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mrpt::nav::CAbstractPTGBasedReactive::TNavigationParamsPTG Struct Reference

Detailed Description

The struct for configuring navigation requests to CAbstractPTGBasedReactive and derived classes.

Definition at line 102 of file CAbstractPTGBasedReactive.h.

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

Inheritance diagram for mrpt::nav::CAbstractPTGBasedReactive::TNavigationParamsPTG:
Inheritance graph

Public Member Functions

virtual std::string getAsText () const override
 Gets navigation params as a human-readable format. More...
 
virtual std::unique_ptr< TNavigationParamsclone () const override
 

Public Attributes

std::vector< size_t > restrict_PTG_indices
 (Default=empty) Optionally, a list of PTG indices can be sent such that the navigator will restrict itself to only employ those PTGs. More...
 
std::vector< mrpt::nav::CAbstractNavigator::TargetInfomultiple_targets
 If not empty, this will prevail over the base class single goal target. More...
 
TargetInfo target
 Navigation target. More...
 

Protected Member Functions

virtual bool isEqual (const CAbstractNavigator::TNavigationParamsBase &o) const override
 

Member Function Documentation

◆ clone()

virtual std::unique_ptr<TNavigationParams> mrpt::nav::CAbstractPTGBasedReactive::TNavigationParamsPTG::clone ( ) const
inlineoverridevirtual

◆ getAsText()

std::string CAbstractPTGBasedReactive::TNavigationParamsPTG::getAsText ( ) const
overridevirtual

Gets navigation params as a human-readable format.

Reimplemented from mrpt::nav::CWaypointsNavigator::TNavigationParamsWaypoints.

Definition at line 37 of file CAbstractPTGBasedReactive.cpp.

References mrpt::containers::sprintf_vector().

◆ isEqual()

bool CAbstractPTGBasedReactive::TNavigationParamsPTG::isEqual ( const CAbstractNavigator::TNavigationParamsBase o) const
overrideprotectedvirtual

Member Data Documentation

◆ multiple_targets

std::vector<mrpt::nav::CAbstractNavigator::TargetInfo> mrpt::nav::CWaypointsNavigator::TNavigationParamsWaypoints::multiple_targets
inherited

If not empty, this will prevail over the base class single goal target.

Semantic is: any of these targets will be good for heading the robot towards them, but the priority is for the latest ones in the sequence.

Definition at line 53 of file CWaypointsNavigator.h.

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

◆ restrict_PTG_indices

std::vector<size_t> mrpt::nav::CAbstractPTGBasedReactive::TNavigationParamsPTG::restrict_PTG_indices

(Default=empty) Optionally, a list of PTG indices can be sent such that the navigator will restrict itself to only employ those PTGs.

Definition at line 108 of file CAbstractPTGBasedReactive.h.

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

◆ target

TargetInfo mrpt::nav::CAbstractNavigator::TNavigationParams::target
inherited



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