TCandidateMovementPTG.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/utils/TParameters.h>
#include <mrpt/nav/link_pragmas.h>

namespace mrpt
{
        namespace nav
        {
                class CParameterizedTrajectoryGenerator;

                /** Stores a candidate movement in TP-Space-based navigation.
                *\sa CReactiveNavigationSystem, CReactiveNavigationSystem3D
                *  \ingroup nav_reactive
                */
                struct NAV_IMPEXP TCandidateMovementPTG
                {
                        CParameterizedTrajectoryGenerator *PTG; //!< The associated PTG. nullptr if not applicable / undefined.
                        double direction;    //!< TP-Space movement direction. Within [-2*PI,+2*PI]
                        double speed;        //!< TP-Space movement speed, normalized to [0,1]. A negative number means this candidate movement is unfeasible and must be discarded.
                        double starting_robot_dir, starting_robot_dist; //!< Default to 0, they can be used to reflect a robot starting at a position not at (0,0). Used in "PTG continuation"

                        /** List of properties. May vary for different user implementations of scores and/or different multi-objective optimizers.
                        * See list of available variable names in docs for mrpt::nav::CAbstractPTGBasedReactive
                        */
                        mrpt::utils::TParameters<double>  props;

                        TCandidateMovementPTG();
                };

        }
}