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mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions Struct Reference

Detailed Description

Options for renderMoveTree()

Definition at line 154 of file PlannerRRT_common.h.

#include <mrpt/nav/planners/PlannerRRT_common.h>

Public Member Functions

 TRenderPlannedPathOptions ()
 
virtual ~TRenderPlannedPathOptions ()
 

Public Attributes

mrpt::graphs::TNodeID highlight_path_to_node_id
 Highlight the path from root towards this node (usually, the target) More...
 
size_t draw_shape_decimation
 (Default=1) Draw one out of N vehicle shapes along the highlighted path More...
 
const mrpt::poses::CPose2Dx_rand_pose
 
const mrpt::poses::CPose2Dx_nearest_pose
 
const mrpt::maps::CPointsMaplocal_obs_from_nearest_pose
 
const mrpt::poses::CPose2Dnew_state
 
double xyzcorners_scale
 A scale factor to all XYZ corners (default=0, means auto determien from vehicle shape) More...
 
bool highlight_last_added_edge
 (Default=false) More...
 
double ground_xy_grid_frequency
 (Default=10 meters) Set to 0 to disable More...
 
mrpt::img::TColor color_vehicle
 Robot color. More...
 
mrpt::img::TColor color_obstacles
 obstacles color More...
 
mrpt::img::TColor color_local_obstacles
 local obstacles color More...
 
mrpt::img::TColor color_start
 START indication color. More...
 
mrpt::img::TColor color_goal
 END indication color. More...
 
mrpt::img::TColor color_ground_xy_grid
 
mrpt::img::TColor color_normal_edge
 
mrpt::img::TColor color_last_edge
 
mrpt::img::TColor color_optimal_edge
 
float width_last_edge
 
float width_normal_edge
 
float width_optimal_edge
 
int point_size_obstacles
 
int point_size_local_obstacles
 
double vehicle_shape_z
 (Default=0.01) Height (Z coordinate) for the vehicle shapes. More...
 
double vehicle_line_width
 Robot line width for visualization - default 2.0. More...
 
bool draw_obstacles
 (Default=true) More...
 
std::string log_msg
 
mrpt::math::TPoint3D log_msg_position
 
double log_msg_scale
 

Constructor & Destructor Documentation

◆ TRenderPlannedPathOptions()

mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::TRenderPlannedPathOptions ( )
inline

Definition at line 208 of file PlannerRRT_common.h.

◆ ~TRenderPlannedPathOptions()

virtual mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::~TRenderPlannedPathOptions ( )
inlinevirtual

Definition at line 240 of file PlannerRRT_common.h.

Member Data Documentation

◆ color_goal

mrpt::img::TColor mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::color_goal

END indication color.

Definition at line 185 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree().

◆ color_ground_xy_grid

mrpt::img::TColor mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::color_ground_xy_grid

◆ color_last_edge

mrpt::img::TColor mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::color_last_edge

◆ color_local_obstacles

mrpt::img::TColor mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::color_local_obstacles

local obstacles color

Definition at line 181 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree().

◆ color_normal_edge

mrpt::img::TColor mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::color_normal_edge

◆ color_obstacles

mrpt::img::TColor mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::color_obstacles

obstacles color

Definition at line 179 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree().

◆ color_optimal_edge

mrpt::img::TColor mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::color_optimal_edge

◆ color_start

mrpt::img::TColor mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::color_start

START indication color.

Definition at line 183 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree().

◆ color_vehicle

mrpt::img::TColor mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::color_vehicle

Robot color.

Definition at line 177 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree().

◆ draw_obstacles

bool mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::draw_obstacles

(Default=true)

Definition at line 202 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree().

◆ draw_shape_decimation

size_t mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::draw_shape_decimation

(Default=1) Draw one out of N vehicle shapes along the highlighted path

Definition at line 161 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree().

◆ ground_xy_grid_frequency

double mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::ground_xy_grid_frequency

(Default=10 meters) Set to 0 to disable

Definition at line 174 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree(), and mrpt::nav::PlannerRRT_SE2_TPS::solve().

◆ highlight_last_added_edge

bool mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::highlight_last_added_edge

◆ highlight_path_to_node_id

mrpt::graphs::TNodeID mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::highlight_path_to_node_id

Highlight the path from root towards this node (usually, the target)

Definition at line 158 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree(), and mrpt::nav::PlannerRRT_SE2_TPS::solve().

◆ local_obs_from_nearest_pose

const mrpt::maps::CPointsMap* mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::local_obs_from_nearest_pose

◆ log_msg

std::string mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::log_msg

◆ log_msg_position

mrpt::math::TPoint3D mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::log_msg_position

◆ log_msg_scale

double mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::log_msg_scale

◆ new_state

const mrpt::poses::CPose2D* mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::new_state

◆ point_size_local_obstacles

int mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::point_size_local_obstacles

◆ point_size_obstacles

int mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::point_size_obstacles

◆ vehicle_line_width

double mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::vehicle_line_width

Robot line width for visualization - default 2.0.

Definition at line 200 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree().

◆ vehicle_shape_z

double mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::vehicle_shape_z

(Default=0.01) Height (Z coordinate) for the vehicle shapes.

Helps making it in the "first plane"

Definition at line 198 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree().

◆ width_last_edge

float mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::width_last_edge

◆ width_normal_edge

float mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::width_normal_edge

◆ width_optimal_edge

float mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::width_optimal_edge

◆ x_nearest_pose

const mrpt::poses::CPose2D* mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::x_nearest_pose

◆ x_rand_pose

const mrpt::poses::CPose2D* mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::x_rand_pose

◆ xyzcorners_scale

double mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::xyzcorners_scale

A scale factor to all XYZ corners (default=0, means auto determien from vehicle shape)

Definition at line 170 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree().




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