struct mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState

Overview

Dynamic state that may affect the PTG path parameterization.

nav_reactive

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

struct TNavDynamicState
{
    // fields

    mrpt::math::TTwist2D curVelLocal {0, 0, 0};
    mrpt::math::TPose2D relTarget {20.0, .0, .0};
    double targetRelSpeed {0};
    mrpt::containers::yaml internalState;

    // construction

    TNavDynamicState();

    // methods

    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);
};

Fields

mrpt::math::TTwist2D curVelLocal {0, 0, 0}

Current vehicle velocity (local frame of reference)

mrpt::math::TPose2D relTarget {20.0, .0, .0}

Current relative target location.

double targetRelSpeed {0}

Desired relative speed [0,1] at target.

Default=0

mrpt::containers::yaml internalState

Derived-class specific internal state variables.