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TCandidateMovementPTG.h
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 #pragma once
10 
11 #include <mrpt/utils/TParameters.h>
12 #include <mrpt/nav/link_pragmas.h>
13 
14 namespace mrpt
15 {
16  namespace nav
17  {
18  class CParameterizedTrajectoryGenerator;
19 
20  /** Stores a candidate movement in TP-Space-based navigation.
21  *\sa CReactiveNavigationSystem, CReactiveNavigationSystem3D
22  * \ingroup nav_reactive
23  */
25  {
26  CParameterizedTrajectoryGenerator *PTG; //!< The associated PTG. nullptr if not applicable / undefined.
27  double direction; //!< TP-Space movement direction. Within [-2*PI,+2*PI]
28  double speed; //!< TP-Space movement speed, normalized to [0,1]. A negative number means this candidate movement is unfeasible and must be discarded.
29  double starting_robot_dir, starting_robot_dist; //!< Default to 0, they can be used to reflect a robot starting at a position not at (0,0). Used in "PTG continuation"
30 
31  /** List of properties. May vary for different user implementations of scores and/or different multi-objective optimizers.
32  * See list of available variable names in docs for mrpt::nav::CAbstractPTGBasedReactive
33  */
35 
37  };
38 
39  }
40 }
41 
CParameterizedTrajectoryGenerator * PTG
The associated PTG. nullptr if not applicable / undefined.
This is the base class for any user-defined PTG.
double speed
TP-Space movement speed, normalized to [0,1]. A negative number means this candidate movement is unfe...
double direction
TP-Space movement direction. Within [-2*PI,+2*PI].
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
mrpt::utils::TParameters< double > props
List of properties.
double starting_robot_dist
Default to 0, they can be used to reflect a robot starting at a position not at (0,0). Used in "PTG continuation".
Stores a candidate movement in TP-Space-based navigation.



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