An interface to control the navigation of a mobile robot in a 2D environment. More...

#include <yarp/dev/INavigation2D.h>

Inheritance diagram for yarp::dev::Nav2D::INavigation2D:

Public Member Functions
virtual	~INavigation2D ()
	Destructor. More...

virtual bool	gotoTargetByLocationName (std::string location_or_area_name)=0
	Ask the robot to reach a previously stored location/area. More...

virtual bool	checkInsideArea (std::string area_name)=0
	Check if the robot is currently inside the specified area. More...

virtual bool	checkInsideArea (Nav2D::Map2DArea area)=0
	Check if the robot is currently inside the specified area. More...

virtual bool	checkNearToLocation (Nav2D::Map2DLocation loc, double linear_tolerance, double angular_tolerance=std::numeric_limits< double >::infinity())=0
	Check if the robot is currently near to the specified area. More...

virtual bool	checkNearToLocation (std::string location_name, double linear_tolerance, double angular_tolerance=std::numeric_limits< double >::infinity())=0
	Check if the robot is currently near to the specified area. More...

virtual bool	getNameOfCurrentTarget (std::string &location_name)=0
	Gets the name of the current target, if available (set by gotoTargetByLocationName) More...

virtual bool	storeCurrentPosition (std::string location_name)=0
	Store the current location of the robot. More...

virtual bool	storeLocation (std::string location_name, Nav2D::Map2DLocation loc)=0
	Store a location specified by the user in the world reference frame. More...

virtual bool	getLocation (std::string location_name, Nav2D::Map2DLocation &loc)=0
	Retrieves a location previously stored by the user. More...

virtual bool	getArea (std::string area_name, Nav2D::Map2DArea &area)=0
	Retrieves an area previously stored by the user. More...

virtual bool	getLocationsList (std::vector< std::string > &locations)=0
	Get a list of all stored locations. More...

virtual bool	deleteLocation (std::string location_name)=0
	Delete a location. More...

virtual bool	clearAllLocations ()=0
	Delete all stored locations. More...

Public Member Functions inherited from yarp::dev::Nav2D::INavigation2DTargetActions
virtual	~INavigation2DTargetActions ()
	Destructor. More...

virtual bool	gotoTargetByAbsoluteLocation (yarp::dev::Nav2D::Map2DLocation loc)=0
	Ask the robot to reach a position defined in the world reference frame. More...

virtual bool	getAbsoluteLocationOfCurrentTarget (yarp::dev::Nav2D::Map2DLocation &loc)=0
	Gets the last navigation target in the world reference frame. More...

virtual bool	gotoTargetByRelativeLocation (double x, double y)=0
	Ask the robot to reach a position defined in the robot reference frame. More...

virtual bool	gotoTargetByRelativeLocation (double x, double y, double theta)=0
	Ask the robot to reach a position defined in the robot reference frame. More...

virtual bool	getRelativeLocationOfCurrentTarget (double &x, double &y, double &theta)=0
	Gets the last navigation target in the robot reference frame. More...

virtual bool	applyVelocityCommand (double x_vel, double y_vel, double theta_vel, double timeout=0.1)=0
	Apply a velocity command. More...

Public Member Functions inherited from yarp::dev::Nav2D::INavigation2DControlActions
virtual	~INavigation2DControlActions ()
	Destructor. More...

virtual bool	getNavigationStatus (NavigationStatusEnum &status)=0
	Gets the current status of the navigation task. More...

virtual bool	stopNavigation ()=0
	Terminates the current navigation task. More...

virtual bool	suspendNavigation (const double time_s=std::numeric_limits< double >::infinity())=0
	Ask to the robot to suspend the current navigation task for a defined amount of time. More...

virtual bool	resumeNavigation ()=0
	Resume a previously suspended navigation task. More...

virtual bool	recomputeCurrentNavigationPath ()=0
	Forces the navigation system to recompute the path from the current robot position to the current goal. More...

