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mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput Struct Reference

Detailed Description

Input parameters for CAbstractHolonomicReactiveMethod::navigate()

Definition at line 38 of file CAbstractHolonomicReactiveMethod.h.

#include <mrpt/nav/holonomic/CAbstractHolonomicReactiveMethod.h>

Public Member Functions

 NavInput ()
 

Public Attributes

std::vector< double > obstacles
 Distance to obstacles in polar coordinates, relative to the robot. More...
 
std::vector< mrpt::math::TPoint2Dtargets
 Relative location (x,y) of target point(s). More...
 
double maxRobotSpeed
 Maximum robot speed, in the same units than obstacles, per second. More...
 
double maxObstacleDist
 Maximum expected value to be found in obstacles. More...
 
const mrpt::nav::ClearanceDiagramclearance
 The computed clearance for each direction (optional in some implementations). More...
 

Constructor & Destructor Documentation

◆ NavInput()

CAbstractHolonomicReactiveMethod::NavInput::NavInput ( )

Definition at line 73 of file CAbstractHolonomicReactiveMethod.cpp.

Member Data Documentation

◆ clearance

const mrpt::nav::ClearanceDiagram* mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::clearance

The computed clearance for each direction (optional in some implementations).

Leave to default (NULL) if not needed.

Definition at line 59 of file CAbstractHolonomicReactiveMethod.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CHolonomicFullEval::evalSingleTarget(), and mrpt::nav::CHolonomicFullEval::navigate().

◆ maxObstacleDist

double mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::maxObstacleDist

Maximum expected value to be found in obstacles.

Typically, values in obstacles larger or equal to this value mean there is no visible obstacle in that direction.

Definition at line 56 of file CAbstractHolonomicReactiveMethod.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), and mrpt::nav::CHolonomicFullEval::navigate().

◆ maxRobotSpeed

double mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::maxRobotSpeed

◆ obstacles

std::vector<double> mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::obstacles

Distance to obstacles in polar coordinates, relative to the robot.

First index refers to -PI direction, and last one to +PI direction. Distances can be dealed as "meters", although when used inside the PTG-based navigation system, they are "pseudometers", normalized to the range [0,1].

Definition at line 46 of file CAbstractHolonomicReactiveMethod.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CHolonomicFullEval::evalSingleTarget(), mrpt::nav::CHolonomicVFF::navigate(), mrpt::nav::CHolonomicND::navigate(), and mrpt::nav::CHolonomicFullEval::navigate().

◆ targets

std::vector<mrpt::math::TPoint2D> mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::targets

Relative location (x,y) of target point(s).

In the same units than obstacles. If many, last targets have higher priority.

Definition at line 49 of file CAbstractHolonomicReactiveMethod.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CHolonomicFullEval::evalSingleTarget(), mrpt::nav::CHolonomicVFF::navigate(), mrpt::nav::CHolonomicND::navigate(), and mrpt::nav::CHolonomicFullEval::navigate().




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