mpp::EnqueuedCondition Struct Reference

#include <mpp/data/EnqueuedMotionCmd.h>

Public Attributes
mrpt::math::TPose2D	position
mrpt::math::TPose2D	tolerance
double	timeout = 10.0

Detailed Description

An odometry position condition used in EnqueuedMotionCmd

Member Data Documentation

position

mrpt::math::TPose2D mpp::EnqueuedCondition::position

The center of the (x,y,phi) "pose volume" that will trigger the next motion command, in odometry frame of reference.

timeout

double mpp::EnqueuedCondition::timeout = 10.0

In seconds. This should hold a larger time than the ETA to the given position.

tolerance

mrpt::math::TPose2D mpp::EnqueuedCondition::tolerance

The three lengths of the "pose volume" described above. Only possitive numbers in all (x,y,phi) fields.

Example:

• position = [-2.0, 3.0, 45.0_deg]
• tolerance = [0.10, 0.10, 2.0_deg] means the next command will be triggered when the robot odometry enters the volume:
  • x ∈ [-2.05, -1.95]
  • y ∈ [ 2.95, 3.05]
  • phi ∈ [ 44_deg, 46_deg]

---

The documentation for this struct was generated from the following file:

• /home/docs/checkouts/readthedocs.org/user_builds/selfdriving/checkouts/latest/mrpt_path_planning/include/mpp/data/EnqueuedMotionCmd.h