mrpt::nav::CLogFileRecord::TInfoPerPTG Struct Reference

Detailed Description

The structure used to store all relevant information about each transformation into TP-Space.

Definition at line 43 of file CLogFileRecord.h.

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

Public Attributes
std::string	PTG_desc
	A short description for the applied PTG. More...
mrpt::math::CVectorFloat	TP_Obstacles
	Distances until obstacles, in "pseudometers", first index for -PI direction, last one for PI direction. More...
std::vector< mrpt::math::TPoint2D >	TP_Targets
	Target(s) location in TP-Space. More...
mrpt::math::TPoint2D	TP_Robot
	Robot location in TP-Space: normally (0,0), except during "NOP cmd vel" steps. More...
double	timeForTPObsTransformation
double	timeForHolonomicMethod
	Time, in seconds. More...
double	desiredDirection
double	desiredSpeed
	The results from the holonomic method. More...
double	evaluation
	Final score of this candidate. More...
mrpt::utils::TParametersDouble	evalFactors
	Evaluation factors. More...
CHolonomicLogFileRecordPtr	HLFR
	Other useful info about holonomic method execution. More...
mrpt::nav::CParameterizedTrajectoryGeneratorPtr	ptg
	Only for the FIRST entry in a log file, this will contain a copy of the PTG with trajectories, suitable to render trajectories, etc. More...
mrpt::nav::ClearanceDiagram	clearance
	Clearance for each path. More...

Member Data Documentation

clearance

mrpt::nav::ClearanceDiagram mrpt::nav::CLogFileRecord::TInfoPerPTG::clearance

Clearance for each path.

Definition at line 55 of file CLogFileRecord.h.

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

desiredDirection

double mrpt::nav::CLogFileRecord::TInfoPerPTG::desiredDirection

Definition at line 50 of file CLogFileRecord.h.

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

desiredSpeed

double mrpt::nav::CLogFileRecord::TInfoPerPTG::desiredSpeed

The results from the holonomic method.

Definition at line 50 of file CLogFileRecord.h.

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

evalFactors

mrpt::utils::TParametersDouble mrpt::nav::CLogFileRecord::TInfoPerPTG::evalFactors

Evaluation factors.

Definition at line 52 of file CLogFileRecord.h.

evaluation

double mrpt::nav::CLogFileRecord::TInfoPerPTG::evaluation

Final score of this candidate.

Definition at line 51 of file CLogFileRecord.h.

HLFR

CHolonomicLogFileRecordPtr mrpt::nav::CLogFileRecord::TInfoPerPTG::HLFR

Other useful info about holonomic method execution.

Definition at line 53 of file CLogFileRecord.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), and mrpt::nav::CAbstractPTGBasedReactive::STEP8_GenerateLogRecord().

ptg

mrpt::nav::CParameterizedTrajectoryGeneratorPtr mrpt::nav::CLogFileRecord::TInfoPerPTG::ptg

Only for the FIRST entry in a log file, this will contain a copy of the PTG with trajectories, suitable to render trajectories, etc.

Definition at line 54 of file CLogFileRecord.h.

PTG_desc

std::string mrpt::nav::CLogFileRecord::TInfoPerPTG::PTG_desc

A short description for the applied PTG.

Definition at line 45 of file CLogFileRecord.h.

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

timeForHolonomicMethod

double mrpt::nav::CLogFileRecord::TInfoPerPTG::timeForHolonomicMethod

Time, in seconds.

Definition at line 49 of file CLogFileRecord.h.

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

timeForTPObsTransformation

double mrpt::nav::CLogFileRecord::TInfoPerPTG::timeForTPObsTransformation

Definition at line 49 of file CLogFileRecord.h.

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

TP_Obstacles

mrpt::math::CVectorFloat mrpt::nav::CLogFileRecord::TInfoPerPTG::TP_Obstacles

Distances until obstacles, in "pseudometers", first index for -PI direction, last one for PI direction.

Definition at line 46 of file CLogFileRecord.h.

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

TP_Robot

mrpt::math::TPoint2D mrpt::nav::CLogFileRecord::TInfoPerPTG::TP_Robot

Robot location in TP-Space: normally (0,0), except during "NOP cmd vel" steps.

Definition at line 48 of file CLogFileRecord.h.

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

TP_Targets

std::vector<mrpt::math::TPoint2D> mrpt::nav::CLogFileRecord::TInfoPerPTG::TP_Targets

Target(s) location in TP-Space.

Definition at line 47 of file CLogFileRecord.h.

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