82 std::map<std::string, double>
values;
89 std::map<std::string, mrpt::system::TTimeStamp>
timestamps;
CHolonomicLogFileRecord::Ptr HLFR
Other useful info about holonomic method execution.
mrpt::math::TPose2D rel_cur_pose_wrt_last_vel_cmd_NOP
int32_t nSelectedPTG
The selected PTG.
std::vector< mrpt::math::TPose2D > WS_targets_relative
Relative poses (wrt to robotPoseLocalization) for.
mrpt::math::CVectorFloat robotShape_y
mrpt::math::TTwist2D cur_vel_local
The actual robot velocities in local (robot) coordinates, as read from sensors, in "m/sec" and "rad/s...
Template for column vectors of dynamic size, compatible with Eigen.
std::map< std::string, mrpt::system::TTimeStamp > timestamps
Known values:
mrpt::nav::ClearanceDiagram clearance
Clearance for each path.
mrpt::math::TPose2D rel_pose_PTG_origin_wrt_sense_NOP
mrpt::math::TPose2D robotPoseOdometry
mrpt::nav::CParameterizedTrajectoryGenerator::Ptr ptg
Only for the FIRST entry in a log file, this will contain a copy of the PTG with trajectories, suitable to render trajectories, etc.
mrpt::math::TPose2D relPoseSense
std::vector< mrpt::math::TPoint2D > TP_Targets
Target(s) location in TP-Space.
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans. ...
uint32_t nPTGs
The number of PTGS:
Clearance information for one particular PTG and one set of obstacles.
A class for storing, saving and loading a reactive navigation log record for the CReactiveNavigationS...
mrpt::math::CVectorFloat robotShape_x
The robot shape in WS.
CLogFileRecord()
Constructor, builds an empty record.
2D twist: 2D velocity vector (vx,vy) + planar angular velocity (omega)
mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState ptg_last_navDynState
double desiredDirection
The results from the holonomic method.
mrpt::system::TParametersDouble evalFactors
Evaluation factors.
mrpt::math::TPose2D robotPoseLocalization
The robot pose (from odometry and from the localization/SLAM system).
mrpt::kinematics::CVehicleVelCmd::Ptr cmd_vel
The final motion command sent to robot, in "m/sec" and "rad/sec".
mrpt::math::TPoint2D TP_Robot
Robot location in TP-Space: normally (0,0), except during "NOP cmd vel" steps.
double timeForTPObsTransformation
Time, in seconds.
int16_t ptg_index_NOP
Negative means no NOP mode evaluation, so the rest of "NOP variables" should be ignored.
mrpt::maps::CSimplePointsMap WS_Obstacles_original
std::map< std::string, double > values
Known values:
std::string PTG_desc
A short description for the applied PTG.
mrpt::math::CVectorFloat TP_Obstacles
Distances until obstacles, in "pseudometers", first index for -PI direction, last one for PI directio...
mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState navDynState
std::vector< TInfoPerPTG > infoPerPTG
The info for each applied PTG: must contain "nPTGs * nSecDistances" elements.
mrpt::kinematics::CVehicleVelCmd::Ptr cmd_vel_original
Motion command as comes out from the PTG, before scaling speed limit filtering.
mrpt::math::TTwist2D cur_vel
The actual robot velocities in global (map) coordinates, as read from sensors, in "m/sec" and "rad/se...
The virtual base class which provides a unified interface for all persistent objects in MRPT...
#define DEFINE_SERIALIZABLE(class_name, NS)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
mrpt::maps::CSimplePointsMap WS_Obstacles
The WS-Obstacles.
Dynamic state that may affect the PTG path parameterization.
mrpt::math::TPose2D relPoseVelCmd
The structure used to store all relevant information about each transformation into TP-Space...
double evaluation
Final score of this candidate.
double timeForHolonomicMethod
std::map< std::string, std::string > additional_debug_msgs
Additional debug traces.
double robotShape_radius
The circular robot radius.