struct mrpt::nav::CAbstractPTGBasedReactive::TInfoPerPTG

Overview

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

struct TInfoPerPTG
{
    // fields

    std::vector<PTGTarget> targets;
    std::vector<double> TP_Obstacles;
    ClearanceDiagram clearance;
};

Fields

std::vector<double> TP_Obstacles

One distance per discretized alpha value, describing the “polar plot” of TP obstacles.

ClearanceDiagram clearance

Clearance for each path.