struct mrpt::nav::TWaypointSequence

Overview

A sequence of waypoints for CWaypointsNavigator::navigateWaypoints().

Fill the public waypoints vector and pass the struct to navigateWaypoints() to start a multi-goal navigation mission.

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

struct TWaypointSequence
{
    // fields

    std::vector<TWaypoint> waypoints;

    // construction

    TWaypointSequence();

    // methods

    void clear();
    std::string getAsText() const;
    void getAsOpenglVisualization(mrpt::viz::CSetOfObjects& obj, const mrpt::nav::TWaypointsRenderingParams& params = mrpt::nav::TWaypointsRenderingParams()) const;
    void save(mrpt::config::CConfigFileBase& c, const std::string& s) const;
    void load(const mrpt::config::CConfigFileBase& c, const std::string& s);
};

Construction

TWaypointSequence()

Ctor with default values.

Methods

std::string getAsText() const

Gets navigation params as a human-readable format.

void getAsOpenglVisualization(mrpt::viz::CSetOfObjects& obj, const mrpt::nav::TWaypointsRenderingParams& params = mrpt::nav::TWaypointsRenderingParams()) const

Renders the sequence of waypoints (previous contents of obj are cleared)

void save(mrpt::config::CConfigFileBase& c, const std::string& s) const

Saves waypoints to a config file section.

void load(const mrpt::config::CConfigFileBase& c, const std::string& s)

Loads waypoints to a config file section.