Dynamic state that may affect the PTG path parameterization.
nav_reactive
Definition at line 166 of file CParameterizedTrajectoryGenerator.h.
#include <mrpt/nav/tpspace/CParameterizedTrajectoryGenerator.h>
Public Member Functions | |
TNavDynamicState () | |
bool | operator== (const TNavDynamicState &o) const |
bool | operator!= (const TNavDynamicState &o) const |
void | writeToStream (mrpt::utils::CStream &out) const |
void | readFromStream (mrpt::utils::CStream &in) |
Public Attributes | |
mrpt::math::TTwist2D | curVelLocal |
Current vehicle velocity (local frame of reference) More... | |
mrpt::math::TPose2D | relTarget |
Current relative target location. More... | |
double | targetRelSpeed |
Desired relative speed [0,1] at target. More... | |
CParameterizedTrajectoryGenerator::TNavDynamicState::TNavDynamicState | ( | ) |
Definition at line 567 of file CParameterizedTrajectoryGenerator.cpp.
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inline |
Definition at line 177 of file CParameterizedTrajectoryGenerator.h.
bool CParameterizedTrajectoryGenerator::TNavDynamicState::operator== | ( | const TNavDynamicState & | o | ) | const |
Definition at line 574 of file CParameterizedTrajectoryGenerator.cpp.
References curVelLocal, relTarget, and targetRelSpeed.
void mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::readFromStream | ( | mrpt::utils::CStream & | in | ) |
Definition at line 591 of file CParameterizedTrajectoryGenerator.cpp.
References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.
Referenced by mrpt::nav::CLogFileRecord::readFromStream().
void mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::writeToStream | ( | mrpt::utils::CStream & | out | ) | const |
Definition at line 582 of file CParameterizedTrajectoryGenerator.cpp.
Referenced by mrpt::nav::CLogFileRecord::writeToStream().
mrpt::math::TTwist2D mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::curVelLocal |
Current vehicle velocity (local frame of reference)
Definition at line 169 of file CParameterizedTrajectoryGenerator.h.
Referenced by mrpt::nav::CParameterizedTrajectoryGenerator::loadFromConfigFile(), operator==(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::nav::CLogFileRecord::readFromStream(), and mrpt::nav::CParameterizedTrajectoryGenerator::saveToConfigFile().
mrpt::math::TPose2D mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::relTarget |
Current relative target location.
Definition at line 171 of file CParameterizedTrajectoryGenerator.h.
Referenced by mrpt::nav::CParameterizedTrajectoryGenerator::loadFromConfigFile(), operator==(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::nav::CLogFileRecord::readFromStream(), mrpt::nav::CParameterizedTrajectoryGenerator::saveToConfigFile(), and mrpt::nav::CParameterizedTrajectoryGenerator::updateNavDynamicState().
double mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::targetRelSpeed |
Desired relative speed [0,1] at target.
Default=0
Definition at line 173 of file CParameterizedTrajectoryGenerator.h.
Referenced by mrpt::nav::CParameterizedTrajectoryGenerator::loadFromConfigFile(), operator==(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::nav::CParameterizedTrajectoryGenerator::saveToConfigFile(), and mrpt::nav::CParameterizedTrajectoryGenerator::updateNavDynamicState().
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