virtual bool	getAllNavigationWaypoints (yarp::dev::Nav2D::TrajectoryTypeEnum trajectory_type, yarp::dev::Nav2D::Map2DPath &waypoints)=0
	Returns the list of waypoints generated by the navigation algorithm. More...

virtual bool	getCurrentNavigationWaypoint (yarp::dev::Nav2D::Map2DLocation &curr_waypoint)=0
	Returns the current waypoint pursued by the navigation algorithm. More...

virtual bool	getCurrentNavigationMap (yarp::dev::Nav2D::NavigationMapTypeEnum map_type, yarp::dev::Nav2D::MapGrid2D &map)=0
	Returns the current navigation map processed by the navigation algorithm. More...

Public Member Functions inherited from yarp::dev::Nav2D::ILocalization2D
virtual	~ILocalization2D ()
	Destructor. More...

virtual bool	startLocalizationService ()=0
	Starts the localization service. More...

virtual bool	stopLocalizationService ()=0
	Stops the localization service. More...

virtual bool	getLocalizationStatus (LocalizationStatusEnum &status)=0
	Gets the current status of the localization task. More...

virtual bool	getEstimatedPoses (std::vector< yarp::dev::Nav2D::Map2DLocation > &poses)=0
	Gets a set of pose estimates computed by the localization algorithm. More...

virtual bool	getCurrentPosition (yarp::dev::Nav2D::Map2DLocation &loc)=0
	Gets the current position of the robot w.r.t world reference frame. More...

virtual bool	getCurrentPosition (yarp::dev::Nav2D::Map2DLocation &loc, yarp::sig::Matrix &cov)=0
	Gets the current position of the robot w.r.t world reference frame, plus the covariance. More...

virtual bool	getEstimatedOdometry (yarp::dev::OdometryData &odom)=0
	Gets the estimated odometry the robot, including its velocity expressed in the world and in the local reference frame. More...

virtual bool	setInitialPose (const yarp::dev::Nav2D::Map2DLocation &loc)=0
	Sets the initial pose for the localization algorithm which estimates the current position of the robot w.r.t world reference frame. More...

virtual bool	setInitialPose (const yarp::dev::Nav2D::Map2DLocation &loc, const yarp::sig::Matrix &cov)=0
	Sets the initial pose for the localization algorithm which estimates the current position of the robot w.r.t world reference frame. More...

Detailed Description

An interface to control the navigation of a mobile robot in a 2D environment.

Definition at line 198 of file INavigation2D.h.

Constructor & Destructor Documentation

◆ ~INavigation2D()

virtual yarp::dev::Nav2D::INavigation2D::~INavigation2D ( )

inlinevirtual

Destructor.

Definition at line 206 of file INavigation2D.h.

Member Function Documentation

◆ checkInsideArea() [1/2]

virtual bool yarp::dev::Nav2D::INavigation2D::checkInsideArea ( Nav2D::Map2DArea area )

pure virtual

Check if the robot is currently inside the specified area.

Parameters

area	the area to be checked

Returns: true/false

Implemented in Navigation2DClient.

◆ checkInsideArea() [2/2]

virtual bool yarp::dev::Nav2D::INavigation2D::checkInsideArea ( std::string area_name )

pure virtual

Check if the robot is currently inside the specified area.

Parameters

area_name the name of an area previously saved

Returns: true/false

Implemented in Navigation2DClient.

◆ checkNearToLocation() [1/2]

virtual bool yarp::dev::Nav2D::INavigation2D::checkNearToLocation	(	Nav2D::Map2DLocation	loc,
		double	linear_tolerance,
		double	angular_tolerance = `std::numeric_limits< double >::infinity()`
	)

pure virtual

Check if the robot is currently near to the specified area.

Parameters

loc	the location to be checked
linear_tolerance	linear tolerance [m]
angular_tolerance	[deg 0-360]

Returns: true/false

Implemented in Navigation2DClient.

◆ checkNearToLocation() [2/2]

virtual bool yarp::dev::Nav2D::INavigation2D::checkNearToLocation	(	std::string	location_name,
		double	linear_tolerance,
		double	angular_tolerance = `std::numeric_limits< double >::infinity()`
	)

pure virtual

Check if the robot is currently near to the specified area.

Parameters

location_name	the name of the location: it will be searched in the server
linear_tolerance	linear tolerance [m]
angular_tolerance	[deg]

Returns: true/false

Implemented in Navigation2DClient.

◆ clearAllLocations()

virtual bool yarp::dev::Nav2D::INavigation2D::clearAllLocations ( )

pure virtual

Delete all stored locations.

Returns: true/false

Implemented in Navigation2DClient.

◆ deleteLocation()

virtual bool yarp::dev::Nav2D::INavigation2D::deleteLocation ( std::string location_name )

pure virtual

Delete a location.

Parameters

location_name the name of the location

Returns: true/false

Implemented in Navigation2DClient.

◆ getArea()

virtual bool yarp::dev::Nav2D::INavigation2D::getArea	(	std::string	area_name,
		Nav2D::Map2DArea &	area
	)

pure virtual

Retrieves an area previously stored by the user.

Parameters

area_name	the name of the area
area	the area on the map

Returns: true/false

Implemented in Navigation2DClient.

◆ getLocation()

virtual bool yarp::dev::Nav2D::INavigation2D::getLocation	(	std::string	location_name,
		Nav2D::Map2DLocation &	loc
	)

pure virtual

Retrieves a location previously stored by the user.

Parameters

location_name	the name of the location
loc	the location on the map

Returns: true/false

Implemented in Navigation2DClient.

◆ getLocationsList()

virtual bool yarp::dev::Nav2D::INavigation2D::getLocationsList ( std::vector< std::string > & locations )

pure virtual

Get a list of all stored locations.

Parameters

the	returned list of locations

Returns: true/false

Implemented in Navigation2DClient.

◆ getNameOfCurrentTarget()

virtual bool yarp::dev::Nav2D::INavigation2D::getNameOfCurrentTarget ( std::string & location_name )

pure virtual

Gets the name of the current target, if available (set by gotoTargetByLocationName)

Parameters

location_name the name of the current target

Returns: true/false

Implemented in Navigation2DClient.

◆ gotoTargetByLocationName()

virtual bool yarp::dev::Nav2D::INavigation2D::gotoTargetByLocationName ( std::string location_or_area_name )

pure virtual

Ask the robot to reach a previously stored location/area.

Parameters

location_name the name of a location/area previously saved

Returns: true/false

Implemented in Navigation2DClient.

◆ storeCurrentPosition()

virtual bool yarp::dev::Nav2D::INavigation2D::storeCurrentPosition ( std::string location_name )

pure virtual

Store the current location of the robot.

Parameters

location_name the name of the location

Returns: true/false

Implemented in Navigation2DClient.

◆ storeLocation()

virtual bool yarp::dev::Nav2D::INavigation2D::storeLocation	(	std::string	location_name,
		Nav2D::Map2DLocation	loc
	)

pure virtual

Store a location specified by the user in the world reference frame.

Parameters

location_name	the name of the location
loc	the location of the robot

Returns: true/false

Implemented in Navigation2DClient.

The documentation for this class was generated from the following file:

src/libYARP_dev/src/yarp/dev/INavigation2D.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ~INavigation2D()

Member Function Documentation

◆ checkInsideArea() [1/2]

◆ checkInsideArea() [2/2]

◆ checkNearToLocation() [1/2]

◆ checkNearToLocation() [2/2]

◆ clearAllLocations()

◆ deleteLocation()

◆ getArea()

◆ getLocation()

◆ getLocationsList()

◆ getNameOfCurrentTarget()

◆ gotoTargetByLocationName()

◆ storeCurrentPosition()

◆ storeLocation()