mrpt.nav
Package Contents
- class mrpt.nav.CLogFileRecord
C++ API: class mrpt::nav::CLogFileRecord
One navigation step of the reactive navigator log.
- class TInfoPerPTG
Log data of one PTG in one navigation step.
- property PTG_desc: str
Short description of the PTG
- property TP_Obstacles: list[float]
Distance to obstacles in TP-Space (pseudometers), for directions from -pi to pi
- property TP_Robot: mrpt.math.TPoint2D
Robot location in TP-Space (normally the origin)
- property TP_Targets: list[mrpt.math.TPose2D]
Target(s) in TP-Space
- property desiredDirection: float
Direction chosen by the holonomic method [rad]
- property desiredSpeed: float
Speed chosen by the holonomic method
- property evalFactors: dict[str, float]
Evaluation factors, by name
- property evaluation: float
Final score of this candidate
- property timeForHolonomicMethod: float
Time spent in the holonomic method [s]
- property timeForTPObsTransformation: float
Time to transform obstacles into TP-Space [s]
- WS_targets_relative: list[mrpt.math.TPose2D]
- infoPerPTG: list[CLogFileRecord]
- nPTGs: int
- relPoseSense: mrpt.math.TPose2D
- relPoseVelCmd: mrpt.math.TPose2D
- robotPoseLocalization: mrpt.math.TPose2D
- robotPoseOdometry: mrpt.math.TPose2D
- class mrpt.nav.CParameterizedTrajectoryGenerator
C++ API: class mrpt::nav::CParameterizedTrajectoryGenerator
Base class for all Parameterized Trajectory Generators (PTGs).
- static CreatePTG(ptg_class_name: str, ini_text: str, section: str, key_prefix: str = '') → CParameterizedTrajectoryGenerator
Factory: create a PTG from INI-format string, section, and key prefix.
- PTG_IsIntoDomain(x: float, y: float) → bool
Returns true if (x, y) is within the PTG domain.
- deinitialize() → None
De-initializes the PTG, so its parameters can be changed.
- getAlphaValuesCount() → int
Get the number of different, discrete paths in this family.
- getDescription() → str
Gets a short textual description of the PTG and its parameters.
- getPathCount() → int
Get the number of different, discrete paths in this family.
- initialize() → None
Initializes the PTG; call after setting all its parameters and before using it.
- inverseMap_WS2TP(x: float, y: float, tolerance_dist: float = 0.1) → tuple[int, float] | None
Map a WS point to (k, normalized_d). Returns None if no path found.
- isInitialized() → bool
Returns true if initialize() has been called and there was no errors, so the PTG is ready to be queried for paths, obstacles, etc.
- loadFromConfigFile(ini_text: str, section: str) → None
Loads the PTG parameters from a configuration file section.
- class mrpt.nav.TWaypoint
C++ API: struct mrpt::nav::TWaypoint
TWaypoint(target_x: float, target_y: float, allowed_distance: float, allow_skip: bool = True)
A single navigation waypoint within a TWaypointSequence.
- allow_skip: bool
- allowed_distance: float
- speed_ratio: float
- target: mrpt.math.TPoint2D
- target_frame_id: str
- target_heading: float | None
- getAsText() → str
Get in human-readable format.
- isValid() → bool
Check whether all the minimum mandatory fields have been filled by the user.
- class mrpt.nav.TWaypointSequence
C++ API: struct mrpt::nav::TWaypointSequence
A sequence of waypoints for the waypoints navigator.
- clear() → None
Removes all waypoints.
- getAsText() → str
Gets navigation params as a human-readable format.
- class mrpt.nav.TWaypointStatus
C++ API: struct mrpt::nav::TWaypointStatus
Bases:
TWaypointA TWaypoint augmented with runtime execution status fields.
- reached: bool
- skipped: bool