struct mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams¶

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

struct TAbstractNavigatorParams: public mrpt::config::CLoadableOptions
{
    //
fields

    double dist_to_target_for_sending_event {0};
    double alarm_seems_not_approaching_target_timeout {30};
    double dist_check_target_is_blocked {0.6};
    int hysteresis_check_target_is_blocked {3};

    //
methods

    virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section);
    virtual void saveToConfigFile(mrpt::config::CConfigFileBase& target, const std::string& section) const;
};

Inherited Members¶

public:
    //
methods

    virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section) = 0;
    void loadFromConfigFileName(const std::string& config_file, const std::string& section);
    virtual void saveToConfigFile(mrpt::config::CConfigFileBase& target, const std::string& section) const;
    void saveToConfigFileName(const std::string& config_file, const std::string& section) const;
    void dumpToConsole() const;
    virtual void dumpToTextStream(std::ostream& out) const;

Fields¶

double dist_to_target_for_sending_event {0}

Default value=0, means use the “targetAllowedDistance” passed by the user in the navigation request.

double alarm_seems_not_approaching_target_timeout {30}

navigator timeout (seconds) [Default=30 sec]

double dist_check_target_is_blocked {0.6}

(Default value=0.6) When closer than this distance, check if the target is blocked to abort navigation with an error.

int hysteresis_check_target_is_blocked {3}

(Default=3) How many steps should the condition for dist_check_target_is_blocked be fulfilled to raise an event

Methods¶

virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section)

This method load the options from a “.ini”-like file or memory-stored string list.

Only those parameters found in the given “section” and having the same name that the variable are loaded. Those not found in the file will stay with their previous values (usually the default values loaded at initialization). An example of an “.ini” file:

[section]
resolution    = 0.10   // blah blah...
modeSelection = 1      // 0=blah, 1=blah,...