Detailed Description

A single waypoint within TWaypointSequence.

Definition at line 26 of file TWaypoint.h.

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

Inheritance diagram for mrpt::nav::TWaypoint:

Public Member Functions
bool	isValid () const
	Check whether all the minimum mandatory fields have been filled by the user. More...

	TWaypoint ()
	Ctor with default values. More...

	TWaypoint (double target_x, double target_y, double allowed_distance, bool allow_skip=true, double target_heading_=INVALID_NUM, double speed_ratio_=1.0)

std::string	getAsText () const
	get in human-readable format More...

Public Attributes
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. Optional, use only for submapping applications. 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
	[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 double	INVALID_NUM = std::numeric_limits<double>::max()
	The default value of fields (used to detect non-set values) More...

Constructor & Destructor Documentation

◆ TWaypoint() [1/2]

TWaypoint::TWaypoint ( )

Ctor with default values.

Definition at line 25 of file TWaypoint.cpp.

◆ TWaypoint() [2/2]

TWaypoint::TWaypoint	(	double	target_x,
		double	target_y,
		double	allowed_distance,
		bool	allow_skip = `true`,
		double	target_heading_ = `INVALID_NUM`,
		double	speed_ratio_ = `1.0`
	)

Definition at line 35 of file TWaypoint.cpp.

Member Function Documentation

◆ getAsText()

std::string TWaypoint::getAsText ( ) const

get in human-readable format

Definition at line 53 of file TWaypoint.cpp.

References allow_skip, allowed_distance, mrpt::mrpt::format(), INVALID_NUM, mrpt::mrpt::utils::RAD2DEG(), speed_ratio, target, target_heading, mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

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

◆ isValid()

bool TWaypoint::isValid ( ) const

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

Definition at line 45 of file TWaypoint.cpp.

References allowed_distance, INVALID_NUM, target, mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

Member Data Documentation

◆ allow_skip

bool mrpt::nav::TWaypoint::allow_skip

[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 52 of file TWaypoint.h.

Referenced by getAsText().

◆ allowed_distance

double mrpt::nav::TWaypoint::allowed_distance

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

Definition at line 38 of file TWaypoint.h.

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

◆ INVALID_NUM

const double TWaypoint::INVALID_NUM = std::numeric_limits<double>::max()

static

The default value of fields (used to detect non-set values)

Definition at line 59 of file TWaypoint.h.

Referenced by mrpt::nav::TWaypointSequence::getAsOpenglVisualization(), mrpt::nav::TWaypointStatusSequence::getAsOpenglVisualization(), getAsText(), isValid(), mrpt::nav::TWaypointSequence::load(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

◆ speed_ratio

double mrpt::nav::TWaypoint::speed_ratio

(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 45 of file TWaypoint.h.

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

◆ target

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

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

See also: target_heading

Definition at line 30 of file TWaypoint.h.

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

◆ target_frame_id

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

(Default="map") Frame ID in which target is given. Optional, use only for submapping applications.

Definition at line 36 of file TWaypoint.h.

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

◆ target_heading

double mrpt::nav::TWaypoint::target_heading

[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.