mrpt::nav::CWaypointsNavigator::TNavigationParamsWaypoints Struct Reference

Detailed Description

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

Definition at line 43 of file CWaypointsNavigator.h.

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

Inheritance diagram for mrpt::nav::CWaypointsNavigator::TNavigationParamsWaypoints:

Public Member Functions
std::string	getAsText () const override
	Gets navigation params as a human-readable format. More...
std::unique_ptr< TNavigationParams >	clone () const override

Public Attributes
std::vector< mrpt::nav::CAbstractNavigator::TargetInfo >	multiple_targets
	If not empty, this will prevail over the base class single goal target. More...
TargetInfo	target
	Navigation target. More...

Protected Member Functions
bool	isEqual (const CAbstractNavigator::TNavigationParamsBase &o) const override

Member Function Documentation

clone()

std::unique_ptr<TNavigationParams> mrpt::nav::CWaypointsNavigator::TNavigationParamsWaypoints::clone ( ) const

inlineoverridevirtual

Reimplemented from mrpt::nav::CAbstractNavigator::TNavigationParams.

Definition at line 54 of file CWaypointsNavigator.h.

getAsText()

std::string CWaypointsNavigator::TNavigationParamsWaypoints::getAsText ( ) const

overridevirtual

Gets navigation params as a human-readable format.

Reimplemented from mrpt::nav::CAbstractNavigator::TNavigationParams.

Definition at line 20 of file CWaypointsNavigator.cpp.

References mrpt::format().

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isEqual()

bool CWaypointsNavigator::TNavigationParamsWaypoints::isEqual ( const CAbstractNavigator::TNavigationParamsBase &  o ) const

overrideprotectedvirtual

Reimplemented from mrpt::nav::CAbstractNavigator::TNavigationParams.

Definition at line 36 of file CWaypointsNavigator.cpp.

References mrpt::nav::CAbstractNavigator::TNavigationParams::isEqual().

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Member Data Documentation

multiple_targets

std::vector<mrpt::nav::CAbstractNavigator::TargetInfo> mrpt::nav::CWaypointsNavigator::TNavigationParamsWaypoints::multiple_targets

If not empty, this will prevail over the base class single goal target.

Semantic is: any of these targets will be good for heading the robot towards them, but the priority is for the latest ones in the sequence.

Definition at line 51 of file CWaypointsNavigator.h.

Referenced by mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

target

TargetInfo mrpt::nav::CAbstractNavigator::TNavigationParams::target

inherited

Navigation target.

Definition at line 121 of file CAbstractNavigator.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), run_rnav_test(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().