Detailed Description

Full evaluation of all possible directions within the discrete set of input directions.

These are the optional parameters of the method which can be set by means of a configuration file passed to the constructor or to CHolonomicFullEval::initialize() or directly in CHolonomicFullEval::options

# Section name can be changed via setConfigFileSectionName()
[FULL_EVAL_CONFIG]
factorWeights        = 1.0 1.0 1.0 0.05 1.0
factorNormalizeOrNot =   0   0   0    0   1
// 0: Clearness in direction
// 1: Closest approach to target along straight line (Euclidean)
// 2: Distance of end collision-free point to target (Euclidean)
// 3: Hysteresis
// 4: Clearness to nearest obstacle along path
// 5: Like 2, but without being decimated if path to target is obstructed
TARGET_SLOW_APPROACHING_DISTANCE = 0.20   // Start to reduce speed when
closer than this to target [m]
TOO_CLOSE_OBSTACLE               = 0.02   // Directions with collision-free
distances below this threshold are not elegible.
HYSTERESIS_SECTOR_COUNT          = 5      // Range of "sectors" (directions)
for hysteresis over successive timesteps
PHASE1_FACTORS   = 0 1 2                  // Indices of the factors above to
be considered in phase 1
PHASE2_FACTORS   = 3 4                    // Indices of the factors above to
be considered in phase 2
PHASE1_THRESHOLD = 0.75                   // Phase1 scores must be above this
relative range threshold [0,1] to be considered in phase 2 (Default:`0.75`)

See also: CAbstractHolonomicReactiveMethod,CReactiveNavigationSystem

Definition at line 56 of file CHolonomicFullEval.h.

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

Inheritance diagram for mrpt::nav::CHolonomicFullEval:

Classes
struct	EvalOutput

struct	TOptions
	Algorithm options. More...

Public Member Functions
	CHolonomicFullEval (const mrpt::config::CConfigFileBase *INI_FILE=nullptr)
	Initialize the parameters of the navigator, from some configuration file, or default values if set to nullptr. More...

void	navigate (const NavInput &ni, NavOutput &no) override
	Invokes the holonomic navigation algorithm itself. More...

void	initialize (const mrpt::config::CConfigFileBase &INI_FILE) override
	Initialize the parameters of the navigator, reading from the default section name (see derived classes) or the one set via setConfigFileSectionName() More...

void	saveConfigFile (mrpt::config::CConfigFileBase &c) const override
	saves all available parameters, in a forma loadable by `initialize()` More...

double	getTargetApproachSlowDownDistance () const override
	Returns the actual value of this parameter [m], as set via the children class options structure. More...

void	setTargetApproachSlowDownDistance (const double dist) override
	Sets the actual value of this parameter [m]. More...

void	setConfigFileSectionName (const std::string &sectName)
	Defines the name of the section used in initialize() More...

std::string	getConfigFileSectionName () const
	Gets the name of the section used in initialize() More...

void	setAssociatedPTG (mrpt::nav::CParameterizedTrajectoryGenerator *ptg)
	Optionally, sets the associated PTG, just in case a derived class requires this info (not required for methods where the robot kinematics are totally abstracted) More...

mrpt::nav::CParameterizedTrajectoryGenerator *	getAssociatedPTG () const
	Returns the pointer set by setAssociatedPTG() More...

void	enableApproachTargetSlowDown (bool enable)

virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a `mxArray` Matlab object, typically a MATLAB `struct` whose contents are documented in each derived class. More...

RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr	duplicateGetSmartPtr () const
	Makes a deep copy of the object and returns a smart pointer to it. More...

Static Public Member Functions
static CAbstractHolonomicReactiveMethod::Ptr	Factory (const std::string &className) noexcept

static CAbstractHolonomicReactiveMethod *	Create (const std::string &className) noexcept
	Class factory from class name, e.g. More...

Public Attributes
TOptions	options
	Parameters of the algorithm (can be set manually or loaded from CHolonomicFullEval::initialize or options.loadFromConfigFile(), etc.) More...

Protected Member Functions
CSerializable virtual methods
uint8_t	serializeGetVersion () const override
	Must return the current versioning number of the object. More...

void	serializeTo (mrpt::serialization::CArchive &out) const override
	Pure virtual method for writing (serializing) to an abstract archive. More...

void	serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
	Pure virtual method for reading (deserializing) from an abstract archive. More...

