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mrpt::nav::CLogFileRecord::TInfoPerPTG Struct Reference

Detailed Description

The structure used to store all relevant information about each transformation into TP-Space.

Definition at line 43 of file CLogFileRecord.h.

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

Public Attributes

std::string PTG_desc
 A short description for the applied PTG. More...
 
mrpt::math::CVectorFloat TP_Obstacles
 Distances until obstacles, in "pseudometers", first index for -PI direction, last one for PI direction. More...
 
std::vector< mrpt::math::TPoint2DTP_Targets
 Target(s) location in TP-Space. More...
 
mrpt::math::TPoint2D TP_Robot
 Robot location in TP-Space: normally (0,0), except during "NOP cmd vel" steps. More...
 
double timeForTPObsTransformation
 Time, in seconds. More...
 
double timeForHolonomicMethod
 
double desiredDirection
 The results from the holonomic method. More...
 
double desiredSpeed
 
double evaluation
 Final score of this candidate. More...
 
mrpt::system::TParametersDouble evalFactors
 Evaluation factors. More...
 
CHolonomicLogFileRecord::Ptr HLFR
 Other useful info about holonomic method execution. More...
 
mrpt::nav::CParameterizedTrajectoryGenerator::Ptr ptg
 Only for the FIRST entry in a log file, this will contain a copy of the PTG with trajectories, suitable to render trajectories, etc. More...
 
mrpt::nav::ClearanceDiagram clearance
 Clearance for each path. More...
 

Member Data Documentation

◆ clearance

mrpt::nav::ClearanceDiagram mrpt::nav::CLogFileRecord::TInfoPerPTG::clearance

Clearance for each path.

Definition at line 69 of file CLogFileRecord.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate().

◆ desiredDirection

double mrpt::nav::CLogFileRecord::TInfoPerPTG::desiredDirection

The results from the holonomic method.

Definition at line 58 of file CLogFileRecord.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate().

◆ desiredSpeed

double mrpt::nav::CLogFileRecord::TInfoPerPTG::desiredSpeed

◆ evalFactors

mrpt::system::TParametersDouble mrpt::nav::CLogFileRecord::TInfoPerPTG::evalFactors

Evaluation factors.

Definition at line 62 of file CLogFileRecord.h.

◆ evaluation

double mrpt::nav::CLogFileRecord::TInfoPerPTG::evaluation

Final score of this candidate.

Definition at line 60 of file CLogFileRecord.h.

◆ HLFR

CHolonomicLogFileRecord::Ptr mrpt::nav::CLogFileRecord::TInfoPerPTG::HLFR

Other useful info about holonomic method execution.

Definition at line 64 of file CLogFileRecord.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate().

◆ ptg

mrpt::nav::CParameterizedTrajectoryGenerator::Ptr mrpt::nav::CLogFileRecord::TInfoPerPTG::ptg

Only for the FIRST entry in a log file, this will contain a copy of the PTG with trajectories, suitable to render trajectories, etc.

Definition at line 67 of file CLogFileRecord.h.

◆ PTG_desc

std::string mrpt::nav::CLogFileRecord::TInfoPerPTG::PTG_desc

A short description for the applied PTG.

Definition at line 46 of file CLogFileRecord.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate().

◆ timeForHolonomicMethod

double mrpt::nav::CLogFileRecord::TInfoPerPTG::timeForHolonomicMethod

◆ timeForTPObsTransformation

double mrpt::nav::CLogFileRecord::TInfoPerPTG::timeForTPObsTransformation

Time, in seconds.

Definition at line 56 of file CLogFileRecord.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate().

◆ TP_Obstacles

mrpt::math::CVectorFloat mrpt::nav::CLogFileRecord::TInfoPerPTG::TP_Obstacles

Distances until obstacles, in "pseudometers", first index for -PI direction, last one for PI direction.

Definition at line 49 of file CLogFileRecord.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate().

◆ TP_Robot

mrpt::math::TPoint2D mrpt::nav::CLogFileRecord::TInfoPerPTG::TP_Robot

Robot location in TP-Space: normally (0,0), except during "NOP cmd vel" steps.

Definition at line 54 of file CLogFileRecord.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores().

◆ TP_Targets

std::vector<mrpt::math::TPoint2D> mrpt::nav::CLogFileRecord::TInfoPerPTG::TP_Targets

Target(s) location in TP-Space.

Definition at line 51 of file CLogFileRecord.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate().




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