struct mrpt::nav::CAbstractNavigator::TargetInfo¶
Individual target info in CAbstractNavigator::TNavigationParamsBase and derived classes.
#include <mrpt/nav/reactive/CAbstractNavigator.h> struct TargetInfo { // fields mrpt::math::TPose2D target_coords; std::string target_frame_id; float targetAllowedDistance {0.5}; bool targetIsRelative {false}; double targetDesiredRelSpeed {.05}; bool targetIsIntermediaryWaypoint { false}; // methods std::string getAsText() const; bool operator == (const TargetInfo& o) const; bool operator != (const TargetInfo& o) const; };
Fields¶
mrpt::math::TPose2D target_coords
Coordinates of desired target location.
Heading may be ignored by some reactive implementations.
std::string target_frame_id
(Default=”map”) Frame ID in which target is given.
Optional, use only for submapping applications.
float targetAllowedDistance {0.5}
(Default=0.5 meters) Allowed distance to target in order to end the navigation.
bool targetIsRelative {false}
(Default=false) Whether the target coordinates are in global coordinates (false) or are relative to the current robot pose (true).
double 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.