Orca Robotics

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2006 Alex Brooks, Alexei Makarenko, Tobias Kaupp
00005  *
00006  * This copy of Orca is licensed to you under the terms described in
00007  * the LICENSE file included in this distribution.
00008  *
00009  */
00010 #ifndef VFHALGORITHMCONFIG_H
00011 #define VFHALGORITHMCONFIG_H
00012 
00013 #include <string>
00014 #include <orcaice/context.h>
00015 #include <orca/vehicledescription.h>
00016 
00017 namespace vfh {
00018 
00019 //
00020 // Convenience structure to hold all the vfh_algorithm parameters.
00021 // All units are S.I.
00022 //
00023 class VfhAlgorithmConfig 
00024 {
00025 public:
00026 
00027     VfhAlgorithmConfig();
00028 
00029     // VFH's world is square, with sides of length (cell_size * worldWidthInCells),
00030     double cellSize;
00031     int    gridWidthInCells;
00032     // VFH's polar histogram is split up into sectors
00033     double sectorAngle;
00034     // Radius of the assumed-circular robot
00035     double robotRadius;
00036     // safety_dist depends linearly on speed
00037     double safetyDist0ms;
00038     double safetyDist1ms; 
00039     // Absolute max speed
00040     double maxSpeed;
00041     // Max speed through a narrow opening
00042     double maxSpeedNarrowOpening;
00043     // Max speed through a wide opening
00044     double maxSpeedWideOpening;
00045     double maxAcceleration;
00046     // Max turnrate is linearly related to speed
00047     double maxTurnrate0ms;
00048     double maxTurnrate1ms;
00049     // For safety, this sets a hard maximum.
00050     double absoluteMaxTurnrate;
00051     // Increase min_turning_radius a bit to handle side-slip
00052     double minTurnRadiusSafetyFactor;
00053     // free_space_cutoff is 'Binary_Hist_Low', and
00054     // obs_cutoff        is 'Binary_Hist_High'.
00055     //
00056     // These are the thresholds that determine whether sectors are free or empty.
00057     // There are two because hysteresis thresholding is used.
00058     // The units are unclear.
00059     //
00060     // These also depend linearly on speed.
00061     double freeSpaceCutoff0ms;
00062     double obsCutoff0ms;
00063     double freeSpaceCutoff1ms;
00064     double obsCutoff1ms;
00065     // VFH has a bit of hysteresis in its actions that forces it to commit
00066     double weightDesiredDir;
00067     double weightCurrentDir;
00068 
00069     // returns 0 if everything looks good.
00070     int checkSanity( std::string &warnings, std::string &errors );
00071 };
00072 
00073 std::ostream &operator<<( std::ostream &s, const VfhAlgorithmConfig &c );
00074 
00075 void readFromProperties( orcaice::Context context, VfhAlgorithmConfig &c );
00076 
00077 // Throws char*'s if something is wrong
00078 // (eg configured values exceed vehicle's capabilities)
00079 void setFromVehicleDescr( const orca::VehicleDescription &descr,
00080                           VfhAlgorithmConfig &c );
00081 }
00082 
00083 #endif
vfh_algorithmconfig.h
