mrpt::nav::TCandidateMovementPTG Struct Reference

Detailed Description

Stores a candidate movement in TP-Space-based navigation.

See also

CReactiveNavigationSystem, CReactiveNavigationSystem3D

Definition at line 24 of file TCandidateMovementPTG.h.

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

Public Member Functions
	TCandidateMovementPTG ()

Public Attributes
CParameterizedTrajectoryGenerator *	PTG
	The associated PTG. nullptr if not applicable / undefined. More...
double	direction
	TP-Space movement direction. Within [-2*PI,+2*PI]. More...
double	speed
	TP-Space movement speed, normalized to [0,1]. A negative number means this candidate movement is unfeasible and must be discarded. More...
double	starting_robot_dir
double	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". More...
mrpt::utils::TParameters< double >	props
	List of properties. More...

Constructor & Destructor Documentation

TCandidateMovementPTG()

TCandidateMovementPTG::TCandidateMovementPTG

(

)

Definition at line 16 of file TCandidateMovementPTG.cpp.

Member Data Documentation

direction

double mrpt::nav::TCandidateMovementPTG::direction

TP-Space movement direction. Within [-2*PI,+2*PI].

Definition at line 27 of file TCandidateMovementPTG.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), mrpt::nav::CAbstractPTGBasedReactive::generate_vel_cmd(), and mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep().

props

mrpt::utils::TParameters<double> mrpt::nav::TCandidateMovementPTG::props

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

Definition at line 34 of file TCandidateMovementPTG.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), and mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep().

PTG

CParameterizedTrajectoryGenerator* mrpt::nav::TCandidateMovementPTG::PTG

The associated PTG. nullptr if not applicable / undefined.

Definition at line 26 of file TCandidateMovementPTG.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), mrpt::nav::CAbstractPTGBasedReactive::generate_vel_cmd(), and mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep().

speed

double mrpt::nav::TCandidateMovementPTG::speed

TP-Space movement speed, normalized to [0,1]. A negative number means this candidate movement is unfeasible and must be discarded.

Definition at line 28 of file TCandidateMovementPTG.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), mrpt::nav::CAbstractPTGBasedReactive::generate_vel_cmd(), and mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep().

starting_robot_dir

double mrpt::nav::TCandidateMovementPTG::starting_robot_dir

Definition at line 29 of file TCandidateMovementPTG.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores().

starting_robot_dist

double mrpt::nav::TCandidateMovementPTG::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".

Definition at line 29 of file TCandidateMovementPTG.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores().