Detailed Description

The struct for querying the status of waypoints navigation.

Used in CWaypointsNavigator::getWaypointNavStatus().

Definition at line 143 of file TWaypoint.h.

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

Public Member Functions
	TWaypointStatusSequence ()
	Ctor with default values. More...

std::string	getAsText () const
	Gets navigation params as a human-readable format. More...

void	getAsOpenglVisualization (mrpt::opengl::CSetOfObjects &obj, const mrpt::nav::TWaypointsRenderingParams &params=mrpt::nav::TWaypointsRenderingParams()) const
	Renders the sequence of waypoints (previous contents of `obj` are cleared) More...

Public Attributes
std::vector< TWaypointStatus >	waypoints
	Waypoints parameters and status (reached, skipped, etc.) More...

mrpt::system::TTimeStamp	timestamp_nav_started
	Timestamp of user navigation command. More...

bool	final_goal_reached {false}
	Whether the final waypoint has been reached successfuly. More...

int	waypoint_index_current_goal {-1}
	Index in `waypoints` of the waypoint the navigator is currently trying to reach. More...

mrpt::math::TPose2D	last_robot_pose
	Robot pose at last time step (has INVALID_NUM fields upon initialization) More...

Constructor & Destructor Documentation

◆ TWaypointStatusSequence()

TWaypointStatusSequence::TWaypointStatusSequence ( )

Ctor with default values.

Definition at line 108 of file TWaypoint.cpp.

Member Function Documentation

◆ getAsOpenglVisualization()

void TWaypointStatusSequence::getAsOpenglVisualization	(	mrpt::opengl::CSetOfObjects &	obj,
		const mrpt::nav::TWaypointsRenderingParams &	params = `mrpt::nav::TWaypointsRenderingParams()`
	)		const

Renders the sequence of waypoints (previous contents of obj are cleared)

Definition at line 180 of file TWaypoint.cpp.

References mrpt::opengl::CSetOfObjects::clear(), mrpt::opengl::CArrow::Create(), mrpt::opengl::CDisk::Create(), mrpt::format(), mrpt::opengl::CSetOfObjects::insert(), mrpt::nav::TWaypoint::INVALID_NUM, params, waypoint_index_current_goal, and waypoints.

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◆ getAsText()

std::string TWaypointStatusSequence::getAsText ( ) const

Gets navigation params as a human-readable format.

Definition at line 118 of file TWaypoint.cpp.

References final_goal_reached, mrpt::format(), waypoint_index_current_goal, and waypoints.

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Member Data Documentation

◆ final_goal_reached

bool mrpt::nav::TWaypointStatusSequence::final_goal_reached {false}

Whether the final waypoint has been reached successfuly.

Definition at line 150 of file TWaypoint.h.

Referenced by getAsText(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

◆ last_robot_pose

mrpt::math::TPose2D mrpt::nav::TWaypointStatusSequence::last_robot_pose

Robot pose at last time step (has INVALID_NUM fields upon initialization)

Definition at line 159 of file TWaypoint.h.

Referenced by mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

◆ timestamp_nav_started

mrpt::system::TTimeStamp mrpt::nav::TWaypointStatusSequence::timestamp_nav_started

Timestamp of user navigation command.

Definition at line 148 of file TWaypoint.h.

Referenced by mrpt::nav::CWaypointsNavigator::navigateWaypoints(), and mrpt::nav::CWaypointsNavigator::onNavigateCommandReceived().

◆ waypoint_index_current_goal

int mrpt::nav::TWaypointStatusSequence::waypoint_index_current_goal {-1}

Index in waypoints of the waypoint the navigator is currently trying to reach.

This will point to the last waypoint after navigation ends successfully. Its value is -1 if navigation has not started yet

Definition at line 155 of file TWaypoint.h.

Referenced by getAsOpenglVisualization(), getAsText(), mrpt::nav::CWaypointsNavigator::navigateWaypoints(), mrpt::nav::CWaypointsNavigator::onNavigateCommandReceived(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

◆ waypoints

std::vector<TWaypointStatus> mrpt::nav::TWaypointStatusSequence::waypoints

Waypoints parameters and status (reached, skipped, etc.)

Definition at line 146 of file TWaypoint.h.

Referenced by getAsOpenglVisualization(), getAsText(), mrpt::nav::CWaypointsNavigator::navigateWaypoints(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().