MRPT  1.9.9
List of all members | Public Member Functions | Public Attributes
mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState Struct Reference

Detailed Description

Dynamic state that may affect the PTG path parameterization.

nav_reactive

Definition at line 169 of file CParameterizedTrajectoryGenerator.h.

#include <mrpt/nav/tpspace/CParameterizedTrajectoryGenerator.h>

Public Member Functions

 TNavDynamicState ()=default
 
bool operator== (const TNavDynamicState &o) const
 
bool operator!= (const TNavDynamicState &o) const
 
void writeToStream (mrpt::serialization::CArchive &out) const
 
void readFromStream (mrpt::serialization::CArchive &in)
 

Public Attributes

mrpt::math::TTwist2D curVelLocal {0, 0, 0}
 Current vehicle velocity (local frame of reference) More...
 
mrpt::math::TPose2D relTarget {20.0, .0, .0}
 Current relative target location. More...
 
double targetRelSpeed {0}
 Desired relative speed [0,1] at target. More...
 

Constructor & Destructor Documentation

◆ TNavDynamicState()

mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::TNavDynamicState ( )
default

Member Function Documentation

◆ operator!=()

bool mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::operator!= ( const TNavDynamicState o) const
inline

Definition at line 180 of file CParameterizedTrajectoryGenerator.h.

◆ operator==()

bool CParameterizedTrajectoryGenerator::TNavDynamicState::operator== ( const TNavDynamicState o) const

Definition at line 609 of file CParameterizedTrajectoryGenerator.cpp.

References curVelLocal, relTarget, and targetRelSpeed.

◆ readFromStream()

void mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::readFromStream ( mrpt::serialization::CArchive in)

Definition at line 626 of file CParameterizedTrajectoryGenerator.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

Referenced by mrpt::nav::CLogFileRecord::serializeFrom().

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◆ writeToStream()

void mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::writeToStream ( mrpt::serialization::CArchive out) const

Definition at line 617 of file CParameterizedTrajectoryGenerator.cpp.

References out.

Referenced by mrpt::nav::CLogFileRecord::serializeTo().

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Member Data Documentation

◆ curVelLocal

mrpt::math::TTwist2D mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::curVelLocal {0, 0, 0}

◆ relTarget

mrpt::math::TPose2D mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::relTarget {20.0, .0, .0}

◆ targetRelSpeed

double mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::targetRelSpeed {0}



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