Individual target info in CAbstractNavigator::TNavigationParamsBase and derived classes.
Definition at line 69 of file CAbstractNavigator.h.
#include <mrpt/nav/reactive/CAbstractNavigator.h>
Public Member Functions | |
TargetInfo () | |
std::string | getAsText () const |
Gets navigation params as a human-readable format. More... | |
bool | operator== (const TargetInfo &o) const |
bool | operator!= (const TargetInfo &o) const |
Public Attributes | |
mrpt::math::TPose2D | target_coords |
Coordinates of desired target location. More... | |
std::string | target_frame_id |
(Default="map") Frame ID in which target is given. More... | |
float | targetAllowedDistance |
(Default=0.5 meters) Allowed distance to target in order to end the navigation. More... | |
bool | targetIsRelative |
(Default=false) Whether the target coordinates are in global coordinates (false) or are relative to the current robot pose (true). More... | |
double | targetDesiredRelSpeed |
(Default=.05) Desired relative speed (wrt maximum speed), in range [0,1], of the vehicle at target. More... | |
bool | targetIsIntermediaryWaypoint |
CAbstractNavigator::TargetInfo::TargetInfo | ( | ) |
Definition at line 24 of file CAbstractNavigator.cpp.
std::string CAbstractNavigator::TargetInfo::getAsText | ( | ) | const |
Gets navigation params as a human-readable format.
Definition at line 35 of file CAbstractNavigator.cpp.
References mrpt::format().
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inline |
Definition at line 100 of file CAbstractNavigator.h.
bool mrpt::nav::CAbstractNavigator::TargetInfo::operator== | ( | const TargetInfo & | o | ) | const |
Definition at line 52 of file CAbstractNavigator.cpp.
References target_coords, target_frame_id, targetAllowedDistance, targetDesiredRelSpeed, targetIsIntermediaryWaypoint, and targetIsRelative.
mrpt::math::TPose2D mrpt::nav::CAbstractNavigator::TargetInfo::target_coords |
Coordinates of desired target location.
Heading may be ignored by some reactive implementations.
Definition at line 73 of file CAbstractNavigator.h.
Referenced by operator==(), run_rnav_test(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().
std::string mrpt::nav::CAbstractNavigator::TargetInfo::target_frame_id |
(Default="map") Frame ID in which target is given.
Optional, use only for submapping applications.
Definition at line 76 of file CAbstractNavigator.h.
Referenced by operator==(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().
float mrpt::nav::CAbstractNavigator::TargetInfo::targetAllowedDistance |
(Default=0.5 meters) Allowed distance to target in order to end the navigation.
Definition at line 79 of file CAbstractNavigator.h.
Referenced by operator==(), run_rnav_test(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().
double mrpt::nav::CAbstractNavigator::TargetInfo::targetDesiredRelSpeed |
(Default=.05) Desired relative speed (wrt maximum speed), in range [0,1], of the vehicle at target.
Holonomic nav methods will perform "slow down" approaching target only if this is "==.0". Intermediary values will be honored only by the higher-level navigator, based on straight-line Euclidean distances.
Definition at line 89 of file CAbstractNavigator.h.
Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), operator==(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().
bool mrpt::nav::CAbstractNavigator::TargetInfo::targetIsIntermediaryWaypoint |
Definition at line 90 of file CAbstractNavigator.h.
Referenced by operator==(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().
bool mrpt::nav::CAbstractNavigator::TargetInfo::targetIsRelative |
(Default=false) Whether the target coordinates are in global coordinates (false) or are relative to the current robot pose (true).
Definition at line 83 of file CAbstractNavigator.h.
Referenced by operator==(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().
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