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


Detailed Description

Definition at line 127 of file CPRRTNavigator.h.

#include <mrpt/reactivenav/CPRRTNavigator.h>

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

Constructor & Destructor Documentation

mrpt::reactivenav::CPRRTNavigator::TOptions::TOptions (  ) 

Initial values.


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.


Member Data Documentation

Max linear speed (m/s).

Definition at line 142 of file CPRRTNavigator.h.

Max angular speed (rad/s).

Definition at line 143 of file CPRRTNavigator.h.

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

Definition at line 144 of file CPRRTNavigator.h.

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

Definition at line 145 of file CPRRTNavigator.h.

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

Definition at line 147 of file CPRRTNavigator.h.

Definition at line 161 of file CPRRTNavigator.h.

Definition at line 167 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 155 of file CPRRTNavigator.h.




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