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

Detailed Description

A waypoint with an execution status.

Definition at line 118 of file TWaypoint.h.

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

Inheritance diagram for mrpt::nav::TWaypointStatus:

Public Member Functions

 TWaypointStatus ()
 
TWaypointStatusoperator= (const TWaypoint &wp)
 
std::string getAsText () const
 Gets navigation params as a human-readable format. More...
 
bool isValid () const
 Check whether all the minimum mandatory fields have been filled by the user. More...
 

Public Attributes

bool reached {false}
 Whether this waypoint has been reached already (to within the allowed distance as per user specifications) or skipped. More...
 
bool skipped {false}
 If reached==true this boolean tells whether the waypoint was physically reached (false) or marked as reached because it was skipped (true). More...
 
mrpt::system::TTimeStamp timestamp_reach
 Timestamp of when this waypoint was reached. More...
 
int counter_seen_reachable {0}
 (Initialized to 0 automatically) How many times this waypoint has been seen as "reachable" before it being the current active waypoint. More...
 
mrpt::math::TPoint2D target
 [Must be set by the user] Coordinates of desired target location (world/global coordinates). More...
 
double target_heading
 [Default=any heading] Optionally, set to the desired orientation [radians] of the robot at this waypoint. More...
 
std::string target_frame_id
 (Default="map") Frame ID in which target is given. More...
 
double allowed_distance
 [Must be set by the user] How close should the robot get to this waypoint for it to be considered reached. More...
 
double speed_ratio
 (Default=1.0) Desired robot speed at the target, as a ratio of the full robot speed. More...
 
bool allow_skip {true}
 [Default=true] Whether it is allowed to the navigator to proceed to a more advanced waypoint in the sequence if it determines that it is easier to skip this one (e.g. More...
 

Static Public Attributes

static const int INVALID_NUM {-100000}
 The default value of fields (used to detect non-set values) More...
 

Constructor & Destructor Documentation

◆ TWaypointStatus()

TWaypointStatus::TWaypointStatus ( )

Definition at line 93 of file TWaypoint.cpp.

Member Function Documentation

◆ getAsText()

std::string TWaypointStatus::getAsText ( ) const

Gets navigation params as a human-readable format.

Definition at line 99 of file TWaypoint.cpp.

References mrpt::format(), mrpt::nav::TWaypoint::getAsText(), and reached.

Referenced by mrpt::nav::CWaypointsNavigator::checkHasReachedTarget().

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◆ isValid()

bool TWaypoint::isValid ( ) const
inherited

Check whether all the minimum mandatory fields have been filled by the user.

Definition at line 44 of file TWaypoint.cpp.

References mrpt::nav::TWaypoint::allowed_distance, mrpt::nav::TWaypoint::INVALID_NUM, mrpt::nav::TWaypoint::target, mrpt::math::TPoint2D_data::x, and mrpt::math::TPoint2D_data::y.

◆ operator=()

TWaypointStatus & TWaypointStatus::operator= ( const TWaypoint wp)

Definition at line 94 of file TWaypoint.cpp.

Member Data Documentation

◆ allow_skip

bool mrpt::nav::TWaypoint::allow_skip {true}
inherited

[Default=true] Whether it is allowed to the navigator to proceed to a more advanced waypoint in the sequence if it determines that it is easier to skip this one (e.g.

it seems blocked by dynamic obstacles). This value is ignored for the last waypoint in a sequence, since it is always considered to be the ultimate goal and hence not subject to be skipped.

Definition at line 60 of file TWaypoint.h.

Referenced by mrpt::nav::TWaypoint::getAsText().

◆ allowed_distance

double mrpt::nav::TWaypoint::allowed_distance
inherited

[Must be set by the user] How close should the robot get to this waypoint for it to be considered reached.

Definition at line 42 of file TWaypoint.h.

Referenced by mrpt::nav::TWaypoint::getAsText(), mrpt::nav::TWaypoint::isValid(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

◆ counter_seen_reachable

int mrpt::nav::TWaypointStatus::counter_seen_reachable {0}

(Initialized to 0 automatically) How many times this waypoint has been seen as "reachable" before it being the current active waypoint.

Definition at line 132 of file TWaypoint.h.

◆ INVALID_NUM

const int mrpt::nav::TWaypoint::INVALID_NUM {-100000}
staticinherited

◆ reached

bool mrpt::nav::TWaypointStatus::reached {false}

Whether this waypoint has been reached already (to within the allowed distance as per user specifications) or skipped.

Definition at line 122 of file TWaypoint.h.

Referenced by mrpt::nav::CWaypointsNavigator::checkHasReachedTarget(), and getAsText().

◆ skipped

bool mrpt::nav::TWaypointStatus::skipped {false}

If reached==true this boolean tells whether the waypoint was physically reached (false) or marked as reached because it was skipped (true).

Definition at line 126 of file TWaypoint.h.

◆ speed_ratio

double mrpt::nav::TWaypoint::speed_ratio
inherited

(Default=1.0) Desired robot speed at the target, as a ratio of the full robot speed.

That is: speed_ratio=1 means that the user wants the robot to navigate to the target and smoothly continue to the next one when reached. speed_ratio=0 on the other hand means that the robot should approach this waypoint slowing down and end up totally stopped.

Definition at line 50 of file TWaypoint.h.

Referenced by mrpt::nav::TWaypoint::getAsText(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

◆ target

mrpt::math::TPoint2D mrpt::nav::TWaypoint::target
inherited

[Must be set by the user] Coordinates of desired target location (world/global coordinates).

See also
target_heading

Definition at line 28 of file TWaypoint.h.

Referenced by mrpt::nav::TWaypoint::getAsText(), mrpt::nav::TWaypoint::isValid(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

◆ target_frame_id

std::string mrpt::nav::TWaypoint::target_frame_id
inherited

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

Optional, use only for submapping applications.

Definition at line 38 of file TWaypoint.h.

Referenced by mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

◆ target_heading

double mrpt::nav::TWaypoint::target_heading
inherited

[Default=any heading] Optionally, set to the desired orientation [radians] of the robot at this waypoint.

Some navigator implementations may ignore this preferred heading anyway, read the docs of each implementation to find it out.

Definition at line 34 of file TWaypoint.h.

Referenced by mrpt::nav::TWaypoint::getAsText(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

◆ timestamp_reach

mrpt::system::TTimeStamp mrpt::nav::TWaypointStatus::timestamp_reach

Timestamp of when this waypoint was reached.

(Default=INVALID_TIMESTAMP means not reached so far)

Definition at line 129 of file TWaypoint.h.




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