mrpt::reactivenav::CPRRTNavigator::TOptions Class Reference

#include <mrpt/reactivenav/CPRRTNavigator.h>

Inheritance diagram for mrpt::reactivenav::CPRRTNavigator::TOptions:

Collaboration diagram for mrpt::reactivenav::CPRRTNavigator::TOptions:

List of all members.

Classes
struct	TPathTrackingOpts
struct	TPlannerOpts
Public Member Functions
	TOptions ()
	Initial values.
void	loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
	This method load the options from a ".ini"-like file or memory-stored string list.
void	dumpToTextStream (CStream &out) const
	This method displays clearly all the contents of the structure in textual form, sending it to a CStream.
Public Attributes
double	absolute_max_v
	Max linear speed (m/s).
double	absolute_max_w
	Max angular speed (rad/s).
double	max_accel_v
	Max desired linear speed acceleration (m/s^2).
double	max_accel_w
	Max desired angular speed acceleration (rad/s^2).
double	max_age_observations
	Max age (in seconds) for an observation to be considered invalid for navigation purposes.
TPolygon2D	robot_shape
	The robot shape used when computing collisions; it's loaded from the config file/text as a single 2xN matrix in MATLAB format, first row are Xs, second are Ys, e.g:
TPathTrackingOpts	pathtrack
TPlannerOpts	planner

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Detailed Description

Definition at line 125 of file CPRRTNavigator.h.

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Constructor & Destructor Documentation

mrpt::reactivenav::CPRRTNavigator::TOptions::TOptions

(

)

Initial values.

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Member Function Documentation

void mrpt::reactivenav::CPRRTNavigator::TOptions::dumpToTextStream

(

CStream &

out

)

const [virtual]

This method displays clearly all the contents of the structure in textual form, sending it to a CStream.

Implements mrpt::utils::CLoadableOptions.

void mrpt::reactivenav::CPRRTNavigator::TOptions::loadFromConfigFile	(	const mrpt::utils::CConfigFileBase &	source,
		const std::string &	section
	)			[virtual]

This method load the options from a ".ini"-like file or memory-stored string list.

Implements mrpt::utils::CLoadableOptions.

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Member Data Documentation

double mrpt::reactivenav::CPRRTNavigator::TOptions::absolute_max_v

Max linear speed (m/s).

Definition at line 140 of file CPRRTNavigator.h.

double mrpt::reactivenav::CPRRTNavigator::TOptions::absolute_max_w

Max angular speed (rad/s).

Definition at line 141 of file CPRRTNavigator.h.

double mrpt::reactivenav::CPRRTNavigator::TOptions::max_accel_v

Max desired linear speed acceleration (m/s^2).

Definition at line 142 of file CPRRTNavigator.h.

double mrpt::reactivenav::CPRRTNavigator::TOptions::max_accel_w

Max desired angular speed acceleration (rad/s^2).

Definition at line 143 of file CPRRTNavigator.h.

double mrpt::reactivenav::CPRRTNavigator::TOptions::max_age_observations

Max age (in seconds) for an observation to be considered invalid for navigation purposes.

Definition at line 145 of file CPRRTNavigator.h.

TPathTrackingOpts mrpt::reactivenav::CPRRTNavigator::TOptions::pathtrack

Definition at line 159 of file CPRRTNavigator.h.

TPlannerOpts mrpt::reactivenav::CPRRTNavigator::TOptions::planner

Definition at line 165 of file CPRRTNavigator.h.

TPolygon2D mrpt::reactivenav::CPRRTNavigator::TOptions::robot_shape

The robot shape used when computing collisions; it's loaded from the config file/text as a single 2xN matrix in MATLAB format, first row are Xs, second are Ys, e.g:

   robot_shape = [-0.2 0.2 0.2 -0.2; -0.1 -0.1 0.1 0.1]

Definition at line 153 of file CPRRTNavigator.h.