mpp::MoveEdgeSE2_TPS Struct Reference

#include <mpp/data/MoveEdgeSE2_TPS.h>

Public Member Functions
	MoveEdgeSE2_TPS ()=default
	~MoveEdgeSE2_TPS ()=default
ptg_t::TNavDynamicState	getPTGDynState () const
std::string	asString () const

Public Attributes
mrpt::graphs::TNodeID	parentId = mrpt::graphs::INVALID_NODEID
SE2_KinState	stateFrom
SE2_KinState	stateTo
double	cost = std::numeric_limits<double>::max()
int8_t	ptgIndex = -1
int16_t	ptgPathIndex = -1
distance_t	ptgDist = std::numeric_limits<distance_t>::max()
normalized_speed_t	ptgTrimmableSpeed = 1.0
mrpt::math::TPose2D	ptgFinalRelativeGoal
normalized_speed_t	ptgFinalGoalRelSpeed = .0
duration_seconds_t	estimatedExecTime = .0
std::map< duration_seconds_t, mrpt::math::TPose2D >	interpolatedPath

Detailed Description

An edge for the move tree used for planning in SE2 and TP-space

Constructor & Destructor Documentation

MoveEdgeSE2_TPS()

mpp::MoveEdgeSE2_TPS::MoveEdgeSE2_TPS ( )

default

~MoveEdgeSE2_TPS()

mpp::MoveEdgeSE2_TPS::~MoveEdgeSE2_TPS ( )

default

Member Function Documentation

asString()

std::string mpp::MoveEdgeSE2_TPS::asString

(

)

const

For debugging purposes.

getPTGDynState()

ptg_t::TNavDynamicState mpp::MoveEdgeSE2_TPS::getPTGDynState

(

)

const

Member Data Documentation

cost

double mpp::MoveEdgeSE2_TPS::cost = std::numeric_limits<double>::max()

cost associated to each motion, this should be defined by the user according to a specific cost function

estimatedExecTime

duration_seconds_t mpp::MoveEdgeSE2_TPS::estimatedExecTime = .0

interpolatedPath

std::map<duration_seconds_t, mrpt::math::TPose2D> mpp::MoveEdgeSE2_TPS::interpolatedPath

Subsampled path, in coordinates relative to "stateFrom", stored here for rendering purposes, to avoid having to re-seed the PTG with the initial velocity state while visualization, and to estimate the pose at each time. Minimum length: 2=start and final pose.

parentId

mrpt::graphs::TNodeID mpp::MoveEdgeSE2_TPS::parentId = mrpt::graphs::INVALID_NODEID

The ID of the parent node in the tree (all edges must have a valid starting node).

ptgDist

distance_t mpp::MoveEdgeSE2_TPS::ptgDist = std::numeric_limits<distance_t>::max()

identify the PTG "pseudometers" distance of the trajectory for this motion segment (NOT normalized distances)

ptgFinalGoalRelSpeed

normalized_speed_t mpp::MoveEdgeSE2_TPS::ptgFinalGoalRelSpeed = .0

ptgFinalRelativeGoal

mrpt::math::TPose2D mpp::MoveEdgeSE2_TPS::ptgFinalRelativeGoal

ptgIndex

int8_t mpp::MoveEdgeSE2_TPS::ptgIndex = -1

indicate the type of trajectory used for this motion

ptgPathIndex

int16_t mpp::MoveEdgeSE2_TPS::ptgPathIndex = -1

identify the trajectory number K of the type ptgIndex

ptgTrimmableSpeed

normalized_speed_t mpp::MoveEdgeSE2_TPS::ptgTrimmableSpeed = 1.0

stateFrom

SE2_KinState mpp::MoveEdgeSE2_TPS::stateFrom

stateTo

SE2_KinState mpp::MoveEdgeSE2_TPS::stateTo

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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/MoveEdgeSE2_TPS.h