struct mrpt::nav::TWaypointStatus¶
A waypoint with an execution status.
#include <mrpt/nav/reactive/TWaypoint.h> struct TWaypointStatus: public mrpt::nav::TWaypoint { // fields bool reached {false}; bool skipped {false}; mrpt::system::TTimeStamp timestamp_reach; int counter_seen_reachable {0}; // methods TWaypointStatus& operator = (const TWaypoint& wp); std::string getAsText() const; };
Inherited Members¶
public: // fields mrpt::math::TPoint2D target; double target_heading; std::string target_frame_id; double allowed_distance; double speed_ratio; bool allow_skip {true}; static const int INVALID_NUM {-100000}; // methods bool isValid() const; std::string getAsText() const;
Fields¶
bool reached {false}
Whether this waypoint has been reached already (to within the allowed distance as per user specifications) or skipped.
bool skipped {false}
If reached==true this boolean tells whether the waypoint was physically reached (false) or marked as reached because it was skipped (true).
mrpt::system::TTimeStamp timestamp_reach
Timestamp of when this waypoint was reached.
(Default=INVALID_TIMESTAMP means not reached so far)
int counter_seen_reachable {0}
(Initialized to 0 automatically) How many times this waypoint has been seen as “reachable” before it being the current active waypoint.