template struct mrpt::nav::TPlannerInputTempl

Overview

#include <mrpt/nav/planners/PlannerRRT_common.h>

template <typename node_pose_t, typename world_limits_t>
struct TPlannerInputTempl
{
    // fields

    node_pose_t start_pose;
    node_pose_t goal_pose;
    world_limits_t world_bbox_min;
    world_limits_t world_bbox_max;
    mrpt::maps::CSimplePointsMap obstacles_points;
};

// direct descendants

struct TPlannerInput;

Fields

world_limits_t world_bbox_min

Bounding box of the world, used to draw uniform random pose samples.

mrpt::maps::CSimplePointsMap obstacles_points

World obstacles, as a point cloud.