CSerializable virtual methods
virtual void	serializeTo (CSchemeArchiveBase &out) const
	Virtual method for writing (serializing) to an abstract schema based archive. More...

virtual void	serializeFrom (CSchemeArchiveBase &in)
	Virtual method for reading (deserializing) from an abstract schema based archive. More...

Protected Attributes
mrpt::nav::CParameterizedTrajectoryGenerator *	m_associatedPTG
	If applicable, this will contain the argument of the most recent call to setAssociatedPTG() More...

bool	m_enableApproachTargetSlowDown
	Whether to decrease speed when approaching target. More...

Private Member Functions
unsigned int	direction2sector (const double a, const unsigned int N)

virtual void	postProcessDirectionEvaluations (std::vector< double > &dir_evals, const NavInput &ni, unsigned int trg_idx)
	If desired, override in a derived class to manipulate the final evaluations of each directions. More...

void	evalSingleTarget (unsigned int target_idx, const NavInput &ni, EvalOutput &eo)
	Evals one single target of the potentially many of them in NavInput. More...

Private Attributes
unsigned int	m_last_selected_sector

mrpt::math::CMatrixD	m_dirs_scores
	Individual scores for each direction: (i,j), i (row) are directions, j (cols) are scores. More...

mrpt::obs::CSinCosLookUpTableFor2DScans	m_sincos_lut

RTTI stuff
using	Ptr = std::shared_ptr< mrpt::nav ::CHolonomicFullEval >

using	ConstPtr = std::shared_ptr< const mrpt::nav ::CHolonomicFullEval >

using	UniquePtr = std::unique_ptr< mrpt::nav ::CHolonomicFullEval >

using	ConstUniquePtr = std::unique_ptr< const mrpt::nav ::CHolonomicFullEval >

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "mrpt::nav" "::" "CHolonomicFullEval"

static const mrpt::rtti::TRuntimeClassId *	_GetBaseClass ()

static constexpr auto	getClassName ()

static const mrpt::rtti::TRuntimeClassId &	GetRuntimeClassIdStatic ()

static std::shared_ptr< CObject >	CreateObject ()

template<typename... Args>
static Ptr	Create (Args &&... args)

template<typename Alloc , typename... Args>
static Ptr	CreateAlloc (const Alloc &alloc, Args &&... args)

template<typename... Args>
static UniquePtr	CreateUnique (Args &&... args)

virtual const mrpt::rtti::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

virtual mrpt::rtti::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Member Typedef Documentation

◆ ConstPtr

using mrpt::nav::CHolonomicFullEval::ConstPtr = std::shared_ptr<const mrpt::nav :: CHolonomicFullEval >

Definition at line 58 of file CHolonomicFullEval.h.

◆ ConstUniquePtr

using mrpt::nav::CHolonomicFullEval::ConstUniquePtr = std::unique_ptr<const mrpt::nav :: CHolonomicFullEval >

Definition at line 58 of file CHolonomicFullEval.h.

◆ Ptr

using mrpt::nav::CHolonomicFullEval::Ptr = std::shared_ptr< mrpt::nav :: CHolonomicFullEval >

A type for the associated smart pointer

Definition at line 58 of file CHolonomicFullEval.h.

◆ UniquePtr

using mrpt::nav::CHolonomicFullEval::UniquePtr = std::unique_ptr< mrpt::nav :: CHolonomicFullEval >

Definition at line 58 of file CHolonomicFullEval.h.

Constructor & Destructor Documentation

◆ CHolonomicFullEval()

CHolonomicFullEval::CHolonomicFullEval ( const mrpt::config::CConfigFileBase * INI_FILE = nullptr )

Initialize the parameters of the navigator, from some configuration file, or default values if set to nullptr.

Definition at line 34 of file CHolonomicFullEval.cpp.

References initialize().

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Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::nav::CHolonomicFullEval::_GetBaseClass ( )

staticprotected

◆ clone()

virtual mrpt::rtti::CObject* mrpt::nav::CHolonomicFullEval::clone ( ) const

overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

◆ Create() [1/2]

template<typename... Args>

static Ptr mrpt::nav::CHolonomicFullEval::Create ( Args &&... args )

inlinestatic

Definition at line 58 of file CHolonomicFullEval.h.

