char *varName, double v)
 
static void dumpVar_bool (CStream &out, const char *varName, bool v)
 
static void dumpVar_string (CStream &out, const char *varName, const std::string &v)
 

Constructor & Destructor Documentation

mrpt::reactivenav::CPRRTNavigator::TOptions::TOptions ( )

Initial values.

Member Function Documentation

void mrpt::utils::CLoadableOptions::dumpToConsole ( ) const
inherited

This method must display clearly all the contents of the structure in textual form, sending it to a CStream.

virtual void mrpt::utils::CLoadableOptions::dumpToTextStream ( CStream &  out) const
pure virtualinherited

This method must display clearly all the contents of the structure in textual form, sending it to a CStream.

Implemented in mrpt::slam::TSetOfMetricMapInitializers, mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions, mrpt::slam::COccupancyGridMap2D::TInsertionOptions, mrpt::vision::TMultiResDescOptions, mrpt::vision::TMultiResDescMatchOptions, mrpt::slam::CLandmarksMap::TLikelihoodOptions, mrpt::slam::CColouredPointsMap::TColourOptions, mrpt::slam::CLandmarksMap::TInsertionOptions, mrpt::slam::CPointsMap::TLikelihoodOptions, mrpt::slam::CBeaconMap::TInsertionOptions, mrpt::slam::CPointsMap::TInsertionOptions, mrpt::slam::CRangeBearingKFSLAM::TOptions, mrpt::slam::CBeaconMap::TLikelihoodOptions, mrpt::slam::CHeightGridMap2D::TInsertionOptions, mrpt::slam::CMultiMetricMapPDF::TPredictionParams, mrpt::slam::CMultiMetricMap::TOptions, mrpt::slam::CRangeBearingKFSLAM2D::TOptions, mrpt::slam::CReflectivityGridMap2D::TInsertionOptions, mrpt::bayes::CParticleFilter::TParticleFilterOptions, mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions, mrpt::slam::CGridMapAligner::TConfigParams, mrpt::slam::CWirelessPowerGridMap2D::TInsertionOptions, mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions, mrpt::slam::CIncrementalMapPartitioner::TOptions, mrpt::slam::CICP::TConfigParams, mrpt::slam::CMetricMapBuilderICP::TConfigParams, and mrpt::slam::TKLDParams.

void mrpt::reactivenav::CPRRTNavigator::TOptions::dumpToTextStream ( CStream &  out) const

This method displays clearly all the contents of the structure in textual form, sending it to a CStream.

static void mrpt::utils::CLoadableOptions::dumpVar_bool ( CStream &  out,
const char *  varName,
bool  v 
)
staticprotectedinherited
static void mrpt::utils::CLoadableOptions::dumpVar_double ( CStream &  out,
const char *  varName,
double  v 
)
staticprotectedinherited
static void mrpt::utils::CLoadableOptions::dumpVar_float ( CStream &  out,
const char *  varName,
float  v 
)
staticprotectedinherited
static void mrpt::utils::CLoadableOptions::dumpVar_int ( CStream &  out,
const char *  varName,
int  v 
)
staticprotectedinherited

Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.

static void mrpt::utils::CLoadableOptions::dumpVar_string ( CStream &  out,
const char *  varName,
const std::string &  v 
)
staticprotectedinherited
void mrpt::reactivenav::CPRRTNavigator::TOptions::loadFromConfigFile ( const mrpt::utils::CConfigFileBase &  source,
const std::string &  section 
)
virtual

This method load the options from a ".ini"-like file or memory-stored string list.

Implements mrpt::utils::CLoadableOptions.

void mrpt::utils::CLoadableOptions::loadFromConfigFileName ( const std::string &  config_file,
const std::string &  section 
)
inherited

Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file.

See Also
loadFromConfigFile
virtual void mrpt::utils::CLoadableOptions::saveToConfigFile ( mrpt::utils::CConfigFileBase &  source,
const std::string &  section 
)
inlinevirtualinherited

This method saves the options to a ".ini"-like file or memory-stored string list.

See Also
loadFromConfigFile, saveToConfigFileName

Reimplemented in mrpt::vision::TMultiResDescOptions, and mrpt::vision::TMultiResDescMatchOptions.

Definition at line 87 of file CLoadableOptions.h.

References THROW_EXCEPTION.

void mrpt::utils::CLoadableOptions::saveToConfigFileName ( const std::string &  config_file,
const std::string &  section 
)
inherited

Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file.

See Also
saveToConfigFile, loadFromConfigFileName

Member Data Documentation

double mrpt::reactivenav::CPRRTNavigator::TOptions::absolute_max_v

Max linear speed (m/s)

Definition at line 149 of file CPRRTNavigator.h.

double mrpt::reactivenav::CPRRTNavigator::TOptions::absolute_max_w

Max angular speed (rad/s)

Definition at line 150 of file CPRRTNavigator.h.

double mrpt::reactivenav::CPRRTNavigator::TOptions::max_accel_v

Max desired linear speed acceleration (m/s^2)

Definition at line 151 of file CPRRTNavigator.h.

double mrpt::reactivenav::CPRRTNavigator::TOptions::max_accel_w

Max desired angular speed acceleration (rad/s^2)

Definition at line 152 of file CPRRTNavigator.h.

double mrpt::reactivenav::CPRRTNavigator::TOptions::max_age_observations

Max age (in seconds) for an observation to be considered invalid for navigation purposes.

Definition at line 154 of file CPRRTNavigator.h.

TPathTrackingOpts mrpt::reactivenav::CPRRTNavigator::TOptions::pathtrack

Definition at line 168 of file CPRRTNavigator.h.

TPlannerOpts mrpt::reactivenav::CPRRTNavigator::TOptions::planner

Definition at line 174 of file CPRRTNavigator.h.

TPolygon2D mrpt::reactivenav::CPRRTNavigator::TOptions::robot_shape

The robot shape used when computing collisions; it's loaded from the config file/text as a single 2xN matrix in MATLAB format, first row are Xs, second are Ys, e.g:

robot_shape = [-0.2 0.2 0.2 -0.2; -0.1 -0.1 0.1 0.1]

Definition at line 162 of file CPRRTNavigator.h.



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