The struct for configuring navigation requests to CAbstractPTGBasedReactive and derived classes.
Definition at line 100 of file CAbstractPTGBasedReactive.h.
#include <mrpt/nav/reactive/CAbstractPTGBasedReactive.h>
Public Member Functions | |
virtual std::string | getAsText () const override |
Gets navigation params as a human-readable format. More... | |
virtual std::unique_ptr< TNavigationParams > | clone () const override |
Public Attributes | |
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. More... | |
std::vector< mrpt::nav::CAbstractNavigator::TargetInfo > | multiple_targets |
If not empty, this will prevail over the base class single goal target. More... | |
TargetInfo | target |
Navigation target. More... | |
Protected Member Functions | |
virtual bool | isEqual (const CAbstractNavigator::TNavigationParamsBase &o) const override |
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inlineoverridevirtual |
Reimplemented from mrpt::nav::CWaypointsNavigator::TNavigationParamsWaypoints.
Definition at line 109 of file CAbstractPTGBasedReactive.h.
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overridevirtual |
Gets navigation params as a human-readable format.
Reimplemented from mrpt::nav::CWaypointsNavigator::TNavigationParamsWaypoints.
Definition at line 34 of file CAbstractPTGBasedReactive.cpp.
References mrpt::utils::sprintf_vector().
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overrideprotectedvirtual |
Reimplemented from mrpt::nav::CWaypointsNavigator::TNavigationParamsWaypoints.
Definition at line 44 of file CAbstractPTGBasedReactive.cpp.
References restrict_PTG_indices.
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inherited |
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.
Definition at line 53 of file CWaypointsNavigator.h.
Referenced by mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().
std::vector<size_t> mrpt::nav::CAbstractPTGBasedReactive::TNavigationParamsPTG::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.
Definition at line 106 of file CAbstractPTGBasedReactive.h.
Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), and isEqual().
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inherited |
Navigation target.
Definition at line 121 of file CAbstractNavigator.h.
Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), run_rnav_test(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().
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