mrpt::nav::TCandidateMovementPTG Struct Reference

Detailed Description

Stores a candidate movement in TP-Space-based navigation.

See also

CReactiveNavigationSystem, CReactiveNavigationSystem3D

Definition at line 21 of file TCandidateMovementPTG.h.

#include <mrpt/nav/reactive/TCandidateMovementPTG.h>

Public Member Functions
	TCandidateMovementPTG ()

Public Attributes
CParameterizedTrajectoryGenerator *	PTG {nullptr}
	The associated PTG. More...
double	direction {0}
	TP-Space movement direction. More...
double	speed {0}
	TP-Space movement speed, normalized to [0,1]. More...
double	starting_robot_dir {0}
	Default to 0, they can be used to reflect a robot starting at a position not at (0,0). More...
double	starting_robot_dist {0}
mrpt::system::TParameters< double >	props
	List of properties. More...

Constructor & Destructor Documentation

TCandidateMovementPTG()

TCandidateMovementPTG::TCandidateMovementPTG ( )

default

Member Data Documentation

direction

double mrpt::nav::TCandidateMovementPTG::direction {0}

TP-Space movement direction.

Within [-2*PI,+2*PI]

Definition at line 26 of file TCandidateMovementPTG.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), mrpt::nav::CAbstractPTGBasedReactive::generate_vel_cmd(), and mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep().

props

mrpt::system::TParameters<double> mrpt::nav::TCandidateMovementPTG::props

List of properties.

May vary for different user implementations of scores and/or different multi-objective optimizers. See list of available variable names in docs for mrpt::nav::CAbstractPTGBasedReactive

Definition at line 39 of file TCandidateMovementPTG.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), and mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep().

PTG

CParameterizedTrajectoryGenerator* mrpt::nav::TCandidateMovementPTG::PTG {nullptr}

The associated PTG.

nullptr if not applicable / undefined.

Definition at line 24 of file TCandidateMovementPTG.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), mrpt::nav::CAbstractPTGBasedReactive::generate_vel_cmd(), and mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep().

speed

double mrpt::nav::TCandidateMovementPTG::speed {0}

TP-Space movement speed, normalized to [0,1].

A negative number means this candidate movement is unfeasible and must be discarded.

Definition at line 29 of file TCandidateMovementPTG.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), mrpt::nav::CAbstractPTGBasedReactive::generate_vel_cmd(), and mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep().

starting_robot_dir

double mrpt::nav::TCandidateMovementPTG::starting_robot_dir {0}

Default to 0, they can be used to reflect a robot starting at a position not at (0,0).

Used in "PTG continuation"

Definition at line 32 of file TCandidateMovementPTG.h.

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

starting_robot_dist

double mrpt::nav::TCandidateMovementPTG::starting_robot_dist {0}

Definition at line 32 of file TCandidateMovementPTG.h.

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