MRPT
2.0.2
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Definition at line 438 of file CAbstractPTGBasedReactive.h.
#include <mrpt/nav/reactive/CAbstractPTGBasedReactive.h>
Public Member Functions | |
bool | isValid () const |
void | reset () |
TSentVelCmd () | |
Public Attributes | |
int | ptg_index |
0-based index of used PTG More... | |
int | ptg_alpha_index |
Path index for selected PTG. More... | |
mrpt::system::TTimeStamp | tim_send_cmd_vel |
Timestamp of when the cmd was sent. More... | |
TRobotPoseVel | poseVel |
Robot pose & velocities and timestamp of when it was queried. More... | |
double | colfreedist_move_k |
TP-Obstacles in the move direction at the instant of picking this movement. More... | |
bool | was_slowdown |
double | speed_scale |
[0,1] scale of the raw cmd_vel as generated by the PTG More... | |
double | original_holo_eval |
CParameterizedTrajectoryGenerator::TNavDynamicState | ptg_dynState |
CAbstractPTGBasedReactive::TSentVelCmd::TSentVelCmd | ( | ) |
Definition at line 1519 of file CAbstractPTGBasedReactive.cpp.
References reset().
bool CAbstractPTGBasedReactive::TSentVelCmd::isValid | ( | ) | const |
Definition at line 1532 of file CAbstractPTGBasedReactive.cpp.
References INVALID_TIMESTAMP.
Referenced by mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep().
void CAbstractPTGBasedReactive::TSentVelCmd::reset | ( | ) |
Definition at line 1520 of file CAbstractPTGBasedReactive.cpp.
References INVALID_TIMESTAMP.
Referenced by mrpt::nav::CAbstractPTGBasedReactive::onStartNewNavigation(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), and TSentVelCmd().
double mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::colfreedist_move_k |
TP-Obstacles in the move direction at the instant of picking this movement.
Definition at line 450 of file CAbstractPTGBasedReactive.h.
Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), and mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep().
double mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::original_holo_eval |
Definition at line 454 of file CAbstractPTGBasedReactive.h.
Referenced by mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), and mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep().
TRobotPoseVel mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::poseVel |
Robot pose & velocities and timestamp of when it was queried.
Definition at line 447 of file CAbstractPTGBasedReactive.h.
Referenced by mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), and mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep().
int mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::ptg_alpha_index |
Path index for selected PTG.
Definition at line 443 of file CAbstractPTGBasedReactive.h.
Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), and mrpt::nav::CAbstractPTGBasedReactive::STEP8_GenerateLogRecord().
CParameterizedTrajectoryGenerator::TNavDynamicState mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::ptg_dynState |
Definition at line 455 of file CAbstractPTGBasedReactive.h.
Referenced by mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), and mrpt::nav::CAbstractPTGBasedReactive::STEP8_GenerateLogRecord().
int mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::ptg_index |
0-based index of used PTG
Definition at line 441 of file CAbstractPTGBasedReactive.h.
Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), and mrpt::nav::CAbstractPTGBasedReactive::STEP8_GenerateLogRecord().
double mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::speed_scale |
[0,1] scale of the raw cmd_vel as generated by the PTG
Definition at line 453 of file CAbstractPTGBasedReactive.h.
Referenced by mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), and mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep().
mrpt::system::TTimeStamp mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::tim_send_cmd_vel |
Timestamp of when the cmd was sent.
Definition at line 445 of file CAbstractPTGBasedReactive.h.
Referenced by mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), and mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep().
bool mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::was_slowdown |
Definition at line 451 of file CAbstractPTGBasedReactive.h.
Referenced by mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), and mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep().
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