mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions Struct Reference

Detailed Description

Options for renderMoveTree()

Definition at line 144 of file PlannerRRT_common.h.

#include <mrpt/nav/planners/PlannerRRT_common.h>

Public Member Functions
	TRenderPlannedPathOptions ()
virtual	~TRenderPlannedPathOptions ()=default

Public Attributes
mrpt::graphs::TNodeID	highlight_path_to_node_id
	Highlight the path from root towards this node (usually, the target) More...
size_t	draw_shape_decimation {1}
	(Default=1) Draw one out of N vehicle shapes along the highlighted path More...
const mrpt::poses::CPose2D *	x_rand_pose
const mrpt::poses::CPose2D *	x_nearest_pose
const mrpt::maps::CPointsMap *	local_obs_from_nearest_pose
const mrpt::poses::CPose2D *	new_state
double	xyzcorners_scale {0}
	A scale factor to all XYZ corners (default=0, means auto determien from vehicle shape) More...
bool	highlight_last_added_edge {false}
	(Default=false) More...
double	ground_xy_grid_frequency {10.0}
	(Default=10 meters) Set to 0 to disable More...
mrpt::img::TColor	color_vehicle
	Robot color. More...
mrpt::img::TColor	color_obstacles
	obstacles color More...
mrpt::img::TColor	color_local_obstacles
	local obstacles color More...
mrpt::img::TColor	color_start
	START indication color. More...
mrpt::img::TColor	color_goal
	END indication color. More...
mrpt::img::TColor	color_ground_xy_grid
mrpt::img::TColor	color_normal_edge
mrpt::img::TColor	color_last_edge
mrpt::img::TColor	color_optimal_edge
float	width_last_edge {3.f}
float	width_normal_edge {1.f}
float	width_optimal_edge {4.f}
int	point_size_obstacles {5}
int	point_size_local_obstacles {5}
double	vehicle_shape_z {0.01}
	(Default=0.01) Height (Z coordinate) for the vehicle shapes. More...
double	vehicle_line_width {2.0}
	Robot line width for visualization - default 2.0. More...
bool	draw_obstacles {true}
	(Default=true) More...
std::string	log_msg
mrpt::math::TPoint3D	log_msg_position
double	log_msg_scale {0.2}

Constructor & Destructor Documentation

TRenderPlannedPathOptions()

mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::TRenderPlannedPathOptions ( )

inline

Definition at line 198 of file PlannerRRT_common.h.

~TRenderPlannedPathOptions()

virtual mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::~TRenderPlannedPathOptions ( )

virtualdefault

Member Data Documentation

color_goal

mrpt::img::TColor mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::color_goal

END indication color.

Definition at line 175 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree().

color_ground_xy_grid

mrpt::img::TColor mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::color_ground_xy_grid

Definition at line 176 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree().

color_last_edge

mrpt::img::TColor mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::color_last_edge

Definition at line 178 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree().

color_local_obstacles

mrpt::img::TColor mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::color_local_obstacles

local obstacles color

Definition at line 171 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree().

color_normal_edge

mrpt::img::TColor mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::color_normal_edge

Definition at line 177 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree().

color_obstacles

mrpt::img::TColor mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::color_obstacles

obstacles color

Definition at line 169 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree().

color_optimal_edge

mrpt::img::TColor mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::color_optimal_edge

Definition at line 179 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree().

color_start

mrpt::img::TColor mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::color_start

START indication color.

Definition at line 173 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree().

color_vehicle

mrpt::img::TColor mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::color_vehicle

Robot color.

Definition at line 167 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree().

draw_obstacles

bool mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::draw_obstacles {true}

(Default=true)

Definition at line 192 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree().

draw_shape_decimation

size_t mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::draw_shape_decimation {1}

(Default=1) Draw one out of N vehicle shapes along the highlighted path

Definition at line 151 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree().

ground_xy_grid_frequency

double mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::ground_xy_grid_frequency {10.0}

(Default=10 meters) Set to 0 to disable

Definition at line 164 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree(), and mrpt::nav::PlannerRRT_SE2_TPS::solve().

highlight_last_added_edge

bool mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::highlight_last_added_edge {false}

(Default=false)

Definition at line 162 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree(), and mrpt::nav::PlannerRRT_SE2_TPS::solve().

highlight_path_to_node_id

mrpt::graphs::TNodeID mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::highlight_path_to_node_id

Highlight the path from root towards this node (usually, the target)

Definition at line 148 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree(), and mrpt::nav::PlannerRRT_SE2_TPS::solve().

local_obs_from_nearest_pose

const mrpt::maps::CPointsMap* mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::local_obs_from_nearest_pose

Definition at line 155 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree().

log_msg

std::string mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::log_msg

Definition at line 194 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree(), and mrpt::nav::PlannerRRT_SE2_TPS::solve().

log_msg_position

mrpt::math::TPoint3D mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::log_msg_position

Definition at line 195 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree(), and mrpt::nav::PlannerRRT_SE2_TPS::solve().

log_msg_scale

double mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::log_msg_scale {0.2}

Definition at line 196 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree().

new_state

const mrpt::poses::CPose2D* mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::new_state

Definition at line 156 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree().

point_size_local_obstacles

int mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::point_size_local_obstacles {5}

Definition at line 184 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree().

point_size_obstacles

int mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::point_size_obstacles {5}

Definition at line 183 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree().

vehicle_line_width

double mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::vehicle_line_width {2.0}

Robot line width for visualization - default 2.0.

Definition at line 190 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree().

vehicle_shape_z

double mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::vehicle_shape_z {0.01}

(Default=0.01) Height (Z coordinate) for the vehicle shapes.

Helps making it in the "first plane"

Definition at line 188 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree().

width_last_edge

float mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::width_last_edge {3.f}

Definition at line 180 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree().

width_normal_edge

float mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::width_normal_edge {1.f}

Definition at line 181 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree().

width_optimal_edge

float mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::width_optimal_edge {4.f}

Definition at line 182 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree().

x_nearest_pose

const mrpt::poses::CPose2D* mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::x_nearest_pose

Definition at line 154 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree().

x_rand_pose

const mrpt::poses::CPose2D* mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::x_rand_pose

Definition at line 153 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree(), and mrpt::nav::PlannerRRT_SE2_TPS::solve().

xyzcorners_scale

double mrpt::nav::PlannerTPS_VirtualBase::TRenderPlannedPathOptions::xyzcorners_scale {0}

A scale factor to all XYZ corners (default=0, means auto determien from vehicle shape)

Definition at line 160 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree().