A single waypoint within TWaypointSequence.
Definition at line 25 of file TWaypoint.h.
#include <mrpt/nav/reactive/TWaypoint.h>
Public Member Functions | |
bool | isValid () const |
Check whether all the minimum mandatory fields have been filled by the user. More... | |
TWaypoint () | |
Ctor with default values. More... | |
TWaypoint (double target_x, double target_y, double allowed_distance, bool allow_skip=true, double target_heading_=INVALID_NUM) | |
std::string | getAsText () const |
get in human-readable format More... | |
Public Attributes | |
mrpt::math::TPoint2D | target |
[Must be set by the user] Coordinates of desired target location (world/global coordinates). More... | |
double | target_heading |
[Default=any heading] Optionally, set to the desired orientation [radians] of the robot at this waypoint. More... | |
std::string | target_frame_id |
(Default="map") Frame ID in which target is given. Optional, use only for submapping applications. More... | |
double | allowed_distance |
[Must be set by the user] How close should the robot get to this waypoint for it to be considered reached. More... | |
bool | allow_skip |
[Default=true] Whether it is allowed to the navigator to proceed to a more advanced waypoint in the sequence if it determines that it is easier to skip this one (e.g. More... | |
Static Public Attributes | |
static const double | INVALID_NUM |
The default value of fields (used to detect non-set values) More... | |
mrpt::nav::TWaypoint::TWaypoint | ( | ) |
Ctor with default values.
mrpt::nav::TWaypoint::TWaypoint | ( | double | target_x, |
double | target_y, | ||
double | allowed_distance, | ||
bool | allow_skip = true , |
||
double | target_heading_ = INVALID_NUM |
||
) |
std::string mrpt::nav::TWaypoint::getAsText | ( | ) | const |
get in human-readable format
bool mrpt::nav::TWaypoint::isValid | ( | ) | const |
Check whether all the minimum mandatory fields have been filled by the user.
bool mrpt::nav::TWaypoint::allow_skip |
[Default=true] Whether it is allowed to the navigator to proceed to a more advanced waypoint in the sequence if it determines that it is easier to skip this one (e.g.
it seems blocked by dynamic obstacles). This value is ignored for the last waypoint in a sequence, since it is always considered to be the ultimate goal and hence not subject to be skipped.
Definition at line 44 of file TWaypoint.h.
double mrpt::nav::TWaypoint::allowed_distance |
[Must be set by the user] How close should the robot get to this waypoint for it to be considered reached.
Definition at line 37 of file TWaypoint.h.
|
static |
The default value of fields (used to detect non-set values)
Definition at line 51 of file TWaypoint.h.
mrpt::math::TPoint2D mrpt::nav::TWaypoint::target |
[Must be set by the user] Coordinates of desired target location (world/global coordinates).
Definition at line 29 of file TWaypoint.h.
std::string mrpt::nav::TWaypoint::target_frame_id |
(Default="map") Frame ID in which target is given. Optional, use only for submapping applications.
Definition at line 35 of file TWaypoint.h.
double mrpt::nav::TWaypoint::target_heading |
[Default=any heading] Optionally, set to the desired orientation [radians] of the robot at this waypoint.
Some navigator implementations may ignore this preferred heading anyway, read the docs of each implementation to find it out.
Definition at line 33 of file TWaypoint.h.
Page generated by Doxygen 1.8.13 for MRPT 1.5.3 at Tue Aug 22 01:03:35 UTC 2017 |