struct mrpt::nav::TCandidateMovementPTG¶
Stores a candidate movement in TP-Space-based navigation.
See also:
CReactiveNavigationSystem, CReactiveNavigationSystem3D
#include <mrpt/nav/reactive/TCandidateMovementPTG.h> struct TCandidateMovementPTG { // fields CParameterizedTrajectoryGenerator* PTG {nullptr}; double direction {0}; double speed {0}; double starting_robot_dir {0}; double starting_robot_dist {0}; std::map<std::string, double> props; };
Fields¶
CParameterizedTrajectoryGenerator* PTG {nullptr}
The associated PTG.
nullptr if not applicable / undefined.
double direction {0}
TP-Space movement direction.
Within [-2*PI,+2*PI]
double speed {0}
TP-Space movement speed, normalized to [0,1].
A negative number means this candidate movement is unfeasible and must be discarded.
double starting_robot_dir {0}
Default to 0, they can be used to reflect a robot starting at a position not at (0,0).
Used in “PTG continuation”
std::map<std::string, double> props
List of properties.
May vary for different user implementations of scores and/or different multi-objective optimizers. See list of available variable names in docs for mrpt::nav::CAbstractPTGBasedReactive