struct mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd

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

struct TSentVelCmd
{
    //
fields

    int ptg_index = -1;
    int ptg_alpha_index = -1;
    mrpt::system::TTimeStamp tim_send_cmd_vel = INVALID_TIMESTAMP;
    TRobotPoseVel poseVel;
    double colfreedist_move_k = .0;
    bool was_slowdown = false;
    double speed_scale = 1.0;
    double original_holo_eval = .0;
    CParameterizedTrajectoryGenerator::TNavDynamicState ptg_dynState;

    // construction

    TSentVelCmd();

    //
methods

    void reset();
    bool isValid() const;
};

Fields

int ptg_index = -1

0-based index of used PTG

int ptg_alpha_index = -1

Path index for selected PTG.

mrpt::system::TTimeStamp tim_send_cmd_vel = INVALID_TIMESTAMP

Timestamp of when the cmd was sent.

TRobotPoseVel poseVel

Robot pose & velocities and timestamp of when it was queried.

double colfreedist_move_k = .0

TP-Obstacles in the move direction at the instant of picking this movement.

double speed_scale = 1.0

[0,1] scale of the raw cmd_vel as generated by the PTG