Detailed Description

Definition at line 316 of file CAbstractPTGBasedReactive.h.

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

Public Member Functions
bool	isValid () const

void	reset ()

	TSentVelCmd ()

Public Attributes
int	ptg_index
	0-based index of used PTG More...

int	ptg_alpha_index
	Path index for selected PTG. More...

mrpt::system::TTimeStamp	tim_send_cmd_vel
	Timestamp of when the cmd was sent. More...

TRobotPoseVel	poseVel
	Robot pose & velocities and timestamp of when it was queried. More...

double	colfreedist_move_k
	TP-Obstacles in the move direction at the instant of picking this movement. More...

bool	was_slowdown

double	speed_scale
	[0,1] scale of the raw cmd_vel as generated by the PTG More...

CParameterizedTrajectoryGenerator::TNavDynamicState	ptg_dynState

Constructor & Destructor Documentation

◆ TSentVelCmd()

mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::TSentVelCmd ( )

Member Function Documentation

◆ isValid()

bool mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::isValid ( ) const

◆ reset()

void mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::reset ( )

Member Data Documentation

◆ colfreedist_move_k

double mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::colfreedist_move_k

TP-Obstacles in the move direction at the instant of picking this movement.

Definition at line 322 of file CAbstractPTGBasedReactive.h.

◆ poseVel

TRobotPoseVel mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::poseVel

Robot pose & velocities and timestamp of when it was queried.

Definition at line 321 of file CAbstractPTGBasedReactive.h.

◆ ptg_alpha_index

int mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::ptg_alpha_index

Path index for selected PTG.

Definition at line 319 of file CAbstractPTGBasedReactive.h.

◆ ptg_dynState

CParameterizedTrajectoryGenerator::TNavDynamicState mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::ptg_dynState

Definition at line 325 of file CAbstractPTGBasedReactive.h.

◆ ptg_index

int mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::ptg_index

0-based index of used PTG

Definition at line 318 of file CAbstractPTGBasedReactive.h.

◆ speed_scale

double mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::speed_scale

[0,1] scale of the raw cmd_vel as generated by the PTG

Definition at line 324 of file CAbstractPTGBasedReactive.h.

◆ tim_send_cmd_vel

mrpt::system::TTimeStamp mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::tim_send_cmd_vel

Timestamp of when the cmd was sent.

Definition at line 320 of file CAbstractPTGBasedReactive.h.

◆ was_slowdown

bool mrpt::nav::CAbstractPTGBasedReactive::TSentVelCmd::was_slowdown

Definition at line 323 of file CAbstractPTGBasedReactive.h.