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mrpt::nav::CAbstractReactiveNavigationSystem::TNavigationParams Struct Reference

Detailed Description

The struct for configuring navigation requests.

See also: CAbstractPTGBasedReactive::TNavigationParamsPTG

Definition at line 106 of file CAbstractReactiveNavigationSystem.h.

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

Inheritance diagram for mrpt::nav::CAbstractReactiveNavigationSystem::TNavigationParams:
Inheritance graph

Public Member Functions

 TNavigationParams ()
 Ctor with default values. More...
 
virtual ~TNavigationParams ()
 
virtual std::string getAsText () const
 Gets navigation params as a human-readable format. More...
 
virtual TNavigationParamsclone () const
 

Public Attributes

mrpt::math::TPoint2D target
 Coordinates of desired target location. More...
 
double targetHeading
 Target location (heading, in radians). More...
 
float targetAllowedDistance
 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...
 

Constructor & Destructor Documentation

mrpt::nav::CAbstractReactiveNavigationSystem::TNavigationParams::TNavigationParams ( )

Ctor with default values.

virtual mrpt::nav::CAbstractReactiveNavigationSystem::TNavigationParams::~TNavigationParams ( )
inlinevirtual

Definition at line 115 of file CAbstractReactiveNavigationSystem.h.

Member Function Documentation

virtual TNavigationParams* mrpt::nav::CAbstractReactiveNavigationSystem::TNavigationParams::clone ( ) const
inlinevirtual
virtual std::string mrpt::nav::CAbstractReactiveNavigationSystem::TNavigationParams::getAsText ( ) const
virtual

Gets navigation params as a human-readable format.

Reimplemented in mrpt::nav::CAbstractPTGBasedReactive::TNavigationParamsPTG.

Member Data Documentation

mrpt::math::TPoint2D mrpt::nav::CAbstractReactiveNavigationSystem::TNavigationParams::target

Coordinates of desired target location.

Definition at line 108 of file CAbstractReactiveNavigationSystem.h.

float mrpt::nav::CAbstractReactiveNavigationSystem::TNavigationParams::targetAllowedDistance

Allowed distance to target in order to end the navigation.

Definition at line 111 of file CAbstractReactiveNavigationSystem.h.

double mrpt::nav::CAbstractReactiveNavigationSystem::TNavigationParams::targetHeading

Target location (heading, in radians).

Definition at line 109 of file CAbstractReactiveNavigationSystem.h.

bool mrpt::nav::CAbstractReactiveNavigationSystem::TNavigationParams::targetIsRelative

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

Definition at line 112 of file CAbstractReactiveNavigationSystem.h.




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