struct mrpt::nav::CAbstractPTGBasedReactive::PTGTarget

Overview

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

struct PTGTarget
{
    // fields

    bool valid_TP = false;
    mrpt::math::TPose2D TP_Target;
    double target_alpha = 0;
    double target_dist = 0;
    int target_k = 0;

    // construction

    PTGTarget();
};

Fields

bool valid_TP = false

For each PTG, whether target falls into the PTG domain.

mrpt::math::TPose2D TP_Target

The Target, in TP-Space (x,y), plust its actual relative heading (phi) wrt to the current robot pose.

double target_alpha = 0

TP-Target.

int target_k = 0

The discrete version of target_alpha.