◆ Create() [2/2]

static CAbstractHolonomicReactiveMethod* mrpt::nav::CAbstractHolonomicReactiveMethod::Create ( const std::string & className )

staticnoexceptinherited

Class factory from class name, e.g.

"CHolonomicVFF", etc.

Exceptions

std::logic_error On invalid or missing parameters.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::nav::CHolonomicFullEval::CreateAlloc	(	const Alloc &	alloc,
		Args &&...	args
	)

inlinestatic

Definition at line 58 of file CHolonomicFullEval.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::nav::CHolonomicFullEval::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::nav::CHolonomicFullEval::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 58 of file CHolonomicFullEval.h.

◆ direction2sector()

unsigned int CHolonomicFullEval::direction2sector	(	const double	a,
		const unsigned int	N
	)

private

Definition at line 556 of file CHolonomicFullEval.cpp.

References M_PI, mrpt::round(), and mrpt::math::wrapToPi().

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◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 204 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::insert().

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◆ enableApproachTargetSlowDown()

void mrpt::nav::CAbstractHolonomicReactiveMethod::enableApproachTargetSlowDown ( bool enable )

inlineinherited

Definition at line 119 of file CAbstractHolonomicReactiveMethod.h.

References mrpt::nav::CAbstractHolonomicReactiveMethod::m_enableApproachTargetSlowDown.

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

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◆ evalSingleTarget()

void CHolonomicFullEval::evalSingleTarget	(	unsigned int	target_idx,
		const NavInput &	ni,
		EvalOutput &	eo
	)

private

Evals one single target of the potentially many of them in NavInput.

Definition at line 68 of file CHolonomicFullEval.cpp.

References mrpt::abs_diff(), mrpt::obs::T2DScanProperties::aperture, ASSERT_, ASSERT_ABOVE_, ASSERT_EQUAL_, mrpt::math::TSegment2D::distance(), mrpt::keep_max(), mrpt::keep_min(), M_PI, mrpt::math::norm(), mrpt::obs::T2DScanProperties::nRays, NUM_FACTORS, mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::obstacles, mrpt::nav::CHolonomicFullEval::EvalOutput::phase_scores, mrpt::math::TSegment2D::point1, mrpt::math::TSegment2D::point2, mrpt::obs::T2DScanProperties::rightToLeft, mrpt::round(), mrpt::square(), mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::targets, val, mrpt::math::TPoint2D_data< T >::x, and mrpt::math::TPoint2D_data< T >::y.

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◆ Factory()

CAbstractHolonomicReactiveMethod::Ptr CAbstractHolonomicReactiveMethod::Factory ( const std::string & className )

staticnoexceptinherited

Definition at line 51 of file CAbstractHolonomicReactiveMethod.cpp.

References mrpt::rtti::TRuntimeClassId::createObject(), mrpt::rtti::findRegisteredClass(), mrpt::ptr_cast< CAST_TO >::from(), and mrpt::rtti::registerAllPendingClasses().

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

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◆ getAssociatedPTG()

mrpt::nav::CParameterizedTrajectoryGenerator * CAbstractHolonomicReactiveMethod::getAssociatedPTG ( ) const

inherited

Returns the pointer set by setAssociatedPTG()

Definition at line 46 of file CAbstractHolonomicReactiveMethod.cpp.

References mrpt::nav::CAbstractHolonomicReactiveMethod::m_associatedPTG.

◆ getClassName()

static constexpr auto mrpt::nav::CHolonomicFullEval::getClassName ( )

inlinestatic

Definition at line 58 of file CHolonomicFullEval.h.

◆ getConfigFileSectionName()

std::string CAbstractHolonomicReactiveMethod::getConfigFileSectionName ( ) const

inherited

Gets the name of the section used in initialize()

Definition at line 35 of file CAbstractHolonomicReactiveMethod.cpp.

