MRPT  1.9.9
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mrpt::nav::CAbstractNavigator::TargetInfo Struct Reference

Detailed Description

Individual target info in CAbstractNavigator::TNavigationParamsBase and derived classes.

Definition at line 68 of file CAbstractNavigator.h.

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

Public Member Functions

 TargetInfo ()
 
std::string getAsText () const
 Gets navigation params as a human-readable format. More...
 
bool operator== (const TargetInfo &o) const
 
bool operator!= (const TargetInfo &o) const
 

Public Attributes

mrpt::math::TPose2D target_coords
 Coordinates of desired target location. More...
 
std::string target_frame_id
 (Default="map") Frame ID in which target is given. More...
 
float targetAllowedDistance {0.5}
 (Default=0.5 meters) Allowed distance to target in order to end the navigation. More...
 
bool targetIsRelative {false}
 (Default=false) Whether the target coordinates are in global coordinates (false) or are relative to the current robot pose (true). More...
 
double targetDesiredRelSpeed {.05}
 (Default=.05) Desired relative speed (wrt maximum speed), in range [0,1], of the vehicle at target. More...
 
bool targetIsIntermediaryWaypoint
 

Constructor & Destructor Documentation

◆ TargetInfo()

CAbstractNavigator::TargetInfo::TargetInfo ( )

Definition at line 24 of file CAbstractNavigator.cpp.

Member Function Documentation

◆ getAsText()

std::string CAbstractNavigator::TargetInfo::getAsText ( ) const

Gets navigation params as a human-readable format.

Definition at line 31 of file CAbstractNavigator.cpp.

References mrpt::format().

Here is the call graph for this function:

◆ operator!=()

bool mrpt::nav::CAbstractNavigator::TargetInfo::operator!= ( const TargetInfo o) const
inline

Definition at line 100 of file CAbstractNavigator.h.

◆ operator==()

bool mrpt::nav::CAbstractNavigator::TargetInfo::operator== ( const TargetInfo o) const

Member Data Documentation

◆ target_coords

mrpt::math::TPose2D mrpt::nav::CAbstractNavigator::TargetInfo::target_coords

Coordinates of desired target location.

Heading may be ignored by some reactive implementations.

Definition at line 72 of file CAbstractNavigator.h.

Referenced by operator==(), run_rnav_test(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

◆ target_frame_id

std::string mrpt::nav::CAbstractNavigator::TargetInfo::target_frame_id

(Default="map") Frame ID in which target is given.

Optional, use only for submapping applications.

Definition at line 75 of file CAbstractNavigator.h.

Referenced by operator==(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

◆ targetAllowedDistance

float mrpt::nav::CAbstractNavigator::TargetInfo::targetAllowedDistance {0.5}

(Default=0.5 meters) Allowed distance to target in order to end the navigation.

Definition at line 78 of file CAbstractNavigator.h.

Referenced by operator==(), run_rnav_test(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

◆ targetDesiredRelSpeed

double mrpt::nav::CAbstractNavigator::TargetInfo::targetDesiredRelSpeed {.05}

(Default=.05) Desired relative speed (wrt maximum speed), in range [0,1], of the vehicle at target.

Holonomic nav methods will perform "slow down" approaching target only if this is "==.0". Intermediary values will be honored only by the higher-level navigator, based on straight-line Euclidean distances.

Definition at line 88 of file CAbstractNavigator.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), operator==(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

◆ targetIsIntermediaryWaypoint

bool mrpt::nav::CAbstractNavigator::TargetInfo::targetIsIntermediaryWaypoint
Initial value:
{
false}

Definition at line 89 of file CAbstractNavigator.h.

Referenced by operator==(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

◆ targetIsRelative

bool mrpt::nav::CAbstractNavigator::TargetInfo::targetIsRelative {false}

(Default=false) Whether the target coordinates are in global coordinates (false) or are relative to the current robot pose (true).

Definition at line 82 of file CAbstractNavigator.h.

Referenced by operator==(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().




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