mrpt::nav::CAbstractPTGBasedReactive::TNavigationParamsPTG Struct Reference

Detailed Description

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>

Inheritance diagram for mrpt::nav::CAbstractPTGBasedReactive::TNavigationParamsPTG:

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

Member Function Documentation

clone()

virtual std::unique_ptr<TNavigationParams> mrpt::nav::CAbstractPTGBasedReactive::TNavigationParamsPTG::clone ( ) const

inlineoverridevirtual

Reimplemented from mrpt::nav::CWaypointsNavigator::TNavigationParamsWaypoints.

Definition at line 109 of file CAbstractPTGBasedReactive.h.

getAsText()

std::string CAbstractPTGBasedReactive::TNavigationParamsPTG::getAsText ( ) const

overridevirtual

Gets navigation params as a human-readable format.

Reimplemented from mrpt::nav::CWaypointsNavigator::TNavigationParamsWaypoints.

Definition at line 37 of file CAbstractPTGBasedReactive.cpp.

References mrpt::containers::sprintf_vector().

isEqual()

bool CAbstractPTGBasedReactive::TNavigationParamsPTG::isEqual ( const CAbstractNavigator::TNavigationParamsBase &  o ) const

overrideprotectedvirtual

Reimplemented from mrpt::nav::CWaypointsNavigator::TNavigationParamsWaypoints.

Definition at line 47 of file CAbstractPTGBasedReactive.cpp.

References restrict_PTG_indices.

Member Data Documentation

multiple_targets

std::vector<mrpt::nav::CAbstractNavigator::TargetInfo> mrpt::nav::CWaypointsNavigator::TNavigationParamsWaypoints::multiple_targets

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 51 of file CWaypointsNavigator.h.

Referenced by mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

restrict_PTG_indices

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().

target

TargetInfo mrpt::nav::CAbstractNavigator::TNavigationParams::target

inherited

Navigation target.

Definition at line 119 of file CAbstractNavigator.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), run_rnav_test(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().