MRPT  1.9.9
TCandidateMovementPTG.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 #pragma once
10 
12 
13 namespace mrpt::nav
14 {
15 class CParameterizedTrajectoryGenerator;
16 
17 /** Stores a candidate movement in TP-Space-based navigation.
18  *\sa CReactiveNavigationSystem, CReactiveNavigationSystem3D
19  * \ingroup nav_reactive
20  */
22 {
23  /** The associated PTG. nullptr if not applicable / undefined. */
25  /** TP-Space movement direction. Within [-2*PI,+2*PI] */
26  double direction{0};
27  /** TP-Space movement speed, normalized to [0,1]. A negative number means
28  * this candidate movement is unfeasible and must be discarded. */
29  double speed{0};
30  /** Default to 0, they can be used to reflect a robot starting at a position
31  * not at (0,0). Used in "PTG continuation" */
33 
34  /** List of properties. May vary for different user implementations of
35  * scores and/or different multi-objective optimizers.
36  * See list of available variable names in docs for
37  * mrpt::nav::CAbstractPTGBasedReactive
38  */
40 
42 };
43 } // namespace mrpt::nav
mrpt::system::TParameters< double > props
List of properties.
CParameterizedTrajectoryGenerator * PTG
The associated PTG.
This is the base class for any user-defined PTG.
double speed
TP-Space movement speed, normalized to [0,1].
double direction
TP-Space movement direction.
double starting_robot_dir
Default to 0, they can be used to reflect a robot starting at a position not at (0,0).
Stores a candidate movement in TP-Space-based navigation.



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