Detailed Description

Input parameters for CAbstractHolonomicReactiveMethod::navigate()

Definition at line 35 of file CAbstractHolonomicReactiveMethod.h.

#include <mrpt/nav/holonomic/CAbstractHolonomicReactiveMethod.h>

Public Member Functions
	NavInput ()

Public Attributes
std::vector< double >	obstacles
	Distance to obstacles in polar coordinates, relative to the robot. More...

std::vector< mrpt::math::TPoint2D >	targets
	Relative location (x,y) of target point(s). More...

double	maxRobotSpeed {1.0}
	Maximum robot speed, in the same units than `obstacles`, per second. More...

double	maxObstacleDist {1.0}
	Maximum expected value to be found in `obstacles`. More...

const mrpt::nav::ClearanceDiagram *	clearance {nullptr}
	The computed clearance for each direction (optional in some implementations). More...

Constructor & Destructor Documentation

◆ NavInput()

CAbstractHolonomicReactiveMethod::NavInput::NavInput ( )

Definition at line 72 of file CAbstractHolonomicReactiveMethod.cpp.

Member Data Documentation

◆ clearance

const mrpt::nav::ClearanceDiagram* mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::clearance {nullptr}

The computed clearance for each direction (optional in some implementations).

Leave to default (NULL) if not needed.

Definition at line 56 of file CAbstractHolonomicReactiveMethod.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), and mrpt::nav::CHolonomicFullEval::navigate().

◆ maxObstacleDist

double mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::maxObstacleDist {1.0}

Maximum expected value to be found in obstacles.

Typically, values in obstacles larger or equal to this value mean there is no visible obstacle in that direction.

Definition at line 53 of file CAbstractHolonomicReactiveMethod.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), and mrpt::nav::CHolonomicFullEval::navigate().

◆ maxRobotSpeed

double mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::maxRobotSpeed {1.0}

Maximum robot speed, in the same units than obstacles, per second.

Definition at line 49 of file CAbstractHolonomicReactiveMethod.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CHolonomicVFF::navigate(), mrpt::nav::CHolonomicND::navigate(), and mrpt::nav::CHolonomicFullEval::navigate().

◆ obstacles

std::vector<double> mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::obstacles

Distance to obstacles in polar coordinates, relative to the robot.

First index refers to -PI direction, and last one to +PI direction. Distances can be dealed as "meters", although when used inside the PTG-based navigation system, they are "pseudometers", normalized to the range [0,1].

Definition at line 43 of file CAbstractHolonomicReactiveMethod.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CHolonomicFullEval::evalSingleTarget(), mrpt::nav::CHolonomicVFF::navigate(), mrpt::nav::CHolonomicND::navigate(), and mrpt::nav::CHolonomicFullEval::navigate().

◆ targets

std::vector<mrpt::math::TPoint2D> mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::targets

Relative location (x,y) of target point(s).

In the same units than obstacles. If many, last targets have higher priority.

Definition at line 46 of file CAbstractHolonomicReactiveMethod.h.