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mrpt::nav::CAbstractPTGBasedReactive::TNavigationParamsPTG Struct Reference

Detailed Description

The struct for configuring navigation requests to CAbstractPTGBasedReactive and derived classes.

Definition at line 79 of file CAbstractPTGBasedReactive.h.

#include <mrpt/nav/reactive/CAbstractPTGBasedReactive.h>

Inheritance diagram for mrpt::nav::CAbstractPTGBasedReactive::TNavigationParamsPTG:
Inheritance graph

Public Member Functions

virtual std::string getAsText () const MRPT_OVERRIDE
 Gets navigation params as a human-readable format. More...
 
virtual TNavigationParamsBaseclone () const MRPT_OVERRIDE
 

Public Attributes

std::vector< size_t > restrict_PTG_indices
 (Default=empty) Optionally, a list of PTG indices can be sent such that the navigator will restrict itself to only employ those PTGs. More...
 
std::vector< mrpt::nav::CAbstractNavigator::TargetInfomultiple_targets
 If not empty, this will prevail over the base class single goal target. More...
 
TargetInfo target
 Navigation target. More...
 

Protected Member Functions

virtual bool isEqual (const CAbstractNavigator::TNavigationParamsBase &o) const MRPT_OVERRIDE
 

Member Function Documentation

◆ clone()

virtual TNavigationParamsBase* mrpt::nav::CAbstractPTGBasedReactive::TNavigationParamsPTG::clone ( ) const
inlinevirtual

◆ getAsText()

virtual std::string mrpt::nav::CAbstractPTGBasedReactive::TNavigationParamsPTG::getAsText ( ) const
virtual

Gets navigation params as a human-readable format.

Reimplemented from mrpt::nav::CWaypointsNavigator::TNavigationParamsWaypoints.

◆ isEqual()

virtual bool mrpt::nav::CAbstractPTGBasedReactive::TNavigationParamsPTG::isEqual ( const CAbstractNavigator::TNavigationParamsBase o) const
protectedvirtual

Member Data Documentation

◆ multiple_targets

std::vector<mrpt::nav::CAbstractNavigator::TargetInfo> mrpt::nav::CWaypointsNavigator::TNavigationParamsWaypoints::multiple_targets
inherited

If not empty, this will prevail over the base class single goal target.

Semantic is: any of these targets will be good for heading the robot towards them, but the priority is for the latest ones in the sequence.

Definition at line 42 of file CWaypointsNavigator.h.

◆ restrict_PTG_indices

std::vector<size_t> mrpt::nav::CAbstractPTGBasedReactive::TNavigationParamsPTG::restrict_PTG_indices

(Default=empty) Optionally, a list of PTG indices can be sent such that the navigator will restrict itself to only employ those PTGs.

Definition at line 83 of file CAbstractPTGBasedReactive.h.

◆ target

TargetInfo mrpt::nav::CAbstractNavigator::TNavigationParams::target
inherited

Navigation target.

Definition at line 87 of file CAbstractNavigator.h.




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