The struct for configuring navigation requests to CAbstractPTGBasedReactive and derived classes.
Definition at line 52 of file CAbstractPTGBasedReactive.h.
#include <mrpt/nav/reactive/CAbstractPTGBasedReactive.h>
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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.
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mrpt::math::TPoint2D | target |
| Coordinates of desired target location.
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double | targetHeading |
| Target location (heading, in radians).
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float | targetAllowedDistance |
| Allowed distance to target in order to end the navigation.
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bool | targetIsRelative |
| (Default=false) Whether the target coordinates are in global coordinates (false) or are relative to the current robot pose (true).
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◆ TNavigationParamsPTG()
mrpt::nav::CAbstractPTGBasedReactive::TNavigationParamsPTG::TNavigationParamsPTG |
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inline |
◆ ~TNavigationParamsPTG()
virtual mrpt::nav::CAbstractPTGBasedReactive::TNavigationParamsPTG::~TNavigationParamsPTG |
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inlinevirtual |
◆ clone()
virtual TNavigationParams * mrpt::nav::CAbstractPTGBasedReactive::TNavigationParamsPTG::clone |
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const |
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inlinevirtual |
◆ getAsText()
virtual std::string mrpt::nav::CAbstractPTGBasedReactive::TNavigationParamsPTG::getAsText |
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const |
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virtual |
◆ 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 56 of file CAbstractPTGBasedReactive.h.
◆ target
◆ targetAllowedDistance
float mrpt::nav::CAbstractReactiveNavigationSystem::TNavigationParams::targetAllowedDistance |
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inherited |
◆ targetHeading
double mrpt::nav::CAbstractReactiveNavigationSystem::TNavigationParams::targetHeading |
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inherited |
◆ targetIsRelative
bool mrpt::nav::CAbstractReactiveNavigationSystem::TNavigationParams::targetIsRelative |
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inherited |
(Default=false) Whether the target coordinates are in global coordinates (false) or are relative to the current robot pose (true).
Definition at line 112 of file CAbstractReactiveNavigationSystem.h.