#include <mpp/data/Waypoints.h>

Public Member Functions
	WaypointStatusSequence ()=default

WaypointSequence	withoutStatus () const

std::string	getAsText () const

void	getAsOpenglVisualization (mrpt::opengl::CSetOfObjects &obj, const WaypointsRenderingParams &params={}) const

Public Attributes
std::vector< WaypointStatus >	waypoints

mrpt::system::TTimeStamp	timestamp_nav_started = INVALID_TIMESTAMP

bool	final_goal_reached = false

std::optional< waypoint_idx_t >	waypoint_index_current_goal

Detailed Description

The struct for querying the status of waypoints navigation.

Constructor & Destructor Documentation

◆ WaypointStatusSequence()

mpp::WaypointStatusSequence::WaypointStatusSequence ( )

default

Member Function Documentation

◆ getAsOpenglVisualization()

void mpp::WaypointStatusSequence::getAsOpenglVisualization	(	mrpt::opengl::CSetOfObjects &	obj,
		const WaypointsRenderingParams &	params = `{}`
	)		const

Renders the sequence of waypoints (previous contents of obj are cleared)

◆ getAsText()

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

Robot pose at last time step (has INVALID_NUM fields upon initialization) Ctor with default values Gets navigation params as a human-readable format

◆ withoutStatus()

WaypointSequence mpp::WaypointStatusSequence::withoutStatus ( ) const

inline

Extracts a copy of the waypoints, without status information.

Member Data Documentation

◆ final_goal_reached

bool mpp::WaypointStatusSequence::final_goal_reached = false

Whether the final waypoint has been reached successfuly.

◆ timestamp_nav_started

mrpt::system::TTimeStamp mpp::WaypointStatusSequence::timestamp_nav_started = INVALID_TIMESTAMP

Timestamp of user navigation command.

◆ waypoint_index_current_goal

std::optional<waypoint_idx_t> mpp::WaypointStatusSequence::waypoint_index_current_goal

Index in waypoints of the waypoint the navigator is currently trying to reach. This will point to the last waypoint after navigation ends successfully. It has no value if navigation has not started yet

◆ waypoints

std::vector<WaypointStatus> mpp::WaypointStatusSequence::waypoints

Waypoints parameters and status (reached, skipped, etc.)

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

Public Attributes