References mrpt::nav::CAbstractHolonomicReactiveMethod::m_cfgSectionName.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::nav::CHolonomicFullEval::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::nav::CAbstractHolonomicReactiveMethod.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::nav::CHolonomicFullEval::GetRuntimeClassIdStatic ( )

static

◆ getTargetApproachSlowDownDistance()

double mrpt::nav::CHolonomicFullEval::getTargetApproachSlowDownDistance ( ) const

inlineoverridevirtual

Returns the actual value of this parameter [m], as set via the children class options structure.

See also: setTargetApproachSlowDownDistance()

Implements mrpt::nav::CAbstractHolonomicReactiveMethod.

Definition at line 122 of file CHolonomicFullEval.h.

References options, and mrpt::nav::CHolonomicFullEval::TOptions::TARGET_SLOW_APPROACHING_DISTANCE.

◆ initialize()

void CHolonomicFullEval::initialize ( const mrpt::config::CConfigFileBase & c )

overridevirtual

Initialize the parameters of the navigator, reading from the default section name (see derived classes) or the one set via setConfigFileSectionName()

Implements mrpt::nav::CAbstractHolonomicReactiveMethod.

Definition at line 47 of file CHolonomicFullEval.cpp.

◆ navigate()

void CHolonomicFullEval::navigate	(	const NavInput &	ni,
		NavOutput &	no
	)

overridevirtual

Invokes the holonomic navigation algorithm itself.

See the description of the input/output structures for details on each parameter.

Implements mrpt::nav::CAbstractHolonomicReactiveMethod.

Definition at line 376 of file CHolonomicFullEval.cpp.

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◆ postProcessDirectionEvaluations()

void CHolonomicFullEval::postProcessDirectionEvaluations	(	std::vector< double > &	dir_evals,
		const NavInput &	ni,
		unsigned int	trg_idx
	)

privatevirtual

If desired, override in a derived class to manipulate the final evaluations of each directions.

Definition at line 808 of file CHolonomicFullEval.cpp.

◆ saveConfigFile()

void CHolonomicFullEval::saveConfigFile ( mrpt::config::CConfigFileBase & c ) const

overridevirtual

saves all available parameters, in a forma loadable by initialize()

Implements mrpt::nav::CAbstractHolonomicReactiveMethod.

Definition at line 42 of file CHolonomicFullEval.cpp.

◆ serializeFrom() [1/2]

void CHolonomicFullEval::serializeFrom	(	mrpt::serialization::CArchive &	in,
		uint8_t	serial_version
	)

overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

Parameters

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 754 of file CHolonomicFullEval.cpp.

◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase & in )

inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeGetVersion()

uint8_t CHolonomicFullEval::serializeGetVersion ( ) const

overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 738 of file CHolonomicFullEval.cpp.

◆ serializeTo() [1/2]

void CHolonomicFullEval::serializeTo ( mrpt::serialization::CArchive & out ) const

overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 739 of file CHolonomicFullEval.cpp.

◆ serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase & out ) const

inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ setAssociatedPTG()

void CAbstractHolonomicReactiveMethod::setAssociatedPTG ( mrpt::nav::CParameterizedTrajectoryGenerator * ptg )

inherited

Optionally, sets the associated PTG, just in case a derived class requires this info (not required for methods where the robot kinematics are totally abstracted)

Definition at line 40 of file CAbstractHolonomicReactiveMethod.cpp.

References mrpt::nav::CAbstractHolonomicReactiveMethod::m_associatedPTG.

◆ setConfigFileSectionName()

void CAbstractHolonomicReactiveMethod::setConfigFileSectionName ( const std::string & sectName )

inherited

Defines the name of the section used in initialize()

Defines the name of the section (Default: "FULL_EVAL_CONFIG")

Definition at line 30 of file CAbstractHolonomicReactiveMethod.cpp.

References mrpt::nav::CAbstractHolonomicReactiveMethod::m_cfgSectionName.

◆ setTargetApproachSlowDownDistance()

void mrpt::nav::CHolonomicFullEval::setTargetApproachSlowDownDistance ( const double dist )

inlineoverridevirtual

Sets the actual value of this parameter [m].

See also: getTargetApproachSlowDownDistance()

Implements mrpt::nav::CAbstractHolonomicReactiveMethod.

Definition at line 126 of file CHolonomicFullEval.h.

