TCandidateMovementPTG.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/utils/TParameters.h>

namespace mrpt
{
namespace nav
{
class CParameterizedTrajectoryGenerator;

/** Stores a candidate movement in TP-Space-based navigation.
*\sa CReactiveNavigationSystem, CReactiveNavigationSystem3D
*  \ingroup nav_reactive
*/
struct TCandidateMovementPTG
{
        /** The associated PTG. nullptr if not applicable / undefined. */
        CParameterizedTrajectoryGenerator* PTG;
        /** TP-Space movement direction. Within [-2*PI,+2*PI] */
        double direction;
        /** TP-Space movement speed, normalized to [0,1]. A negative number means
         * this candidate movement is unfeasible and must be discarded. */
        double speed;
        /** Default to 0, they can be used to reflect a robot starting at a position
         * not at (0,0). Used in "PTG continuation" */
        double starting_robot_dir, starting_robot_dist;

        /** 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
        */
        mrpt::utils::TParameters<double> props;

        TCandidateMovementPTG();
};
}
}