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mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd Struct Reference

Detailed Description

Definition at line 439 of file CAbstractPTGBasedReactive.h.

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

Public Member Functions

bool isValid () const
 
void reset ()
 
 TSentVelCmd ()
 

Public Attributes

int ptg_index
 0-based index of used PTG More...
 
int ptg_alpha_index
 Path index for selected PTG. More...
 
mrpt::system::TTimeStamp tim_send_cmd_vel
 Timestamp of when the cmd was sent. More...
 
TRobotPoseVel poseVel
 Robot pose & velocities and timestamp of when it was queried. More...
 
double colfreedist_move_k
 TP-Obstacles in the move direction at the instant of picking this movement. More...
 
bool was_slowdown
 
double speed_scale
 [0,1] scale of the raw cmd_vel as generated by the PTG More...
 
double original_holo_eval
 
CParameterizedTrajectoryGenerator::TNavDynamicState ptg_dynState
 

Constructor & Destructor Documentation

◆ TSentVelCmd()

CAbstractPTGBasedReactive::TSentVelCmd::TSentVelCmd ( )

Definition at line 1497 of file CAbstractPTGBasedReactive.cpp.

References reset().

Member Function Documentation

◆ isValid()

bool CAbstractPTGBasedReactive::TSentVelCmd::isValid ( ) const

◆ reset()

void CAbstractPTGBasedReactive::TSentVelCmd::reset ( void  )

Member Data Documentation

◆ colfreedist_move_k

double mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::colfreedist_move_k

TP-Obstacles in the move direction at the instant of picking this movement.

Definition at line 451 of file CAbstractPTGBasedReactive.h.

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

◆ original_holo_eval

double mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::original_holo_eval

◆ poseVel

TRobotPoseVel mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::poseVel

Robot pose & velocities and timestamp of when it was queried.

Definition at line 448 of file CAbstractPTGBasedReactive.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), and mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep().

◆ ptg_alpha_index

int mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::ptg_alpha_index

◆ ptg_dynState

CParameterizedTrajectoryGenerator::TNavDynamicState mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::ptg_dynState

◆ ptg_index

int mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::ptg_index

◆ speed_scale

double mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::speed_scale

[0,1] scale of the raw cmd_vel as generated by the PTG

Definition at line 454 of file CAbstractPTGBasedReactive.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), and mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep().

◆ tim_send_cmd_vel

mrpt::system::TTimeStamp mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::tim_send_cmd_vel

◆ was_slowdown

bool mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::was_slowdown



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