The structure used to store all relevant information about each transformation into TP-Space.
Definition at line 43 of file CLogFileRecord.h.
#include <mrpt/nav/reactive/CLogFileRecord.h>
Public Attributes | |
std::string | PTG_desc |
A short description for the applied PTG. More... | |
mrpt::math::CVectorFloat | TP_Obstacles |
Distances until obstacles, in "pseudometers", first index for -PI direction, last one for PI direction. More... | |
std::vector< mrpt::math::TPoint2D > | TP_Targets |
Target(s) location in TP-Space. More... | |
mrpt::math::TPoint2D | TP_Robot |
Robot location in TP-Space: normally (0,0), except during "NOP cmd vel" steps. More... | |
double | timeForTPObsTransformation |
double | timeForHolonomicMethod |
Time, in seconds. More... | |
double | desiredDirection |
double | desiredSpeed |
The results from the holonomic method. More... | |
double | evaluation |
Final score of this candidate. More... | |
mrpt::utils::TParametersDouble | evalFactors |
Evaluation factors. More... | |
CHolonomicLogFileRecordPtr | HLFR |
Other useful info about holonomic method execution. More... | |
mrpt::nav::CParameterizedTrajectoryGeneratorPtr | ptg |
Only for the FIRST entry in a log file, this will contain a copy of the PTG with trajectories, suitable to render trajectories, etc. More... | |
mrpt::nav::ClearanceDiagram | clearance |
Clearance for each path. More... | |
mrpt::nav::ClearanceDiagram mrpt::nav::CLogFileRecord::TInfoPerPTG::clearance |
Clearance for each path.
Definition at line 55 of file CLogFileRecord.h.
Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate().
double mrpt::nav::CLogFileRecord::TInfoPerPTG::desiredDirection |
Definition at line 50 of file CLogFileRecord.h.
Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate().
double mrpt::nav::CLogFileRecord::TInfoPerPTG::desiredSpeed |
The results from the holonomic method.
Definition at line 50 of file CLogFileRecord.h.
Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate().
mrpt::utils::TParametersDouble mrpt::nav::CLogFileRecord::TInfoPerPTG::evalFactors |
Evaluation factors.
Definition at line 52 of file CLogFileRecord.h.
double mrpt::nav::CLogFileRecord::TInfoPerPTG::evaluation |
Final score of this candidate.
Definition at line 51 of file CLogFileRecord.h.
CHolonomicLogFileRecordPtr mrpt::nav::CLogFileRecord::TInfoPerPTG::HLFR |
Other useful info about holonomic method execution.
Definition at line 53 of file CLogFileRecord.h.
Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), and mrpt::nav::CAbstractPTGBasedReactive::STEP8_GenerateLogRecord().
mrpt::nav::CParameterizedTrajectoryGeneratorPtr mrpt::nav::CLogFileRecord::TInfoPerPTG::ptg |
Only for the FIRST entry in a log file, this will contain a copy of the PTG with trajectories, suitable to render trajectories, etc.
Definition at line 54 of file CLogFileRecord.h.
std::string mrpt::nav::CLogFileRecord::TInfoPerPTG::PTG_desc |
A short description for the applied PTG.
Definition at line 45 of file CLogFileRecord.h.
Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate().
double mrpt::nav::CLogFileRecord::TInfoPerPTG::timeForHolonomicMethod |
Time, in seconds.
Definition at line 49 of file CLogFileRecord.h.
Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate().
double mrpt::nav::CLogFileRecord::TInfoPerPTG::timeForTPObsTransformation |
Definition at line 49 of file CLogFileRecord.h.
Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate().
mrpt::math::CVectorFloat mrpt::nav::CLogFileRecord::TInfoPerPTG::TP_Obstacles |
Distances until obstacles, in "pseudometers", first index for -PI direction, last one for PI direction.
Definition at line 46 of file CLogFileRecord.h.
Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate().
mrpt::math::TPoint2D mrpt::nav::CLogFileRecord::TInfoPerPTG::TP_Robot |
Robot location in TP-Space: normally (0,0), except during "NOP cmd vel" steps.
Definition at line 48 of file CLogFileRecord.h.
Referenced by mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores().
std::vector<mrpt::math::TPoint2D> mrpt::nav::CLogFileRecord::TInfoPerPTG::TP_Targets |
Target(s) location in TP-Space.
Definition at line 47 of file CLogFileRecord.h.
Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate().
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