Detailed Description
A waypoint with an execution status.
Definition at line 110 of file TWaypoint.h.
#include <mrpt/nav/reactive/TWaypoint.h>
Public Member Functions | |
| TWaypointStatus () | |
| TWaypointStatus & | operator= (const TWaypoint &wp) |
| std::string | getAsText () const |
| Gets navigation params as a human-readable format. More... | |
| bool | isValid () const |
| Check whether all the minimum mandatory fields have been filled by the user. More... | |
Public Attributes | |
| bool | reached |
| Whether this waypoint has been reached already (to within the allowed distance as per user specifications) or skipped. More... | |
| bool | skipped |
If reached==true this boolean tells whether the waypoint was physically reached (false) or marked as reached because it was skipped (true). More... | |
| mrpt::system::TTimeStamp | timestamp_reach |
| Timestamp of when this waypoint was reached. More... | |
| int | counter_seen_reachable |
| (Initialized to 0 automatically) How many times this waypoint has been seen as "reachable" before it being the current active waypoint. More... | |
| mrpt::math::TPoint2D | target |
| [Must be set by the user] Coordinates of desired target location (world/global coordinates). More... | |
| double | target_heading |
| [Default=any heading] Optionally, set to the desired orientation [radians] of the robot at this waypoint. More... | |
| std::string | target_frame_id |
| (Default="map") Frame ID in which target is given. More... | |
| double | allowed_distance |
| [Must be set by the user] How close should the robot get to this waypoint for it to be considered reached. More... | |
| bool | allow_skip |
| [Default=true] Whether it is allowed to the navigator to proceed to a more advanced waypoint in the sequence if it determines that it is easier to skip this one (e.g. More... | |
Static Public Attributes | |
| static const int | INVALID_NUM {-100000} |
| The default value of fields (used to detect non-set values) More... | |
Constructor & Destructor Documentation
◆ TWaypointStatus()
| TWaypointStatus::TWaypointStatus | ( | ) |
Definition at line 90 of file TWaypoint.cpp.
Member Function Documentation
◆ getAsText()
| std::string TWaypointStatus::getAsText | ( | ) | const |
Gets navigation params as a human-readable format.
Definition at line 102 of file TWaypoint.cpp.
References mrpt::format(), mrpt::nav::TWaypoint::getAsText(), and reached.
Referenced by mrpt::nav::CWaypointsNavigator::checkHasReachedTarget().
◆ isValid()
|
inherited |
Check whether all the minimum mandatory fields have been filled by the user.
Definition at line 42 of file TWaypoint.cpp.
References mrpt::nav::TWaypoint::allowed_distance, mrpt::nav::TWaypoint::INVALID_NUM, mrpt::nav::TWaypoint::target, mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.
◆ operator=()
| TWaypointStatus & TWaypointStatus::operator= | ( | const TWaypoint & | wp | ) |
Definition at line 97 of file TWaypoint.cpp.
Member Data Documentation
◆ allow_skip
|
inherited |
[Default=true] Whether it is allowed to the navigator to proceed to a more advanced waypoint in the sequence if it determines that it is easier to skip this one (e.g.
it seems blocked by dynamic obstacles). This value is ignored for the last waypoint in a sequence, since it is always considered to be the ultimate goal and hence not subject to be skipped.
Definition at line 53 of file TWaypoint.h.
Referenced by mrpt::nav::TWaypoint::getAsText().
◆ allowed_distance
|
inherited |
[Must be set by the user] How close should the robot get to this waypoint for it to be considered reached.
Definition at line 43 of file TWaypoint.h.
Referenced by mrpt::nav::TWaypoint::getAsText(), mrpt::nav::TWaypoint::isValid(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().
◆ counter_seen_reachable
| int mrpt::nav::TWaypointStatus::counter_seen_reachable |
(Initialized to 0 automatically) How many times this waypoint has been seen as "reachable" before it being the current active waypoint.
Definition at line 124 of file TWaypoint.h.
◆ INVALID_NUM
|
staticinherited |
The default value of fields (used to detect non-set values)
Definition at line 67 of file TWaypoint.h.
Referenced by mrpt::nav::TWaypointSequence::getAsOpenglVisualization(), mrpt::nav::TWaypointStatusSequence::getAsOpenglVisualization(), mrpt::nav::TWaypoint::getAsText(), mrpt::nav::TWaypoint::isValid(), mrpt::nav::TWaypointSequence::load(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().
◆ reached
| bool mrpt::nav::TWaypointStatus::reached |
Whether this waypoint has been reached already (to within the allowed distance as per user specifications) or skipped.
Definition at line 114 of file TWaypoint.h.
Referenced by mrpt::nav::CWaypointsNavigator::checkHasReachedTarget(), and getAsText().
◆ skipped
| bool mrpt::nav::TWaypointStatus::skipped |
If reached==true this boolean tells whether the waypoint was physically reached (false) or marked as reached because it was skipped (true).
Definition at line 118 of file TWaypoint.h.
◆ target
|
inherited |
[Must be set by the user] Coordinates of desired target location (world/global coordinates).
- See also
- target_heading
Definition at line 29 of file TWaypoint.h.
Referenced by mrpt::nav::TWaypoint::getAsText(), mrpt::nav::TWaypoint::isValid(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().
◆ target_frame_id
|
inherited |
(Default="map") Frame ID in which target is given.
Optional, use only for submapping applications.
Definition at line 39 of file TWaypoint.h.
Referenced by mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().
◆ target_heading
|
inherited |
[Default=any heading] Optionally, set to the desired orientation [radians] of the robot at this waypoint.
Some navigator implementations may ignore this preferred heading anyway, read the docs of each implementation to find it out.
Definition at line 35 of file TWaypoint.h.
Referenced by mrpt::nav::TWaypoint::getAsText(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().
◆ timestamp_reach
| mrpt::system::TTimeStamp mrpt::nav::TWaypointStatus::timestamp_reach |
Timestamp of when this waypoint was reached.
(Default=INVALID_TIMESTAMP means not reached so far)
Definition at line 121 of file TWaypoint.h.