#include <mpp/algos/NavEngine.h>

Public Member Functions
	PathPlannerInput ()=default

Public Attributes
mpp::PlannerInput	pi

std::optional< TNodeID >	startingFromCurrentPlanNode

std::optional< mrpt::math::TPose2D >	startingFromCurrentPlanNodePose

Constructor & Destructor Documentation

◆ PathPlannerInput()

mpp::NavEngine::PathPlannerInput::PathPlannerInput ( )

default

Member Data Documentation

◆ pi

mpp::PlannerInput mpp::NavEngine::PathPlannerInput::pi

◆ startingFromCurrentPlanNode

std::optional<TNodeID> mpp::NavEngine::PathPlannerInput::startingFromCurrentPlanNode

If this is path refining plan request, this is the ID of the node that acts as starting state, with the ID in the current activePlan.

◆ startingFromCurrentPlanNodePose

std::optional<mrpt::math::TPose2D> mpp::NavEngine::PathPlannerInput::startingFromCurrentPlanNodePose

Like above, but with the SE(2) pose of that node. Used to tell from ambiguous situations where the node ID actually remains the same, but after a path merging, so the node pose is different.

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