mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState Struct Reference

Detailed Description

Dynamic state that may affect the PTG path parameterization.

Definition at line 123 of file CParameterizedTrajectoryGenerator.h.

#include <mrpt/nav/tpspace/CParameterizedTrajectoryGenerator.h>

Public Member Functions
	TNavDynamicState ()
bool	operator== (const TNavDynamicState &o) const
bool	operator!= (const TNavDynamicState &o) const
void	writeToStream (mrpt::utils::CStream &out) const
void	readFromStream (mrpt::utils::CStream &in)

Public Attributes
mrpt::math::TTwist2D	curVelLocal
	Current vehicle velocity (local frame of reference) More...
mrpt::math::TPose2D	relTarget
	Current relative target location. More...
double	targetRelSpeed
	Desired relative speed [0,1] at target. Default=0. More...

Constructor & Destructor Documentation

TNavDynamicState()

CParameterizedTrajectoryGenerator::TNavDynamicState::TNavDynamicState

(

)

Definition at line 464 of file CParameterizedTrajectoryGenerator.cpp.

Member Function Documentation

operator!=()

bool mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::operator!= ( const TNavDynamicState &  o ) const

inline

Definition at line 131 of file CParameterizedTrajectoryGenerator.h.

operator==()

bool CParameterizedTrajectoryGenerator::TNavDynamicState::operator==

(

const TNavDynamicState &

o

)

const

Definition at line 471 of file CParameterizedTrajectoryGenerator.cpp.

References curVelLocal, relTarget, and targetRelSpeed.

readFromStream()

void mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::readFromStream

(

mrpt::utils::CStream &

in

)

Definition at line 488 of file CParameterizedTrajectoryGenerator.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and version.

Referenced by mrpt::nav::CLogFileRecord::readFromStream().

writeToStream()

void mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::writeToStream

(

mrpt::utils::CStream &

out

)

const

Definition at line 480 of file CParameterizedTrajectoryGenerator.cpp.

References version.

Referenced by mrpt::nav::CLogFileRecord::writeToStream().

Member Data Documentation

curVelLocal

mrpt::math::TTwist2D mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::curVelLocal

Current vehicle velocity (local frame of reference)

Definition at line 125 of file CParameterizedTrajectoryGenerator.h.

Referenced by mrpt::nav::CParameterizedTrajectoryGenerator::loadFromConfigFile(), operator==(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::nav::CLogFileRecord::readFromStream(), and mrpt::nav::CParameterizedTrajectoryGenerator::saveToConfigFile().

relTarget

mrpt::math::TPose2D mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::relTarget

Current relative target location.

Definition at line 126 of file CParameterizedTrajectoryGenerator.h.

Referenced by mrpt::nav::CParameterizedTrajectoryGenerator::loadFromConfigFile(), operator==(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::nav::CLogFileRecord::readFromStream(), mrpt::nav::CParameterizedTrajectoryGenerator::saveToConfigFile(), and mrpt::nav::CParameterizedTrajectoryGenerator::updateNavDynamicState().

targetRelSpeed

double mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::targetRelSpeed

Desired relative speed [0,1] at target. Default=0.

Definition at line 127 of file CParameterizedTrajectoryGenerator.h.

Referenced by mrpt::nav::CParameterizedTrajectoryGenerator::loadFromConfigFile(), operator==(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::nav::CParameterizedTrajectoryGenerator::saveToConfigFile(), and mrpt::nav::CParameterizedTrajectoryGenerator::updateNavDynamicState().