struct mrpt::nav::CAbstractPTGBasedReactive::TNavigationParamsPTG¶
The struct for configuring navigation requests to CAbstractPTGBasedReactive and derived classes.
#include <mrpt/nav/reactive/CAbstractPTGBasedReactive.h> struct TNavigationParamsPTG: public mrpt::nav::CWaypointsNavigator::TNavigationParamsWaypoints { // fields std::vector<size_t> restrict_PTG_indices; std::vector<mrpt::nav::CAbstractNavigator::TargetInfo> multiple_targets; // methods virtual std::string getAsText() const; virtual std::unique_ptr<TNavigationParams> clone() const; };
Inherited Members¶
public: // fields TargetInfo target; // methods virtual std::string getAsText() const = 0; virtual std::string getAsText() const; virtual std::unique_ptr<TNavigationParams> clone() const; virtual std::string getAsText() const; virtual std::unique_ptr<TNavigationParams> clone() const;
Fields¶
std::vector<size_t> restrict_PTG_indices
(Default=empty) Optionally, a list of PTG indices can be sent such that the navigator will restrict itself to only employ those PTGs.
std::vector<mrpt::nav::CAbstractNavigator::TargetInfo> multiple_targets
If not empty, this will prevail over the base class single goal target.
Semantic is: any of these targets will be good for heading the robot towards them, but the priority is for the latest ones in the sequence.