MRPT
2.0.0
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Input parameters for CAbstractHolonomicReactiveMethod::navigate()
Definition at line 35 of file CAbstractHolonomicReactiveMethod.h.
#include <mrpt/nav/holonomic/CAbstractHolonomicReactiveMethod.h>
Public Member Functions | |
NavInput () | |
Public Attributes | |
std::vector< double > | obstacles |
Distance to obstacles in polar coordinates, relative to the robot. More... | |
std::vector< mrpt::math::TPoint2D > | targets |
Relative location (x,y) of target point(s). More... | |
double | maxRobotSpeed {1.0} |
Maximum robot speed, in the same units than obstacles , per second. More... | |
double | maxObstacleDist {1.0} |
Maximum expected value to be found in obstacles . More... | |
const mrpt::nav::ClearanceDiagram * | clearance {nullptr} |
The computed clearance for each direction (optional in some implementations). More... | |
CAbstractHolonomicReactiveMethod::NavInput::NavInput | ( | ) |
Definition at line 72 of file CAbstractHolonomicReactiveMethod.cpp.
const mrpt::nav::ClearanceDiagram* mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::clearance {nullptr} |
The computed clearance for each direction (optional in some implementations).
Leave to default (NULL) if not needed.
Definition at line 56 of file CAbstractHolonomicReactiveMethod.h.
Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), and mrpt::nav::CHolonomicFullEval::navigate().
double mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::maxObstacleDist {1.0} |
Maximum expected value to be found in obstacles
.
Typically, values in obstacles
larger or equal to this value mean there is no visible obstacle in that direction.
Definition at line 53 of file CAbstractHolonomicReactiveMethod.h.
Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), and mrpt::nav::CHolonomicFullEval::navigate().
double mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::maxRobotSpeed {1.0} |
Maximum robot speed, in the same units than obstacles
, per second.
Definition at line 49 of file CAbstractHolonomicReactiveMethod.h.
Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CHolonomicVFF::navigate(), mrpt::nav::CHolonomicND::navigate(), and mrpt::nav::CHolonomicFullEval::navigate().
std::vector<double> mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::obstacles |
Distance to obstacles in polar coordinates, relative to the robot.
First index refers to -PI direction, and last one to +PI direction. Distances can be dealed as "meters", although when used inside the PTG-based navigation system, they are "pseudometers", normalized to the range [0,1].
Definition at line 43 of file CAbstractHolonomicReactiveMethod.h.
Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CHolonomicFullEval::evalSingleTarget(), mrpt::nav::CHolonomicVFF::navigate(), mrpt::nav::CHolonomicND::navigate(), and mrpt::nav::CHolonomicFullEval::navigate().
std::vector<mrpt::math::TPoint2D> mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::targets |
Relative location (x,y) of target point(s).
In the same units than obstacles
. If many, last targets have higher priority.
Definition at line 46 of file CAbstractHolonomicReactiveMethod.h.
Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::nav::CHolonomicFullEval::evalSingleTarget(), mrpt::nav::CHolonomicVFF::navigate(), mrpt::nav::CHolonomicND::navigate(), and mrpt::nav::CHolonomicFullEval::navigate().
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