Stores a candidate movement in TP-Space-based navigation.
Definition at line 24 of file TCandidateMovementPTG.h.
#include <mrpt/nav/reactive/TCandidateMovementPTG.h>
Public Member Functions | |
TCandidateMovementPTG () | |
Public Attributes | |
CParameterizedTrajectoryGenerator * | PTG |
The associated PTG. nullptr if not applicable / undefined. More... | |
double | direction |
TP-Space movement direction. Within [-2*PI,+2*PI]. More... | |
double | speed |
TP-Space movement speed, normalized to [0,1]. A negative number means this candidate movement is unfeasible and must be discarded. More... | |
double | starting_robot_dir |
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". More... | |
mrpt::utils::TParameters< double > | props |
List of properties. More... | |
mrpt::nav::TCandidateMovementPTG::TCandidateMovementPTG | ( | ) |
double mrpt::nav::TCandidateMovementPTG::direction |
TP-Space movement direction. Within [-2*PI,+2*PI].
Definition at line 27 of file TCandidateMovementPTG.h.
mrpt::utils::TParameters<double> mrpt::nav::TCandidateMovementPTG::props |
List of properties.
May vary for different user implementations of scores and/or different multi-objective optimizers. See list of available variable names in docs for mrpt::nav::CAbstractPTGBasedReactive
Definition at line 34 of file TCandidateMovementPTG.h.
CParameterizedTrajectoryGenerator* mrpt::nav::TCandidateMovementPTG::PTG |
The associated PTG. nullptr if not applicable / undefined.
Definition at line 26 of file TCandidateMovementPTG.h.
double mrpt::nav::TCandidateMovementPTG::speed |
TP-Space movement speed, normalized to [0,1]. A negative number means this candidate movement is unfeasible and must be discarded.
Definition at line 28 of file TCandidateMovementPTG.h.
double mrpt::nav::TCandidateMovementPTG::starting_robot_dir |
Definition at line 29 of file TCandidateMovementPTG.h.
double mrpt::nav::TCandidateMovementPTG::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".
Definition at line 29 of file TCandidateMovementPTG.h.
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