struct mrpt::nav::TWaypointSequence

The struct for requesting navigation requests for a sequence of waypoints.

Used in CWaypointsNavigator::navigateWaypoints(). Users can directly fill in the list of waypoints manipulating the public field waypoints.

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

struct TWaypointSequence
{
    //
fields

    std::vector<TWaypoint> waypoints;

    // construction

    TWaypointSequence();

    //
methods

    void clear();
    std::string getAsText() const;
    void getAsOpenglVisualization(mrpt::opengl::CSetOfObjects& obj, const mrpt::nav::TWaypointsRenderingParams& params = mrpt::nav::TWaypointsRenderingParams()) const;
    void save(mrpt::config::CConfigFileBase& c, const std::string& s) const;
    void load(const mrpt::config::CConfigFileBase& c, const std::string& s);
};

Construction

TWaypointSequence()

Ctor with default values.

Methods

std::string getAsText() const

Gets navigation params as a human-readable format.

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)

void save(mrpt::config::CConfigFileBase& c, const std::string& s) const

Saves waypoints to a config file section.

void load(const mrpt::config::CConfigFileBase& c, const std::string& s)

Loads waypoints to a config file section.