mrpt::nav::CAbstractNavigator::TargetInfo Struct Reference

Detailed Description

Individual target info in CAbstractNavigator::TNavigationParamsBase and derived classes.

Definition at line 68 of file CAbstractNavigator.h.

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

Public Member Functions
	TargetInfo ()
std::string	getAsText () const
	Gets navigation params as a human-readable format. More...
bool	operator== (const TargetInfo &o) const
bool	operator!= (const TargetInfo &o) const

Public Attributes
mrpt::math::TPose2D	target_coords
	Coordinates of desired target location. More...
std::string	target_frame_id
	(Default="map") Frame ID in which target is given. More...
float	targetAllowedDistance {0.5}
	(Default=0.5 meters) Allowed distance to target in order to end the navigation. More...
bool	targetIsRelative {false}
	(Default=false) Whether the target coordinates are in global coordinates (false) or are relative to the current robot pose (true). More...
double	targetDesiredRelSpeed {.05}
	(Default=.05) Desired relative speed (wrt maximum speed), in range [0,1], of the vehicle at target. More...
bool	targetIsIntermediaryWaypoint

Constructor & Destructor Documentation

TargetInfo()

CAbstractNavigator::TargetInfo::TargetInfo

(

)

Definition at line 25 of file CAbstractNavigator.cpp.

Member Function Documentation

getAsText()

std::string CAbstractNavigator::TargetInfo::getAsText

(

)

const

Gets navigation params as a human-readable format.

Definition at line 32 of file CAbstractNavigator.cpp.

References mrpt::format().

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operator!=()

bool mrpt::nav::CAbstractNavigator::TargetInfo::operator!= ( const TargetInfo &  o ) const

inline

Definition at line 100 of file CAbstractNavigator.h.

operator==()

bool mrpt::nav::CAbstractNavigator::TargetInfo::operator==

(

const TargetInfo &

o

)

const

Definition at line 49 of file CAbstractNavigator.cpp.

References target_coords, target_frame_id, targetAllowedDistance, targetDesiredRelSpeed, targetIsIntermediaryWaypoint, and targetIsRelative.

Member Data Documentation

target_coords

mrpt::math::TPose2D mrpt::nav::CAbstractNavigator::TargetInfo::target_coords

Coordinates of desired target location.

Heading may be ignored by some reactive implementations.

Definition at line 72 of file CAbstractNavigator.h.

Referenced by operator==(), run_rnav_test(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

target_frame_id

std::string mrpt::nav::CAbstractNavigator::TargetInfo::target_frame_id

(Default="map") Frame ID in which target is given.

Optional, use only for submapping applications.

Definition at line 75 of file CAbstractNavigator.h.

Referenced by operator==(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

targetAllowedDistance

float mrpt::nav::CAbstractNavigator::TargetInfo::targetAllowedDistance {0.5}

(Default=0.5 meters) Allowed distance to target in order to end the navigation.

Definition at line 78 of file CAbstractNavigator.h.

Referenced by operator==(), run_rnav_test(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

targetDesiredRelSpeed

double mrpt::nav::CAbstractNavigator::TargetInfo::targetDesiredRelSpeed {.05}

(Default=.05) Desired relative speed (wrt maximum speed), in range [0,1], of the vehicle at target.

Holonomic nav methods will perform "slow down" approaching target only if this is "==.0". Intermediary values will be honored only by the higher-level navigator, based on straight-line Euclidean distances.

Definition at line 88 of file CAbstractNavigator.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), operator==(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

targetIsIntermediaryWaypoint

bool mrpt::nav::CAbstractNavigator::TargetInfo::targetIsIntermediaryWaypoint

Initial value:

{
            false}

Definition at line 89 of file CAbstractNavigator.h.

Referenced by operator==(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

targetIsRelative

bool mrpt::nav::CAbstractNavigator::TargetInfo::targetIsRelative {false}

(Default=false) Whether the target coordinates are in global coordinates (false) or are relative to the current robot pose (true).

Definition at line 82 of file CAbstractNavigator.h.

Referenced by operator==(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().