YARP
Yet Another Robot Platform
INavigation2D.h
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1/*
2 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
3 * SPDX-License-Identifier: BSD-3-Clause
4 */
5
6#ifndef YARP_DEV_INAVIGATION2D_H
7#define YARP_DEV_INAVIGATION2D_H
8
9#include <yarp/os/Vocab.h>
10#include <yarp/dev/api.h>
11#include <yarp/dev/IMap2D.h>
14#include <yarp/dev/Map2DPath.h>
15#include <yarp/dev/Map2DArea.h>
16#include <yarp/dev/MapGrid2D.h>
17#include <vector>
18#include <limits>
19#include <string>
20
21namespace yarp::dev::Nav2D {
22class INavigation2DVelocityActions;
23class INavigation2DTargetActions;
24class INavigation2DControlActions;
25class INavigation2DExtraActions;
26class INavigation2D;
27
29{
40};
41
43{
44 global_map = yarp::os::createVocab32('g', 'l', 'o', 'b'),
45 local_map = yarp::os::createVocab32('l', 'o', 'c', 'a')
46};
47
49{
51 local_trajectory = yarp::os::createVocab32('l', 'o', 'c', 'a')
52};
53
54namespace INavigation2DHelpers
55{
56 //converts a string to a NavigationStatusEnum.
57 //navigation_status_error is returned if the string is not recognized.
59
60 //converts a NavigationStatusEnum to a string.
62} // namespace INavigation2DHelpers
63} // namespace yarp::dev::Nav2D
64
66{
67public:
72
81 virtual bool applyVelocityCommand(double x_vel, double y_vel, double theta_vel, double timeout = 0.1) = 0;
82
90 virtual bool getLastVelocityCommand(double& x_vel, double& y_vel, double& theta_vel) = 0;
91};
92
94{
95public:
100
107
114
121 virtual bool gotoTargetByRelativeLocation(double x, double y) = 0;
122
130 virtual bool gotoTargetByRelativeLocation(double x, double y, double theta) = 0;
131
139 virtual bool getRelativeLocationOfCurrentTarget(double& x, double& y, double& theta) = 0;
140};
141
143{
144public:
149
154 virtual bool getNavigationStatus(NavigationStatusEnum& status) = 0;
155
160 virtual bool stopNavigation() = 0;
161
167 virtual bool suspendNavigation(const double time_s= std::numeric_limits<double>::infinity()) = 0;
168
173 virtual bool resumeNavigation() = 0;
174
181
189
196
204};
205
207{
208public:
214 virtual bool gotoTargetByLocationName(std::string location_or_area_name) = 0;
215
221 virtual bool checkInsideArea(std::string area_name) = 0;
222
228 virtual bool checkInsideArea(Nav2D::Map2DArea area) = 0;
229
237 virtual bool checkNearToLocation(Nav2D::Map2DLocation loc, double linear_tolerance, double angular_tolerance = std::numeric_limits<double>::infinity()) = 0;
238
246 virtual bool checkNearToLocation(std::string location_name, double linear_tolerance, double angular_tolerance = std::numeric_limits<double>::infinity()) = 0;
247
253 virtual bool getNameOfCurrentTarget(std::string& location_name) = 0;
254
260 virtual bool storeCurrentPosition(std::string location_name) = 0;
261
266};
267
279{
280public:
284 virtual ~INavigation2D() {}
285};
286
293
294#endif // YARP_DEV_INAVIGATION2D_H
constexpr yarp::conf::vocab32_t VOCAB_NAV_RESUME
constexpr yarp::conf::vocab32_t VOCAB_NAV_GET_CURRENT_WAYPOINT
constexpr yarp::conf::vocab32_t VOCAB_NAV_GET_NAVIGATION_WAYPOINTS
constexpr yarp::conf::vocab32_t VOCAB_NAV_GET_NAV_MAP
constexpr yarp::conf::vocab32_t VOCAB_NAV_STOP
constexpr yarp::conf::vocab32_t VOCAB_NAV_SUSPEND
contains the definition of a Map2DArea type
contains the definition of a Map2DLocation type
contains the definition of a Map2DPath type
contains the definition of a map type
ILocalization2D interface.
IMap2D Interface.
Definition: IMap2D.h:29
virtual bool recomputeCurrentNavigationPath()=0
Forces the navigation system to recompute the path from the current robot position to the current goa...
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.
virtual bool getCurrentNavigationWaypoint(yarp::dev::Nav2D::Map2DLocation &curr_waypoint)=0
Returns the current waypoint pursued by the navigation algorithm.
virtual bool resumeNavigation()=0
Resume a previously suspended navigation task.
virtual bool getNavigationStatus(NavigationStatusEnum &status)=0
Gets the current status of the navigation task.
virtual bool stopNavigation()=0
Terminates the current navigation task.
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.
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.
virtual bool checkInsideArea(Nav2D::Map2DArea area)=0
Check if the robot is currently inside the specified area.
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.
virtual bool gotoTargetByLocationName(std::string location_or_area_name)=0
Ask the robot to reach a previously stored location/area.
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.
virtual bool checkInsideArea(std::string area_name)=0
Check if the robot is currently inside the specified area.
virtual bool getNameOfCurrentTarget(std::string &location_name)=0
Gets the name of the current target, if available (set by gotoTargetByLocationName)
virtual bool storeCurrentPosition(std::string location_name)=0
Store the current location of the robot.
virtual bool gotoTargetByRelativeLocation(double x, double y)=0
Ask the robot to reach a position defined in the robot reference frame.
virtual bool gotoTargetByAbsoluteLocation(yarp::dev::Nav2D::Map2DLocation loc)=0
Ask the robot to reach a position defined in the world reference frame.
virtual bool getAbsoluteLocationOfCurrentTarget(yarp::dev::Nav2D::Map2DLocation &loc)=0
Gets the last navigation target in the world reference frame.
virtual bool gotoTargetByRelativeLocation(double x, double y, double theta)=0
Ask the robot to reach a position defined in the robot reference frame.
virtual bool getRelativeLocationOfCurrentTarget(double &x, double &y, double &theta)=0
Gets the last navigation target in the robot reference frame.
virtual bool applyVelocityCommand(double x_vel, double y_vel, double theta_vel, double timeout=0.1)=0
Apply a velocity command.
virtual bool getLastVelocityCommand(double &x_vel, double &y_vel, double &theta_vel)=0
Returns the last applied velocity command.
An interface to control the navigation of a mobile robot in a 2D environment.
virtual ~INavigation2D()
Destructor.
std::int32_t vocab32_t
Definition: numeric.h:78
std::string statusToString(NavigationStatusEnum status)
NavigationStatusEnum stringToStatus(std::string s)
@ navigation_status_preparing_before_move
Definition: INavigation2D.h:31
@ navigation_status_goal_reached
Definition: INavigation2D.h:34
@ navigation_status_waiting_obstacle
Definition: INavigation2D.h:33
constexpr yarp::conf::vocab32_t createVocab32(char a, char b=0, char c=0, char d=0)
Create a vocab from chars.
Definition: Vocab.h:27
The main, catch-all namespace for YARP.
Definition: dirs.h:16
#define YARP_dev_API
Definition: api.h:18