MRPT
2.0.4
mrpt
nav
reactive
TCandidateMovementPTG.h
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/* +------------------------------------------------------------------------+
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| Mobile Robot Programming Toolkit (MRPT) |
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| https://www.mrpt.org/ |
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| |
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| Copyright (c) 2005-2020, Individual contributors, see AUTHORS file |
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| See: https://www.mrpt.org/Authors - All rights reserved. |
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| Released under BSD License. See: https://www.mrpt.org/License |
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+------------------------------------------------------------------------+ */
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#pragma once
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#include <
mrpt/system/TParameters.h
>
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namespace
mrpt::nav
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{
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class
CParameterizedTrajectoryGenerator;
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/** Stores a candidate movement in TP-Space-based navigation.
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*\sa CReactiveNavigationSystem, CReactiveNavigationSystem3D
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* \ingroup nav_reactive
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*/
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struct
TCandidateMovementPTG
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{
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/** The associated PTG. nullptr if not applicable / undefined. */
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CParameterizedTrajectoryGenerator
*
PTG
{
nullptr
};
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/** TP-Space movement direction. Within [-2*PI,+2*PI] */
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double
direction
{0};
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/** TP-Space movement speed, normalized to [0,1]. A negative number means
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* this candidate movement is unfeasible and must be discarded. */
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double
speed
{0};
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/** Default to 0, they can be used to reflect a robot starting at a position
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* not at (0,0). Used in "PTG continuation" */
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double
starting_robot_dir
{0},
starting_robot_dist
{0};
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/** List of properties. May vary for different user implementations of
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* scores and/or different multi-objective optimizers.
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* See list of available variable names in docs for
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* mrpt::nav::CAbstractPTGBasedReactive
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*/
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mrpt::system::TParameters<double>
props
;
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TCandidateMovementPTG
();
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};
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}
// namespace mrpt::nav
mrpt::nav::TCandidateMovementPTG::PTG
CParameterizedTrajectoryGenerator * PTG
The associated PTG.
Definition:
TCandidateMovementPTG.h:24
mrpt::nav::TCandidateMovementPTG::starting_robot_dir
double starting_robot_dir
Default to 0, they can be used to reflect a robot starting at a position not at (0,...
Definition:
TCandidateMovementPTG.h:32
mrpt::nav::TCandidateMovementPTG::props
mrpt::system::TParameters< double > props
List of properties.
Definition:
TCandidateMovementPTG.h:39
mrpt::nav
Definition:
CAbstractHolonomicReactiveMethod.h:20
TParameters.h
mrpt::nav::TCandidateMovementPTG::starting_robot_dist
double starting_robot_dist
Definition:
TCandidateMovementPTG.h:32
mrpt::nav::TCandidateMovementPTG::TCandidateMovementPTG
TCandidateMovementPTG()
mrpt::system::TParameters< double >
mrpt::nav::TCandidateMovementPTG
Stores a candidate movement in TP-Space-based navigation.
Definition:
TCandidateMovementPTG.h:21
mrpt::nav::TCandidateMovementPTG::direction
double direction
TP-Space movement direction.
Definition:
TCandidateMovementPTG.h:26
mrpt::nav::TCandidateMovementPTG::speed
double speed
TP-Space movement speed, normalized to [0,1].
Definition:
TCandidateMovementPTG.h:29
mrpt::nav::CParameterizedTrajectoryGenerator
This is the base class for any user-defined PTG.
Definition:
CParameterizedTrajectoryGenerator.h:78
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