References options, and mrpt::nav::CHolonomicFullEval::TOptions::TARGET_SLOW_APPROACHING_DISTANCE.

◆ writeToMatlab()

virtual mxArray* mrpt::serialization::CSerializable::writeToMatlab ( ) const

inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns: A new mxArray (caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.h.

Member Data Documentation

◆ className

constexpr const char* mrpt::nav::CHolonomicFullEval::className = "mrpt::nav" "::" "CHolonomicFullEval"

static

Definition at line 58 of file CHolonomicFullEval.h.

◆ m_associatedPTG

mrpt::nav::CParameterizedTrajectoryGenerator* mrpt::nav::CAbstractHolonomicReactiveMethod::m_associatedPTG

protectedinherited

If applicable, this will contain the argument of the most recent call to setAssociatedPTG()

Definition at line 127 of file CAbstractHolonomicReactiveMethod.h.

Referenced by mrpt::nav::CAbstractHolonomicReactiveMethod::getAssociatedPTG(), and mrpt::nav::CAbstractHolonomicReactiveMethod::setAssociatedPTG().

◆ m_dirs_scores

mrpt::math::CMatrixD mrpt::nav::CHolonomicFullEval::m_dirs_scores

private

Individual scores for each direction: (i,j), i (row) are directions, j (cols) are scores.

Not all directions may have evaluations, in which case a "-1" value will be found.

Definition at line 137 of file CHolonomicFullEval.h.

◆ m_enableApproachTargetSlowDown

bool mrpt::nav::CAbstractHolonomicReactiveMethod::m_enableApproachTargetSlowDown

protectedinherited

Whether to decrease speed when approaching target.

Definition at line 129 of file CAbstractHolonomicReactiveMethod.h.

Referenced by mrpt::nav::CAbstractHolonomicReactiveMethod::enableApproachTargetSlowDown().

◆ m_last_selected_sector

unsigned int mrpt::nav::CHolonomicFullEval::m_last_selected_sector

private

Definition at line 132 of file CHolonomicFullEval.h.

Referenced by serializeFrom(), and serializeTo().

◆ m_sincos_lut

mrpt::obs::CSinCosLookUpTableFor2DScans mrpt::nav::CHolonomicFullEval::m_sincos_lut

private

Definition at line 155 of file CHolonomicFullEval.h.

◆ options

TOptions mrpt::nav::CHolonomicFullEval::options

Parameters of the algorithm (can be set manually or loaded from CHolonomicFullEval::initialize or options.loadFromConfigFile(), etc.)

Definition at line 120 of file CHolonomicFullEval.h.

Referenced by getTargetApproachSlowDownDistance(), serializeFrom(), serializeTo(), and setTargetApproachSlowDownDistance().

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::nav::CHolonomicFullEval::runtimeClassId

staticprotected

Definition at line 58 of file CHolonomicFullEval.h.

Detailed Description

Classes

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

◆ Ptr

◆ UniquePtr

Constructor & Destructor Documentation

◆ CHolonomicFullEval()

Member Function Documentation

◆ _GetBaseClass()

◆ clone()

◆ Create() [1/2]

◆ Create() [2/2]

◆ CreateAlloc()

◆ CreateObject()

◆ CreateUnique()

◆ direction2sector()

◆ duplicateGetSmartPtr()

◆ enableApproachTargetSlowDown()

◆ evalSingleTarget()

◆ Factory()

◆ getAssociatedPTG()

◆ getClassName()

◆ getConfigFileSectionName()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ getTargetApproachSlowDownDistance()

◆ initialize()

◆ navigate()

◆ postProcessDirectionEvaluations()

◆ saveConfigFile()

◆ serializeFrom() [1/2]

◆ serializeFrom() [2/2]

◆ serializeGetVersion()

◆ serializeTo() [1/2]

◆ serializeTo() [2/2]

◆ setAssociatedPTG()

◆ setConfigFileSectionName()

◆ setTargetApproachSlowDownDistance()

◆ writeToMatlab()

Member Data Documentation

◆ className

◆ m_associatedPTG

◆ m_dirs_scores

◆ m_enableApproachTargetSlowDown

◆ m_last_selected_sector

◆ m_sincos_lut

◆ options

◆ runtimeClassId