mrpt::nav::TPath::TPlannedPath Struct Reference

Detailed Description

< An ordered vector of path poses.

Definition at line 60 of file TPath.h.

#include <mrpt/nav/planners/TPath.h>

Inheritance diagram for mrpt::nav::TPath::TPlannedPath:

Public Member Functions
double	lengthEuclidean () const
	Return the path length. More...
double	lengthPsm () const
	Return the path length. More...
bool	save_to_text_file (const std::string &file) const
	Save the path in a file. More...
int	getClosestPathIndex (mrpt::math::TPose2D &robotPose) const
	Given a robot pose, get the closest path index. More...
bool	getBreadcrumbPoint (mrpt::nav::TPath::TPathData &out_next_point, mrpt::math::TPose2D &robotPose, mrpt::math::TPose2D &m_target_pose, double breadcrumb_dist)
	Get the next point to follow for the reactive method, the idea is reactively navigate to the target through a set of points as a "Hop-o'-My-Thumb" path (or breadcrumbs path) More...

Public Attributes
bool	isApproximate
	the path is approximate if the target is not reached More...
T	elements
	STL member. More...

Member Function Documentation

bool mrpt::nav::TPath::TPlannedPath::getBreadcrumbPoint	(	mrpt::nav::TPath::TPathData &	out_next_point,
		mrpt::math::TPose2D &	robotPose,
		mrpt::math::TPose2D &	m_target_pose,
		double	breadcrumb_dist
	)

Get the next point to follow for the reactive method, the idea is reactively navigate to the target through a set of points as a "Hop-o'-My-Thumb" path (or breadcrumbs path)

Note

the path have to be not-empty.

Returns

false if can't determine the next point.

int mrpt::nav::TPath::TPlannedPath::getClosestPathIndex

(

mrpt::math::TPose2D &

robotPose

)

const

Given a robot pose, get the closest path index.

Note

this function consider only the euclidean distance

double mrpt::nav::TPath::TPlannedPath::lengthEuclidean

(

)

const

Return the path length.

Note

in Euclidean metric

the planned path is suppose to be calculated

double mrpt::nav::TPath::TPlannedPath::lengthPsm

(

)

const

Return the path length.

Note

in psm pseudo-meter (PTGs metric)

the planned path is suppose to be calculated

bool mrpt::nav::TPath::TPlannedPath::save_to_text_file

(

const std::string &

file

)

const

Save the path in a file.

Note

the firsts line include a header containing the max velocity linear/angular

the format is: x y phi ptg_index K ptg_dist

if the folder doesn't exist it will not be created

Member Data Documentation

T std::vector< T >::elements

inherited

STL member.

bool mrpt::nav::TPath::TPlannedPath::isApproximate

the path is approximate if the target is not reached

Definition at line 63 of file TPath.h.