TCandidateMovementPTG.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/system/TParameters.h>

namespace mrpt::nav
{
class CParameterizedTrajectoryGenerator;

/** Stores a candidate movement in TP-Space-based navigation.
 *\sa CReactiveNavigationSystem, CReactiveNavigationSystem3D
 *  \ingroup nav_reactive
 */
struct TCandidateMovementPTG
{
    /** The associated PTG. nullptr if not applicable / undefined. */
    CParameterizedTrajectoryGenerator* PTG{nullptr};
    /** TP-Space movement direction. Within [-2*PI,+2*PI] */
    double direction{0};
    /** TP-Space movement speed, normalized to [0,1]. A negative number means
     * this candidate movement is unfeasible and must be discarded. */
    double speed{0};
    /** Default to 0, they can be used to reflect a robot starting at a position
     * not at (0,0). Used in "PTG continuation" */
    double starting_robot_dir{0}, starting_robot_dist{0};

    /** 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
     */
    mrpt::system::TParameters<double> props;

    TCandidateMovementPTG();
};
}  // namespace mrpt::nav