mpp::NavEngine::CurrentNavInternalState Struct Reference

#include <mpp/algos/NavEngine.h>

Public Member Functions
	CurrentNavInternalState ()=default
void	clear ()
void	active_plan_reset (bool alsoClearComputedPath=false)

Public Attributes
WaypointStatusSequence	waypointNavStatus
mrpt::poses::CPose2DInterpolator	latestPoses
mrpt::poses::CPose2DInterpolator	latestOdomPoses
std::future< PathPlannerOutput >	pathPlannerFuture
std::optional< waypoint_idx_t >	pathPlannerTargetWpIdx
std::optional< mrpt::math::TPose2D >	collisionCheckingPosePrediction
	From check_immediate_collision(). For Debug visualization. More...
PathPlannerOutput	activePlanOutput
std::vector< MotionPrimitivesTreeSE2::node_t >	activePlanPath
std::vector< MotionPrimitivesTreeSE2::edge_t >	activePlanPathEdges
std::optional< EnqueuedCondition >	activeEnqueuedConditionForViz
std::optional< VehicleOdometryState >	lastEnqueuedTriggerOdometry
std::optional< size_t >	activePlanEdgeIndex
std::optional< size_t >	activePlanEdgeSentIndex
std::set< size_t >	activePlanEdgesSentOut
std::optional< mrpt::math::TPose2D >	activePlanInitOdometry
double	badNavAlarmMinDistTarget_ = std::numeric_limits<double>::max()
mrpt::Clock::time_point	badNavAlarmLastMinDistTime_
bool	navigationEndEventSent = false

Data to be cleared upon each iteration
mrpt::kinematics::CVehicleVelCmd::Ptr	sentOutCmdInThisIteration
mrpt::opengl::CSetOfObjects::Ptr	planVizForNavLog
mrpt::opengl::CSetOfObjects::Ptr	stateVizForNavLog
std::vector< std::string >	navlogDebugMessages
std::optional< double >	lastNavigationStepEndTime
std::optional< double >	timStartThisNavStep
std::optional< double >	lastDistanceToGoalTimestamp
std::optional< double >	lastDistanceToGoal
void	clearPerIterationData ()

Detailed Description

Everything that should be cleared upon a new navigation command.

Constructor & Destructor Documentation

CurrentNavInternalState()

mpp::NavEngine::CurrentNavInternalState::CurrentNavInternalState ( )

default

Member Function Documentation

active_plan_reset()

void mpp::NavEngine::CurrentNavInternalState::active_plan_reset ( bool  alsoClearComputedPath = false )

inline

clear()

void mpp::NavEngine::CurrentNavInternalState::clear ( )

inline

clearPerIterationData()

void mpp::NavEngine::CurrentNavInternalState::clearPerIterationData ( )

inline

Member Data Documentation

activeEnqueuedConditionForViz

std::optional<EnqueuedCondition> mpp::NavEngine::CurrentNavInternalState::activeEnqueuedConditionForViz

A copy of the active queued condition, for viz purposes only (coordinates here are in the odometry frame)

activePlanEdgeIndex

std::optional<size_t> mpp::NavEngine::CurrentNavInternalState::activePlanEdgeIndex

0-based index of which edge in activePlanPathEdges[] is currently being executed by the robot. Empty if the plan is new and no order has been sent out to the robot yet. The i-th edge is moving between nodes [i] and [i+1] in activePlanPath.

activePlanEdgeSentIndex

std::optional<size_t> mpp::NavEngine::CurrentNavInternalState::activePlanEdgeSentIndex

Will be equal to activePlanEdgeIndex once the command has been sent out to the robot

activePlanEdgesSentOut

std::set<size_t> mpp::NavEngine::CurrentNavInternalState::activePlanEdgesSentOut

activePlanInitOdometry

std::optional<mrpt::math::TPose2D> mpp::NavEngine::CurrentNavInternalState::activePlanInitOdometry

The robot pose in the odom frame when the first motion edge is executed from send_next_motion_cmd_or_nop()

activePlanOutput

PathPlannerOutput mpp::NavEngine::CurrentNavInternalState::activePlanOutput

Set by check_new_planner_output()

activePlanPath

std::vector<MotionPrimitivesTreeSE2::node_t> mpp::NavEngine::CurrentNavInternalState::activePlanPath

activePlanPathEdges

std::vector<MotionPrimitivesTreeSE2::edge_t> mpp::NavEngine::CurrentNavInternalState::activePlanPathEdges

badNavAlarmLastMinDistTime_

mrpt::Clock::time_point mpp::NavEngine::CurrentNavInternalState::badNavAlarmLastMinDistTime_

Initial value:

=
            mrpt::Clock::now()

badNavAlarmMinDistTarget_

double mpp::NavEngine::CurrentNavInternalState::badNavAlarmMinDistTarget_ = std::numeric_limits<double>::max()

For sending an alarm (error event) when it seems that we are not approaching toward the target in a while...

collisionCheckingPosePrediction

std::optional<mrpt::math::TPose2D> mpp::NavEngine::CurrentNavInternalState::collisionCheckingPosePrediction

From check_immediate_collision(). For Debug visualization.

lastDistanceToGoal

std::optional<double> mpp::NavEngine::CurrentNavInternalState::lastDistanceToGoal

lastDistanceToGoalTimestamp

std::optional<double> mpp::NavEngine::CurrentNavInternalState::lastDistanceToGoalTimestamp

Values used to check against Configuration::timeoutNotGettingCloserGoal

lastEnqueuedTriggerOdometry

std::optional<VehicleOdometryState> mpp::NavEngine::CurrentNavInternalState::lastEnqueuedTriggerOdometry

A copy of the last odometry when an enqueued action was triggered, for viz purposed only

lastNavigationStepEndTime

std::optional<double> mpp::NavEngine::CurrentNavInternalState::lastNavigationStepEndTime

latestOdomPoses

mrpt::poses::CPose2DInterpolator mpp::NavEngine::CurrentNavInternalState::latestOdomPoses

latestPoses

mrpt::poses::CPose2DInterpolator mpp::NavEngine::CurrentNavInternalState::latestPoses

Latest robot poses, updated in navigation_Step()

navigationEndEventSent

bool mpp::NavEngine::CurrentNavInternalState::navigationEndEventSent = false

Will be false until the navigation end is sent.

navlogDebugMessages

std::vector<std::string> mpp::NavEngine::CurrentNavInternalState::navlogDebugMessages

pathPlannerFuture

std::future<PathPlannerOutput> mpp::NavEngine::CurrentNavInternalState::pathPlannerFuture

pathPlannerTargetWpIdx

std::optional<waypoint_idx_t> mpp::NavEngine::CurrentNavInternalState::pathPlannerTargetWpIdx

The final waypoint of the currently under-optimization/already finished path planning.

planVizForNavLog

mrpt::opengl::CSetOfObjects::Ptr mpp::NavEngine::CurrentNavInternalState::planVizForNavLog

sentOutCmdInThisIteration

mrpt::kinematics::CVehicleVelCmd::Ptr mpp::NavEngine::CurrentNavInternalState::sentOutCmdInThisIteration

Copy of sent-out cmd, for the log record

stateVizForNavLog

mrpt::opengl::CSetOfObjects::Ptr mpp::NavEngine::CurrentNavInternalState::stateVizForNavLog

timStartThisNavStep

std::optional<double> mpp::NavEngine::CurrentNavInternalState::timStartThisNavStep

waypointNavStatus

WaypointStatusSequence mpp::NavEngine::CurrentNavInternalState::waypointNavStatus

The latest waypoints navigation command and the up-to-date control status.

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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/algos/NavEngine.h