struct mrpt::nav::CWaypointsNavigator::TNavigationParamsWaypoints

Overview

The struct for configuring navigation requests to CWaypointsNavigator and derived classes.

#include <mrpt/nav/reactive/CWaypointsNavigator.h>

struct TNavigationParamsWaypoints: public mrpt::nav::CAbstractNavigator::TNavigationParams
{
    // fields

    std::vector<mrpt::nav::CAbstractNavigator::TargetInfo> multiple_targets;

    // methods

    virtual std::string getAsText() const;
    virtual std::unique_ptr<TNavigationParams> clone() const;
};

// direct descendants

struct TNavigationParamsPTG;

Inherited Members

public:
    // fields

    TargetInfo target;

    // methods

    virtual std::string getAsText() const = 0;
    virtual std::string getAsText() const;
    virtual std::unique_ptr<TNavigationParams> clone() const;

Fields

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

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.

Methods

virtual std::string getAsText() const

Gets navigation params as a human-readable format.