mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd Struct Reference

Detailed Description

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

Constructor & Destructor Documentation

TSentVelCmd()

CAbstractPTGBasedReactive::TSentVelCmd::TSentVelCmd

(

)

Definition at line 1519 of file CAbstractPTGBasedReactive.cpp.

References reset().

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Member Function Documentation

isValid()

bool CAbstractPTGBasedReactive::TSentVelCmd::isValid

(

)

const

Definition at line 1532 of file CAbstractPTGBasedReactive.cpp.

References INVALID_TIMESTAMP.

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

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reset()

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().

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Member Data Documentation

colfreedist_move_k

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().

original_holo_eval

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().

poseVel

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().

ptg_alpha_index

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().

ptg_dynState

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().

ptg_index

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().

speed_scale

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().

tim_send_cmd_vel

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().

was_slowdown

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().