mrpt::nav::CWaypointsNavigator::TNavigationParamsWaypoints Struct Reference

Detailed Description

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

Definition at line 45 of file CWaypointsNavigator.h.

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

Inheritance diagram for mrpt::nav::CWaypointsNavigator::TNavigationParamsWaypoints:

Public Member Functions
virtual std::string	getAsText () const override
	Gets navigation params as a human-readable format. More...
virtual std::unique_ptr< TNavigationParams >	clone () const override

Public Attributes
std::vector< mrpt::nav::CAbstractNavigator::TargetInfo >	multiple_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::CWaypointsNavigator::TNavigationParamsWaypoints::clone ( ) const

inlineoverridevirtual

Reimplemented from mrpt::nav::CAbstractNavigator::TNavigationParams.

Reimplemented in mrpt::nav::CAbstractPTGBasedReactive::TNavigationParamsPTG.

Definition at line 56 of file CWaypointsNavigator.h.

getAsText()

std::string CWaypointsNavigator::TNavigationParamsWaypoints::getAsText ( ) const

overridevirtual

Gets navigation params as a human-readable format.

Reimplemented from mrpt::nav::CAbstractNavigator::TNavigationParams.

Reimplemented in mrpt::nav::CAbstractPTGBasedReactive::TNavigationParamsPTG.

Definition at line 19 of file CWaypointsNavigator.cpp.

References mrpt::format().

isEqual()

bool CWaypointsNavigator::TNavigationParamsWaypoints::isEqual ( const CAbstractNavigator::TNavigationParamsBase &  o ) const

overrideprotectedvirtual

Reimplemented from mrpt::nav::CAbstractNavigator::TNavigationParams.

Reimplemented in mrpt::nav::CAbstractPTGBasedReactive::TNavigationParamsPTG.

Definition at line 35 of file CWaypointsNavigator.cpp.

References mrpt::nav::CAbstractNavigator::TNavigationParams::isEqual().

Member Data Documentation

multiple_targets

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

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().

target

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

inherited

Navigation target.

Definition at line 121 of file CAbstractNavigator.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), run_rnav_test(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().