struct mrpt::nav::CAbstractPTGBasedReactive::PTGTarget

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

struct PTGTarget
{
    //
fields

    bool valid_TP {false};
    mrpt::math::TPoint2D TP_Target;
    double target_alpha;
    double target_dist;
    int target_k;
};

Fields

bool valid_TP {false}

For each PTG, whether target falls into the PTG domain.

mrpt::math::TPoint2D TP_Target

The Target, in TP-Space (x,y)

double target_alpha

TP-Target.

int target_k

The discrete version of target_alpha.