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mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput Struct Reference

Detailed Description

Input parameters for CAbstractHolonomicReactiveMethod::navigate()

Definition at line 50 of file CAbstractHolonomicReactiveMethod.h.

#include <mrpt/nav/holonomic/CAbstractHolonomicReactiveMethod.h>

Public Member Functions

 NavInput ()
 

Public Attributes

std::vector< double > obstacles
 Distance to obstacles in polar coordinates, relative to the robot. More...
 
std::vector< mrpt::math::TPoint2Dtargets
 Relative location (x,y) of target point(s). In the same units than obstacles. If many, last targets have higher priority. More...
 
double maxRobotSpeed
 Maximum robot speed, in the same units than obstacles, per second. More...
 
double maxObstacleDist
 Maximum expected value to be found in obstacles. Typically, values in obstacles larger or equal to this value mean there is no visible obstacle in that direction. More...
 
const mrpt::nav::ClearanceDiagramclearance
 The computed clearance for each direction (optional in some implementations). Leave to default (NULL) if not needed. More...
 

Constructor & Destructor Documentation

◆ NavInput()

mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::NavInput ( )

Member Data Documentation

◆ clearance

const mrpt::nav::ClearanceDiagram* mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::clearance

The computed clearance for each direction (optional in some implementations). Leave to default (NULL) if not needed.

Definition at line 60 of file CAbstractHolonomicReactiveMethod.h.

◆ maxObstacleDist

double mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::maxObstacleDist

Maximum expected value to be found in obstacles. Typically, values in obstacles larger or equal to this value mean there is no visible obstacle in that direction.

Definition at line 59 of file CAbstractHolonomicReactiveMethod.h.

◆ maxRobotSpeed

double mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::maxRobotSpeed

Maximum robot speed, in the same units than obstacles, per second.

Definition at line 58 of file CAbstractHolonomicReactiveMethod.h.

◆ obstacles

std::vector<double> mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::obstacles

Distance to obstacles in polar coordinates, relative to the robot.

First index refers to -PI direction, and last one to +PI direction. Distances can be dealed as "meters", although when used inside the PTG-based navigation system, they are "pseudometers", normalized to the range [0,1].

Definition at line 56 of file CAbstractHolonomicReactiveMethod.h.

◆ targets

std::vector<mrpt::math::TPoint2D> mrpt::nav::CAbstractHolonomicReactiveMethod::NavInput::targets

Relative location (x,y) of target point(s). In the same units than obstacles. If many, last targets have higher priority.

Definition at line 57 of file CAbstractHolonomicReactiveMethod.h.




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