MRPT logo

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

#include <mrpt/reactivenav/CPRRTNavigator.h>

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

mrpt::utils::CLoadableOptions

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


Detailed Description

Definition at line 131 of file CPRRTNavigator.h.


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 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.




Page generated by Doxygen 1.5.9 for MRPT 0.7.1 SVN: at Mon Aug 17 22:27:43 EDT 2009