MRPT
2.0.2
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Dynamic state that may affect the PTG path parameterization.
nav_reactive
Definition at line 169 of file CParameterizedTrajectoryGenerator.h.
#include <mrpt/nav/tpspace/CParameterizedTrajectoryGenerator.h>
Public Member Functions | |
TNavDynamicState ()=default | |
bool | operator== (const TNavDynamicState &o) const |
bool | operator!= (const TNavDynamicState &o) const |
void | writeToStream (mrpt::serialization::CArchive &out) const |
void | readFromStream (mrpt::serialization::CArchive &in) |
Public Attributes | |
mrpt::math::TTwist2D | curVelLocal {0, 0, 0} |
Current vehicle velocity (local frame of reference) More... | |
mrpt::math::TPose2D | relTarget {20.0, .0, .0} |
Current relative target location. More... | |
double | targetRelSpeed {0} |
Desired relative speed [0,1] at target. More... | |
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default |
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inline |
Definition at line 180 of file CParameterizedTrajectoryGenerator.h.
bool CParameterizedTrajectoryGenerator::TNavDynamicState::operator== | ( | const TNavDynamicState & | o | ) | const |
Definition at line 609 of file CParameterizedTrajectoryGenerator.cpp.
References curVelLocal, relTarget, and targetRelSpeed.
void mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::readFromStream | ( | mrpt::serialization::CArchive & | in | ) |
Definition at line 626 of file CParameterizedTrajectoryGenerator.cpp.
References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.
Referenced by mrpt::nav::CLogFileRecord::serializeFrom().
void mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::writeToStream | ( | mrpt::serialization::CArchive & | out | ) | const |
Definition at line 617 of file CParameterizedTrajectoryGenerator.cpp.
References out.
Referenced by mrpt::nav::CLogFileRecord::serializeTo().
mrpt::math::TTwist2D mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::curVelLocal {0, 0, 0} |
Current vehicle velocity (local frame of reference)
Definition at line 172 of file CParameterizedTrajectoryGenerator.h.
Referenced by mrpt::nav::CParameterizedTrajectoryGenerator::getPathTwist(), mrpt::nav::CParameterizedTrajectoryGenerator::loadFromConfigFile(), operator==(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::nav::CParameterizedTrajectoryGenerator::saveToConfigFile(), and mrpt::nav::CLogFileRecord::serializeFrom().
mrpt::math::TPose2D mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::relTarget {20.0, .0, .0} |
Current relative target location.
Definition at line 174 of file CParameterizedTrajectoryGenerator.h.
Referenced by mrpt::nav::CParameterizedTrajectoryGenerator::loadFromConfigFile(), operator==(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::nav::CParameterizedTrajectoryGenerator::saveToConfigFile(), mrpt::nav::CLogFileRecord::serializeFrom(), and mrpt::nav::CParameterizedTrajectoryGenerator::updateNavDynamicState().
double mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::targetRelSpeed {0} |
Desired relative speed [0,1] at target.
Default=0
Definition at line 176 of file CParameterizedTrajectoryGenerator.h.
Referenced by mrpt::nav::CParameterizedTrajectoryGenerator::loadFromConfigFile(), operator==(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::nav::CParameterizedTrajectoryGenerator::saveToConfigFile(), and mrpt::nav::CParameterizedTrajectoryGenerator::updateNavDynamicState().
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