#include <mpp/data/Waypoints.h>

Inheritance diagram for mpp::Waypoint:

Public Member Functions
	Waypoint ()=default

	Waypoint (double target_x, double target_y, double allowed_distance, bool allow_skip=true, std::optional< double > target_heading_=std::nullopt, double speed_ratio_=1.0)

mrpt::math::TPose2D	targetAsPose () const

bool	isValid () const

std::string	getAsText () const

mrpt::containers::yaml	asYAML () const

Static Public Member Functions
static Waypoint	FromYAML (const mrpt::containers::yaml &d)

Public Attributes
mrpt::math::TPoint2D	target {INVALID_NUM, INVALID_NUM}

std::optional< double >	targetHeading

std::string	targetFrameId = "map"

double	allowedDistance = INVALID_NUM

double	speedRatio = 1.0

bool	allowSkip = true

bool	preferNotToSkip = false

Static Public Attributes
static constexpr int	INVALID_NUM {-100000}

Detailed Description

A single waypoint within WaypointSequence.

Constructor & Destructor Documentation

◆ Waypoint() [1/2]

mpp::Waypoint::Waypoint ( )

default

Ctor with default values

◆ Waypoint() [2/2]

mpp::Waypoint::Waypoint	(	double	target_x,
		double	target_y,
		double	allowed_distance,
		bool	allow_skip = `true`,
		std::optional< double >	target_heading_ = `std::nullopt`,
		double	speed_ratio_ = `1.0`
	)

Member Function Documentation

◆ asYAML()

mrpt::containers::yaml mpp::Waypoint::asYAML ( ) const

Save waypoint as YAML

◆ FromYAML()

static Waypoint mpp::Waypoint::FromYAML ( const mrpt::containers::yaml & d )

static

Load waypoint from YAML

◆ getAsText()

std::string mpp::Waypoint::getAsText ( ) const

get in human-readable format

◆ isValid()

bool mpp::Waypoint::isValid ( ) const

Check whether all the minimum mandatory fields have been filled by the user.

◆ targetAsPose()

mrpt::math::TPose2D mpp::Waypoint::targetAsPose ( ) const

Returns the target as a SE(2) pose, with its correct heading if targetHeading is defined, or heading=0 otherwise.

Member Data Documentation

◆ allowedDistance

double mpp::Waypoint::allowedDistance = INVALID_NUM

[Mandatory] How close should the robot get to this waypoint for it to be considered reached.

◆ allowSkip

bool mpp::Waypoint::allowSkip = true

[Default=true] Whether it is allowed to the navigator to proceed to a more advanced waypoint in the sequence if it determines that it is easier to skip this one (e.g. it seems blocked by dynamic obstacles). This value is ignored for the last waypoint in a sequence, since it is always considered to be the ultimate goal and hence not subject to be skipped.

See also: preferNotToSkip

◆ INVALID_NUM

constexpr int mpp::Waypoint::INVALID_NUM {-100000}

static

The default value of fields (used to detect non-set values)

◆ preferNotToSkip

bool mpp::Waypoint::preferNotToSkip = false

This modifies the behavior of TWaypoint::allowSkip according to:

* +------------+-----------------+---------------------------+
* | allowSkip  | preferNotToSkip |    Waypoint obstructed    |
* |            |                 |      with obstacles?      |
* |            |                 +------------+--------------+
* |            |                 |     Yes    |      No      |
* +------------+-----------------+------------+--------------+
* |    false   |      false      |  Trigger   | Pass through |
* |  (default) +-----------------+ rnav error |   waypoint   |
* |            |       true      |            |              |
* +------------+-----------------+------------+--------------+
* |    true    |  false(default) |   Skipped  |    Skipped   |
* +------------+-----------------+            +--------------+
* |    true    |       true      |            |  Not skipped |
* +------------+-----------------+------------+--------------+
*

◆ speedRatio

double mpp::Waypoint::speedRatio = 1.0

(Default=1.0) Desired robot speed at the target, as a ratio of the full robot speed. That is: speed_ratio=1 means that the user wants the robot to navigate to the target and smoothly continue to the next one when reached. speed_ratio=0 on the other hand means that the robot should approach this waypoint slowing down and end up totally stopped.

◆ target

mrpt::math::TPoint2D mpp::Waypoint::target {INVALID_NUM, INVALID_NUM}

[Mandatory] Coordinates of desired target location (world/global coordinates).

See also: target_heading, targetAsPose()

◆ targetFrameId

std::string mpp::Waypoint::targetFrameId = "map"

(Default="map") Frame ID in which target is given. Optional, use only for submapping applications.

◆ targetHeading

std::optional<double> mpp::Waypoint::targetHeading

Set to the optional desired orientation [radians] of the robot at this waypoint. (Default: none=any heading).

Some navigator implementations may ignore this preferred heading, read the docs of each implementation to find it out.

See also: targetAsPose()

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/Waypoints.h

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes