#include <mpp/interfaces/MVSIM_VehicleInterface.h>

Inheritance diagram for mpp::MVSIM_VehicleInterface:

Public Member Functions
	MVSIM_VehicleInterface ()

void	connect ()

VehicleLocalizationState	get_localization () override

VehicleOdometryState	get_odometry () override

bool	motion_execute (const std::optional< CVehicleVelCmd::Ptr > &immediate, const std::optional< EnqueuedMotionCmd > &next) override

void	stop ([[maybe_unused]] const STOP_TYPE stopType) override

mrpt::obs::CObservation2DRangeScan::Ptr	last_lidar_obs () const override
	Returns a copy of the last lidar observation. More...

Public Member Functions inherited from mpp::VehicleMotionInterface
	VehicleMotionInterface ()

virtual	~VehicleMotionInterface ()

virtual bool	supports_enqeued_motions () const

virtual bool	enqeued_motion_pending () const

virtual bool	enqeued_motion_timed_out () const

virtual std::optional< VehicleOdometryState >	enqued_motion_last_odom_when_triggered () const

virtual void	stop (const STOP_TYPE stopType)=0

virtual void	stop_watchdog ()

virtual void	start_watchdog ([[maybe_unused]] const size_t periodMilliseconds)

virtual double	robot_time () const

virtual void	on_nav_end_due_to_error ()
	Callback if current navigation ended due to some error. More...

virtual void	on_nav_start ()
	Callback upon starting a new waypointsequence navigation. More...

virtual void	on_nav_end ()
	Callback if navigation ended by an accepted trigger or reached the last specified waypoint. More...

virtual void	on_path_seems_blocked ()
	Callback for when NavEngine cannot make progress to get increasingly closer to the final target during a certain period of time. It may indicate that the high-level path the vehicle is trying to follow is no longer valid due to a blocked way. On your user side, you could call NavEngine::cancel() and/or re-compute an alternative path and issue a new set of navigation waypoints or just report the error to the user. More...

virtual void	on_apparent_collision ()
	Callback when the NavEngine predicts a collision with an obstacle and needed to issue a stop command. More...

virtual void	on_waypoint_reached (const size_t waypoint_index, bool reached_skipped)
	Callback upon reaching a waypoint in a waypoint sequeunce. Mostly used for logging. More...

virtual void	on_cannot_get_closer_to_blocked_target ()
	Callback when NavEngine cannot reach a specified target location because there are obstacles at the specified target. More...

Private Member Functions
void	onLidar (const mvsim_msgs::GenericObservation &o)

Private Attributes
mvsim::Client	connection_ {"MVSIM_VehicleInterface"}

std::string	robotName_ = "r1"

std::string	lidarName_ = "laser1"

std::mutex	lastLidarObsMtx_

mrpt::obs::CObservation2DRangeScan::Ptr	lastLidarObs_

Detailed Description

Vehicle adaptor class for the MVSIM simulator.

Motion commands implemented here in motion_execute():

mrpt::nav::CVehicleSimul_DiffDriven: For ackermann-like steering.
mrpt::nav::CVehicleSimul_Holo: For holonomic-like steering.

Note: This file must be implemented in the .h to avoid a direct dependency of this library on mvsim headers. Only if the user project uses this, it must then depend on mvsim.

Constructor & Destructor Documentation

◆ MVSIM_VehicleInterface()

mpp::MVSIM_VehicleInterface::MVSIM_VehicleInterface ( )

inline

Member Function Documentation

◆ connect()

void mpp::MVSIM_VehicleInterface::connect ( )

inline

Connect to the MVSIM server.

◆ get_localization()

VehicleLocalizationState mpp::MVSIM_VehicleInterface::get_localization ( )

inlineoverridevirtual

Provides access to the vehicle localization data.

The implementation should not take too much time to return, so if it might take more than ~10ms to ask the robot for the instantaneous data, it may be good enough to return the latest cached values, updated in a parallel thread.

In case of a hardware/communication error, leave valid=false in the return structure.

Implements mpp::VehicleMotionInterface.

◆ get_odometry()

VehicleOdometryState mpp::MVSIM_VehicleInterface::get_odometry ( )

inlineoverridevirtual

Provides access to the vehicle odometry data.

The implementation should not take too much time to return, so if it might take more than ~10ms to ask the robot for the instantaneous data, it may be good enough to return the latest cached values, updated in a parallel thread.

In case of a hardware/communication error, leave valid=false in the return structure.

Implements mpp::VehicleMotionInterface.

◆ last_lidar_obs()

mrpt::obs::CObservation2DRangeScan::Ptr mpp::MVSIM_VehicleInterface::last_lidar_obs ( ) const

inlineoverridevirtual

Returns a copy of the last lidar observation.

Implements mpp::LidarSource.

◆ motion_execute()

bool mpp::MVSIM_VehicleInterface::motion_execute	(	const std::optional< CVehicleVelCmd::Ptr > &	immediate,
		const std::optional< EnqueuedMotionCmd > &	next
	)

inlineoverridevirtual

Sends a motion command to the vehicle "immediate" and "next" slots.

A vehicle may accept one or more different implementation-specific CVehicleVelCmd classes.

This method resets the watchdog timer started with startWatchdog()

The vehicle should be able to execute a motion primitive ("immediate" slot) and holding a pending one ("next" slot) which will be moved to the immediate slot when a given condition holds, leaving the "next" slot free.

Possible combinations of calls to this method:

1) immediate set, next not set: replaces whatever the vehicle was doing and executes the given immediate command, dropping possible former immediate and next commands.

2) immediate set, next set: replaces both vehicle execution "slots" with the given commands.

3) immediate not set, next set: should be received by a vehicle only while there is an "immediate" motion command under execution, and the "next" slot is free. This stores a new "next" motion command, leaving the currently-executing one untouched. When the "next condition" holds true, the "next" slot will replace the "immediate" slot and "next" will be free again.

4) immediate not set, next not set: This is a "NOP" motion command, which does not change anything but let the vehicle platform know that there is someone in charge checking the path following and the way is obstacles free and safe to keep moving.

Returns: false on any error.

See also: startWatchdog(), supports_enqeued_motions()

Implements mpp::VehicleMotionInterface.

◆ onLidar()

void mpp::MVSIM_VehicleInterface::onLidar ( const mvsim_msgs::GenericObservation & o )

inlineprivate

◆ stop()

void mpp::MVSIM_VehicleInterface::stop ( [[maybe_unused] ] const STOP_TYPE stopType )

inlineoverride

Member Data Documentation

◆ connection_

mvsim::Client mpp::MVSIM_VehicleInterface::connection_ {"MVSIM_VehicleInterface"}

private

◆ lastLidarObs_

mrpt::obs::CObservation2DRangeScan::Ptr mpp::MVSIM_VehicleInterface::lastLidarObs_

private

◆ lastLidarObsMtx_

std::mutex mpp::MVSIM_VehicleInterface::lastLidarObsMtx_

private

◆ lidarName_

std::string mpp::MVSIM_VehicleInterface::lidarName_ = "laser1"

private

◆ robotName_

std::string mpp::MVSIM_VehicleInterface::robotName_ = "r1"

private

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

/home/docs/checkouts/readthedocs.org/user_builds/selfdriving/checkouts/latest/mrpt_path_planning/include/mpp/interfaces/MVSIM_VehicleInterface.h

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MVSIM_VehicleInterface()

Member Function Documentation

◆ connect()

◆ get_localization()

◆ get_odometry()

◆ last_lidar_obs()

◆ motion_execute()

◆ onLidar()

◆ stop()

Member Data Documentation

◆ connection_

◆ lastLidarObs_

◆ lastLidarObsMtx_

◆ lidarName_

◆ robotName_