MRPT
2.0.4
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The struct for configuring navigation requests to CAbstractPTGBasedReactive and derived classes.
Definition at line 97 of file CAbstractPTGBasedReactive.h.
#include <mrpt/nav/reactive/CAbstractPTGBasedReactive.h>
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< size_t > | restrict_PTG_indices |
(Default=empty) Optionally, a list of PTG indices can be sent such that the navigator will restrict itself to only employ those PTGs. More... | |
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 |
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inlineoverridevirtual |
Reimplemented from mrpt::nav::CAbstractNavigator::TNavigationParams.
Definition at line 106 of file CAbstractPTGBasedReactive.h.
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overridevirtual |
Gets navigation params as a human-readable format.
Reimplemented from mrpt::nav::CAbstractNavigator::TNavigationParams.
Definition at line 38 of file CAbstractPTGBasedReactive.cpp.
References mrpt::containers::sprintf_vector().
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overrideprotectedvirtual |
Reimplemented from mrpt::nav::CAbstractNavigator::TNavigationParams.
Definition at line 48 of file CAbstractPTGBasedReactive.cpp.
References restrict_PTG_indices.
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inherited |
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().
std::vector<size_t> mrpt::nav::CAbstractPTGBasedReactive::TNavigationParamsPTG::restrict_PTG_indices |
(Default=empty) Optionally, a list of PTG indices can be sent such that the navigator will restrict itself to only employ those PTGs.
Definition at line 103 of file CAbstractPTGBasedReactive.h.
Referenced by isEqual().
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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().
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