Detailed Description

Individual target info in CAbstractNavigator::TNavigationParamsBase and derived classes.

Definition at line 58 of file CAbstractNavigator.h.

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

Public Member Functions
	TargetInfo ()

std::string	getAsText () const
	Gets navigation params as a human-readable format. More...

bool	operator== (const TargetInfo &o) const

bool	operator!= (const TargetInfo &o) const

Public Attributes
mrpt::math::TPose2D	target_coords
	Coordinates of desired target location. Heading may be ignored by some reactive implementations. More...

std::string	target_frame_id
	(Default="map") Frame ID in which target is given. Optional, use only for submapping applications. More...

float	targetAllowedDistance
	(Default=0.5 meters) Allowed distance to target in order to end the navigation. More...

bool	targetIsRelative
	(Default=false) Whether the target coordinates are in global coordinates (false) or are relative to the current robot pose (true). More...

double	targetDesiredRelSpeed
	(Default=.05) Desired relative speed (wrt maximum speed), in range [0,1], of the vehicle at target. Holonomic nav methods will perform "slow down" approaching target only if this is "==.0". Intermediary values will be honored only by the higher-level navigator, based on straight-line Euclidean distances. More...

bool	targetIsIntermediaryWaypoint

Constructor & Destructor Documentation

◆ TargetInfo()

mrpt::nav::CAbstractNavigator::TargetInfo::TargetInfo ( )

Member Function Documentation

◆ getAsText()

std::string mrpt::nav::CAbstractNavigator::TargetInfo::getAsText ( ) const

Gets navigation params as a human-readable format.

◆ operator!=()

bool mrpt::nav::CAbstractNavigator::TargetInfo::operator!= ( const TargetInfo & o ) const

inline

Definition at line 70 of file CAbstractNavigator.h.

◆ operator==()

bool mrpt::nav::CAbstractNavigator::TargetInfo::operator== ( const TargetInfo & o ) const

Member Data Documentation

◆ target_coords

mrpt::math::TPose2D mrpt::nav::CAbstractNavigator::TargetInfo::target_coords

Coordinates of desired target location. Heading may be ignored by some reactive implementations.

Definition at line 60 of file CAbstractNavigator.h.

◆ target_frame_id

std::string mrpt::nav::CAbstractNavigator::TargetInfo::target_frame_id

(Default="map") Frame ID in which target is given. Optional, use only for submapping applications.

Definition at line 61 of file CAbstractNavigator.h.

◆ targetAllowedDistance

float mrpt::nav::CAbstractNavigator::TargetInfo::targetAllowedDistance

(Default=0.5 meters) Allowed distance to target in order to end the navigation.

Definition at line 62 of file CAbstractNavigator.h.

◆ targetDesiredRelSpeed

double mrpt::nav::CAbstractNavigator::TargetInfo::targetDesiredRelSpeed

(Default=.05) Desired relative speed (wrt maximum speed), in range [0,1], of the vehicle at target. Holonomic nav methods will perform "slow down" approaching target only if this is "==.0". Intermediary values will be honored only by the higher-level navigator, based on straight-line Euclidean distances.

Definition at line 64 of file CAbstractNavigator.h.

◆ targetIsIntermediaryWaypoint

bool mrpt::nav::CAbstractNavigator::TargetInfo::targetIsIntermediaryWaypoint

Definition at line 65 of file CAbstractNavigator.h.

◆ targetIsRelative

bool mrpt::nav::CAbstractNavigator::TargetInfo::targetIsRelative

(Default=false) Whether the target coordinates are in global coordinates (false) or are relative to the current robot pose (true).

Definition at line 63 of file CAbstractNavigator.h.