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mrpt::nav::CAbstractPTGBasedReactive::TNavigationParamsPTG Struct Reference

Detailed Description

The struct for configuring navigation requests to CAbstractPTGBasedReactive and derived classes.

Definition at line 52 of file CAbstractPTGBasedReactive.h.

#include <mrpt/nav/reactive/CAbstractPTGBasedReactive.h>

Inheritance diagram for mrpt::nav::CAbstractPTGBasedReactive::TNavigationParamsPTG:
Inheritance graph

Public Member Functions

 TNavigationParamsPTG ()
 
virtual ~TNavigationParamsPTG ()
 
virtual std::string getAsText () const
 Gets navigation params as a human-readable format. More...
 
virtual TNavigationParamsclone () const
 

Public Attributes

std::vector< size_t > restrict_PTG_indices
 (Default=empty) Optionally, a list of PTG indices can be sent such that the navigator will restrict itself to only employ those PTGs. More...
 
mrpt::math::TPoint2D target
 Coordinates of desired target location. More...
 
double targetHeading
 Target location (heading, in radians). More...
 
float targetAllowedDistance
 Allowed distance to target in order to end the navigation. More...
 
bool targetIsRelative
 (Default=false) Whether the target coordinates are in global coordinates (false) or are relative to the current robot pose (true). More...
 

Constructor & Destructor Documentation

◆ TNavigationParamsPTG()

mrpt::nav::CAbstractPTGBasedReactive::TNavigationParamsPTG::TNavigationParamsPTG ( )
inline

Definition at line 58 of file CAbstractPTGBasedReactive.h.

◆ ~TNavigationParamsPTG()

virtual mrpt::nav::CAbstractPTGBasedReactive::TNavigationParamsPTG::~TNavigationParamsPTG ( )
inlinevirtual

Definition at line 59 of file CAbstractPTGBasedReactive.h.

Member Function Documentation

◆ clone()

virtual TNavigationParams * mrpt::nav::CAbstractPTGBasedReactive::TNavigationParamsPTG::clone ( ) const
inlinevirtual

◆ getAsText()

virtual std::string mrpt::nav::CAbstractPTGBasedReactive::TNavigationParamsPTG::getAsText ( ) const
virtual

Gets navigation params as a human-readable format.

Reimplemented from mrpt::nav::CAbstractReactiveNavigationSystem::TNavigationParams.

Member Data Documentation

◆ restrict_PTG_indices

std::vector<size_t> mrpt::nav::CAbstractPTGBasedReactive::TNavigationParamsPTG::restrict_PTG_indices

(Default=empty) Optionally, a list of PTG indices can be sent such that the navigator will restrict itself to only employ those PTGs.

Definition at line 56 of file CAbstractPTGBasedReactive.h.

◆ target

mrpt::math::TPoint2D mrpt::nav::CAbstractReactiveNavigationSystem::TNavigationParams::target
inherited

Coordinates of desired target location.

Definition at line 108 of file CAbstractReactiveNavigationSystem.h.

◆ targetAllowedDistance

float mrpt::nav::CAbstractReactiveNavigationSystem::TNavigationParams::targetAllowedDistance
inherited

Allowed distance to target in order to end the navigation.

Definition at line 111 of file CAbstractReactiveNavigationSystem.h.

◆ targetHeading

double mrpt::nav::CAbstractReactiveNavigationSystem::TNavigationParams::targetHeading
inherited

Target location (heading, in radians).

Definition at line 109 of file CAbstractReactiveNavigationSystem.h.

◆ targetIsRelative

bool mrpt::nav::CAbstractReactiveNavigationSystem::TNavigationParams::targetIsRelative
inherited

(Default=false) Whether the target coordinates are in global coordinates (false) or are relative to the current robot pose (true).

Definition at line 112 of file CAbstractReactiveNavigationSystem.h.




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