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mrpt::nav::TCandidateMovementPTG Struct Reference

Detailed Description

Stores a candidate movement in TP-Space-based navigation.

See also
CReactiveNavigationSystem, CReactiveNavigationSystem3D

Definition at line 24 of file TCandidateMovementPTG.h.

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

Public Member Functions

 TCandidateMovementPTG ()
 

Public Attributes

CParameterizedTrajectoryGeneratorPTG
 The associated PTG. nullptr if not applicable / undefined. More...
 
double direction
 TP-Space movement direction. Within [-2*PI,+2*PI]. More...
 
double speed
 TP-Space movement speed, normalized to [0,1]. A negative number means this candidate movement is unfeasible and must be discarded. More...
 
double starting_robot_dir
 
double starting_robot_dist
 Default to 0, they can be used to reflect a robot starting at a position not at (0,0). Used in "PTG continuation". More...
 
mrpt::utils::TParameters< double > props
 List of properties. More...
 

Constructor & Destructor Documentation

TCandidateMovementPTG::TCandidateMovementPTG ( )

Definition at line 16 of file TCandidateMovementPTG.cpp.

Member Data Documentation

double mrpt::nav::TCandidateMovementPTG::direction
mrpt::utils::TParameters<double> mrpt::nav::TCandidateMovementPTG::props

List of properties.

May vary for different user implementations of scores and/or different multi-objective optimizers. See list of available variable names in docs for mrpt::nav::CAbstractPTGBasedReactive

Definition at line 34 of file TCandidateMovementPTG.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), and mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep().

CParameterizedTrajectoryGenerator* mrpt::nav::TCandidateMovementPTG::PTG
double mrpt::nav::TCandidateMovementPTG::speed

TP-Space movement speed, normalized to [0,1]. A negative number means this candidate movement is unfeasible and must be discarded.

Definition at line 28 of file TCandidateMovementPTG.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), mrpt::nav::CAbstractPTGBasedReactive::generate_vel_cmd(), and mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep().

double mrpt::nav::TCandidateMovementPTG::starting_robot_dir
double mrpt::nav::TCandidateMovementPTG::starting_robot_dist

Default to 0, they can be used to reflect a robot starting at a position not at (0,0). Used in "PTG continuation".

Definition at line 29 of file TCandidateMovementPTG.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores().




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