MRPT  1.9.9
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mrpt::nav::TCandidateMovementPTG Struct Reference

Detailed Description

Stores a candidate movement in TP-Space-based navigation.

See also
CReactiveNavigationSystem, CReactiveNavigationSystem3D

Definition at line 21 of file TCandidateMovementPTG.h.

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

Public Member Functions

 TCandidateMovementPTG ()
 

Public Attributes

CParameterizedTrajectoryGeneratorPTG {nullptr}
 The associated PTG. More...
 
double direction {0}
 TP-Space movement direction. More...
 
double speed {0}
 TP-Space movement speed, normalized to [0,1]. More...
 
double starting_robot_dir {0}
 Default to 0, they can be used to reflect a robot starting at a position not at (0,0). More...
 
double starting_robot_dist {0}
 
mrpt::system::TParameters< double > props
 List of properties. More...
 

Constructor & Destructor Documentation

◆ TCandidateMovementPTG()

TCandidateMovementPTG::TCandidateMovementPTG ( )
default

Member Data Documentation

◆ direction

double mrpt::nav::TCandidateMovementPTG::direction {0}

◆ props

mrpt::system::TParameters<double> mrpt::nav::TCandidateMovementPTG::props

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

Definition at line 39 of file TCandidateMovementPTG.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), and mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep().

◆ PTG

CParameterizedTrajectoryGenerator* mrpt::nav::TCandidateMovementPTG::PTG {nullptr}

◆ speed

double mrpt::nav::TCandidateMovementPTG::speed {0}

TP-Space movement speed, normalized to [0,1].

A negative number means this candidate movement is unfeasible and must be discarded.

Definition at line 29 of file TCandidateMovementPTG.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), mrpt::nav::CAbstractPTGBasedReactive::generate_vel_cmd(), and mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep().

◆ starting_robot_dir

double mrpt::nav::TCandidateMovementPTG::starting_robot_dir {0}

Default to 0, they can be used to reflect a robot starting at a position not at (0,0).

Used in "PTG continuation"

Definition at line 32 of file TCandidateMovementPTG.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores().

◆ starting_robot_dist

double mrpt::nav::TCandidateMovementPTG::starting_robot_dist {0}



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