#include <mrpt/reactivenav/CPRRTNavigator.h>
Classes | |
struct | TPathTrackingOpts |
struct | TPlannerOpts |
Public Member Functions | |
TOptions () | |
Initial values. | |
void | loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string §ion) |
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 |
Definition at line 131 of file CPRRTNavigator.h.
mrpt::reactivenav::CPRRTNavigator::TOptions::TOptions | ( | ) |
Initial values.
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.
Max linear speed (m/s).
Definition at line 146 of file CPRRTNavigator.h.
Max angular speed (rad/s).
Definition at line 147 of file CPRRTNavigator.h.
Max desired linear speed acceleration (m/s^2).
Definition at line 148 of file CPRRTNavigator.h.
Max desired angular speed acceleration (rad/s^2).
Definition at line 149 of file CPRRTNavigator.h.
Max age (in seconds) for an observation to be considered invalid for navigation purposes.
Definition at line 151 of file CPRRTNavigator.h.
Definition at line 165 of file CPRRTNavigator.h.
Definition at line 171 of file CPRRTNavigator.h.
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 159 of file CPRRTNavigator.h.
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