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

Detailed Description

Dynamic state that may affect the PTG path parameterization.

nav_reactive

Definition at line 169 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::serialization::CArchive &out) const
void	readFromStream (mrpt::serialization::CArchive &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 {0}
	Desired relative speed [0,1] at target. More...

Constructor & Destructor Documentation

TNavDynamicState()

CParameterizedTrajectoryGenerator::TNavDynamicState::TNavDynamicState

(

)

Definition at line 575 of file CParameterizedTrajectoryGenerator.cpp.

Member Function Documentation

operator!=()

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

inline

Definition at line 180 of file CParameterizedTrajectoryGenerator.h.

operator==()

bool CParameterizedTrajectoryGenerator::TNavDynamicState::operator==

(

const TNavDynamicState &

o

)

const

Definition at line 581 of file CParameterizedTrajectoryGenerator.cpp.

References curVelLocal, relTarget, and targetRelSpeed.

readFromStream()

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

(

mrpt::serialization::CArchive &

in

)

Definition at line 598 of file CParameterizedTrajectoryGenerator.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

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

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writeToStream()

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

(

mrpt::serialization::CArchive &

out

)

const

Definition at line 589 of file CParameterizedTrajectoryGenerator.cpp.

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

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Member Data Documentation

curVelLocal

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

Current vehicle velocity (local frame of reference)

Definition at line 172 of file CParameterizedTrajectoryGenerator.h.

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

relTarget

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

Current relative target location.

Definition at line 174 of file CParameterizedTrajectoryGenerator.h.

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

targetRelSpeed

double mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::targetRelSpeed {0}

Desired relative speed [0,1] at target.

Default=0

Definition at line 176 of file CParameterizedTrajectoryGenerator.h.

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