double inner_radius_reached
static const int INVALID_NUM
The default value of fields (used to detect non-set values)
double outter_radius_non_skippable
double target_heading
[Default=any heading] Optionally, set to the desired orientation [radians] of the robot at this waypo...
mrpt::system::TTimeStamp timestamp_reach
Timestamp of when this waypoint was reached.
TWaypoint()
Ctor with default values.
void getAsOpenglVisualization(mrpt::opengl::CSetOfObjects &obj, const mrpt::nav::TWaypointsRenderingParams ¶ms=mrpt::nav::TWaypointsRenderingParams()) const
Renders the sequence of waypoints (previous contents of obj are cleared)
double outter_radius_reached
TWaypointsRenderingParams()
bool reached
Whether this waypoint has been reached already (to within the allowed distance as per user specificat...
TWaypointStatusSequence()
Ctor with default values.
bool isValid() const
Check whether all the minimum mandatory fields have been filled by the user.
TWaypointStatus & operator=(const TWaypoint &wp)
std::string getAsText() const
Gets navigation params as a human-readable format.
int waypoint_index_current_goal
Index in waypoints of the waypoint the navigator is currently trying to reach.
std::vector< TWaypoint > waypoints
TWaypointSequence()
Ctor with default values.
std::string getAsText() const
Gets navigation params as a human-readable format.
A set of object, which are referenced to the coordinates framework established in this object.
int counter_seen_reachable
(Initialized to 0 automatically) How many times this waypoint has been seen as "reachable" before it ...
mrpt::img::TColor color_regular
This class allows loading and storing values and vectors of different types from a configuration text...
mrpt::system::TTimeStamp timestamp_nav_started
Timestamp of user navigation command.
void load(const mrpt::config::CConfigFileBase &c, const std::string &s)
Loads waypoints to a config file section.
bool skipped
If reached==true this boolean tells whether the waypoint was physically reached (false) or marked as ...
void getAsOpenglVisualization(mrpt::opengl::CSetOfObjects &obj, const mrpt::nav::TWaypointsRenderingParams ¶ms=mrpt::nav::TWaypointsRenderingParams()) const
Renders the sequence of waypoints (previous contents of obj are cleared)
mrpt::img::TColor color_reached
bool final_goal_reached
Whether the final waypoint has been reached successfuly.
mrpt::Clock::time_point TTimeStamp
A system independent time type, it holds the the number of 100-nanosecond intervals since January 1,...
mrpt::vision::TStereoCalibParams params
std::string getAsText() const
Gets navigation params as a human-readable format.
A waypoint with an execution status.
used in getAsOpenglVisualization()
The struct for requesting navigation requests for a sequence of waypoints.
double allowed_distance
[Must be set by the user] How close should the robot get to this waypoint for it to be considered rea...
mrpt::math::TPose2D last_robot_pose
Robot pose at last time step (has INVALID_NUM fields upon initialization)
std::string target_frame_id
(Default="map") Frame ID in which target is given.
double speed_ratio
(Default=1.0) Desired robot speed at the target, as a ratio of the full robot speed.
std::string getAsText() const
get in human-readable format
A single waypoint within TWaypointSequence.
std::vector< TWaypointStatus > waypoints
Waypoints parameters and status (reached, skipped, etc.)
mrpt::math::TPoint2D target
[Must be set by the user] Coordinates of desired target location (world/global coordinates).
bool allow_skip
[Default=true] Whether it is allowed to the navigator to proceed to a more advanced waypoint in the s...
double inner_radius_non_skippable
mrpt::img::TColor color_current_goal
The struct for querying the status of waypoints navigation.
void save(mrpt::config::CConfigFileBase &c, const std::string &s) const
Saves waypoints to a config file section.
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