struct mrpt::nav::PlannerRRT_SE2_TPS::TPlannerInput

#include <mrpt/nav/planners/PlannerRRT_SE2_TPS.h>

struct TPlannerInput: public mrpt::nav::TPlannerInputTempl
{
    //
fields

    node_pose_t world_bbox_min;
    mrpt::maps::CSimplePointsMap obstacles_points;
};

Inherited Members

public:
    //
fields

    node_pose_t start_pose;
    node_pose_t goal_pose;
    world_limits_t world_bbox_max;

Fields

node_pose_t world_bbox_min

Bounding box of the world, used to draw uniform random pose samples.

mrpt::maps::CSimplePointsMap obstacles_points

World obstacles, as a point cloud.