Definition at line 81 of file CWaypointsNavigator.h.
#include <mrpt/nav/reactive/CWaypointsNavigator.h>
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static void | dumpVar_int (CStream &out, const char *varName, int v) |
| Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. More...
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static void | dumpVar_float (CStream &out, const char *varName, float v) |
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static void | dumpVar_double (CStream &out, const char *varName, double v) |
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static void | dumpVar_bool (CStream &out, const char *varName, bool v) |
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static void | dumpVar_string (CStream &out, const char *varName, const std::string &v) |
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◆ TWaypointsNavigatorParams()
mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams::TWaypointsNavigatorParams |
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◆ dumpToConsole()
void mrpt::utils::CLoadableOptions::dumpToConsole |
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◆ dumpToTextStream()
This method should clearly display all the contents of the structure in textual form, sending it to a CStream.
The default implementation in this base class relies on saveToConfigFile() to generate a plain text representation of all the parameters.
Reimplemented in mrpt::vision::TMultiResDescOptions, mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams, mrpt::vision::TMultiResDescMatchOptions, mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams, mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions, mrpt::hmtslam::CHMTSLAM::TOptions, mrpt::maps::COccupancyGridMap2D::TInsertionOptions, mrpt::vision::TMatchingOptions, mrpt::maps::TSetOfMetricMapInitializers, mrpt::maps::CLandmarksMap::TLikelihoodOptions, mrpt::maps::CColouredPointsMap::TColourOptions, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::GraphVisualizationParams, mrpt::maps::CPointsMap::TLikelihoodOptions, mrpt::maps::CLandmarksMap::TInsertionOptions, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::TParams, mrpt::vision::TStereoSystemParams, mrpt::maps::CPointsMap::TInsertionOptions, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams, mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::TParams, mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TLikelihoodOptions, mrpt::slam::CRangeBearingKFSLAM::TOptions, mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams, mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::TParams, mrpt::maps::CBeaconMap::TInsertionOptions, mrpt::maps::CRandomFieldGridMap3D::TInsertionOptions, mrpt::maps::CMultiMetricMapPDF::TPredictionParams, mrpt::maps::CBeaconMap::TLikelihoodOptions, mrpt::slam::CRangeBearingKFSLAM2D::TOptions, mrpt::maps::CHeightGridMap2D::TInsertionOptions, mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions, mrpt::graphslam::TSlidingWindow, mrpt::slam::CGridMapAligner::TConfigParams, mrpt::bayes::CParticleFilter::TParticleFilterOptions, mrpt::bayes::TKF_options, mrpt::maps::CReflectivityGridMap2D::TInsertionOptions, mrpt::vision::CFeatureExtraction::TOptions, mrpt::graphslam::TUncertaintyPath< GRAPH_T >, mrpt::maps::TMapGenericParams, mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions, mrpt::hmtslam::CTopLCDetector_GridMatching::TOptions, mrpt::hmtslam::CTopLCDetector_FabMap::TOptions, mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions, mrpt::slam::CICP::TConfigParams, mrpt::slam::CIncrementalMapPartitioner::TOptions, mrpt::maps::CHeightGridMap2D_MRF::TInsertionOptions, mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions, mrpt::slam::CMetricMapBuilderICP::TConfigParams, mrpt::maps::TMetricMapInitializer, mrpt::vision::CCamModel, and mrpt::slam::TKLDParams.
◆ dumpVar_bool()
static void mrpt::utils::CLoadableOptions::dumpVar_bool |
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CStream & |
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const char * |
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bool |
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◆ dumpVar_double()
static void mrpt::utils::CLoadableOptions::dumpVar_double |
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CStream & |
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const char * |
varName, |
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double |
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◆ dumpVar_float()
static void mrpt::utils::CLoadableOptions::dumpVar_float |
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CStream & |
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const char * |
varName, |
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float |
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◆ dumpVar_int()
static void mrpt::utils::CLoadableOptions::dumpVar_int |
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CStream & |
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const char * |
varName, |
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Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.
◆ dumpVar_string()
static void mrpt::utils::CLoadableOptions::dumpVar_string |
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CStream & |
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const char * |
varName, |
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const std::string & |
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◆ loadFromConfigFile()
virtual void mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams::loadFromConfigFile |
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const mrpt::utils::CConfigFileBase & |
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const std::string & |
section |
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This method load the options from a ".ini"-like file or memory-stored string list.
Only those parameters found in the given "section" and having the same name that the variable are loaded. Those not found in the file will stay with their previous values (usually the default values loaded at initialization). An example of an ".ini" file:
[section]
resolution = 0.10
modeSelection = 1
- See also
- loadFromConfigFileName, saveToConfigFile
Implements mrpt::utils::CLoadableOptions.
◆ loadFromConfigFileName()
void mrpt::utils::CLoadableOptions::loadFromConfigFileName |
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const std::string & |
config_file, |
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const std::string & |
section |
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◆ saveToConfigFile()
virtual void mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams::saveToConfigFile |
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mrpt::utils::CConfigFileBase & |
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const std::string & |
section |
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◆ saveToConfigFileName()
void mrpt::utils::CLoadableOptions::saveToConfigFileName |
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const std::string & |
config_file, |
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const std::string & |
section |
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Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file.
- See also
- saveToConfigFile, loadFromConfigFileName
◆ max_distance_to_allow_skip_waypoint
double mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams::max_distance_to_allow_skip_waypoint |
◆ min_timesteps_confirm_skip_waypoints
int mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams::min_timesteps_confirm_skip_waypoints |
How many times shall a future waypoint be seen as reachable to skip to it (Default: 1)
Definition at line 84 of file CWaypointsNavigator.h.
◆ multitarget_look_ahead
int mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams::multitarget_look_ahead |
>=0 number of waypoints to forward to the underlying navigation engine, to ease obstacles avoidance when a waypoint is blocked (Default=0 : none).
Definition at line 87 of file CWaypointsNavigator.h.
◆ rel_speed_for_stop_waypoints
double mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams::rel_speed_for_stop_waypoints |
[0,1] Relative speed when aiming at a stop-point waypoint (Default=0.10)
Definition at line 86 of file CWaypointsNavigator.h.
◆ waypoint_angle_tolerance
double mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams::waypoint_angle_tolerance |
[rad] Angular error tolerance for waypoints with an assigned heading (Default: 5 deg)
Definition at line 85 of file CWaypointsNavigator.h.