struct mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams

Overview

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

struct TWaypointsNavigatorParams: public mrpt::config::CLoadableOptions
{
    // fields

    double max_distance_to_allow_skip_waypoint = -1.0;
    int min_timesteps_confirm_skip_waypoints = 1;
    double waypoint_angle_tolerance = mrpt::DEG2RAD(5.0);
    int multitarget_look_ahead = 0;
    double minimum_target_approach_per_step = 0.02;

    // construction

    TWaypointsNavigatorParams();

    // methods

    virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section);
    virtual void saveToConfigFile(mrpt::config::CConfigFileBase& target, const std::string& section) const;
};

Inherited Members

public:
    // methods

    virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section) = 0;
    void loadFromConfigFileName(const std::string& config_file, const std::string& section);
    virtual void saveToConfigFile(mrpt::config::CConfigFileBase& target, const std::string& section) const;
    void saveToConfigFileName(const std::string& config_file, const std::string& section) const;
    void dumpToConsole() const;
    virtual void dumpToTextStream(std::ostream& out) const;

Fields

double max_distance_to_allow_skip_waypoint = -1.0

In meters.

<0: unlimited

int min_timesteps_confirm_skip_waypoints = 1

How many times shall a future waypoint be seen as reachable to skip to it (Default: 1)

double waypoint_angle_tolerance = mrpt::DEG2RAD(5.0)

[rad] Angular error tolerance for waypoints with an assigned heading (Default: 5 deg)

int multitarget_look_ahead = 0

>=0 number of waypoints to forward to the underlying navigation engine, to ease obstacles avoidance when a waypoint is blocked (Default=0 : none).

double minimum_target_approach_per_step = 0.02

While within the waypoint allowed_distance radius, this is the minimum distance [m] to be reduced for each time step.

Once it is not, the waypoint will be marked as reached.

Methods

virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section)

This method load the options from a “.ini”-like file or memory-stored string list.

Only those parameters found in the given “section” and having the same name that the variable are loaded. Those not found in the file will stay with their previous values (usually the default values loaded at initialization). An example of an “.ini” file:

[section]
resolution    = 0.10   // blah blah...
modeSelection = 1      // 0=blah, 1=blah,...