mrpt::reactivenav::CPRRTNavigator::TOptions Class Reference

#include <mrpt/reactivenav/CPRRTNavigator.h>

Inheritance diagram for mrpt::reactivenav::CPRRTNavigator::TOptions:

List of all members.

Classes
struct	TPathTrackingOpts
struct	TPlannerOpts
Public Member Functions
	TOptions ()
	Initial values.
void	loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
	This method load the options from a ".ini"-like file or memory-stored string list.
void	dumpToTextStream (CStream &out) const
	This method displays clearly all the contents of the structure in textual form, sending it to a CStream.
void	loadFromConfigFileName (const std::string &config_file, const std::string &section)
	Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file.
virtual void	saveToConfigFile (mrpt::utils::CConfigFileBase &source, const std::string &section)
	This method saves the options to a ".ini"-like file or memory-stored string list.
void	saveToConfigFileName (const std::string &config_file, const std::string &section)
	Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file.
void	dumpToConsole () const
	This method must display clearly all the contents of the structure in textual form, sending it to a CStream.
Public Attributes
double	absolute_max_v
	Max linear speed (m/s)
double	absolute_max_w
	Max angular speed (rad/s)
double	max_accel_v
	Max desired linear speed acceleration (m/s^2)
double	max_accel_w
	Max desired angular speed acceleration (rad/s^2)
double	max_age_observations
	Max age (in seconds) for an observation to be considered invalid for navigation purposes.
TPolygon2D	robot_shape
	The robot shape used when computing collisions; it's loaded from the config file/text as a single 2xN matrix in MATLAB format, first row are Xs, second are Ys, e.g:
TPathTrackingOpts	pathtrack
TPlannerOpts	planner
Static Protected Member Functions
static void	dumpVar_int (CStream &out, const char *varName, int v)
	Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.
static void	dumpVar_float (CStream &out, const char *varName, float v)
static void	dumpVar_double (CStream &out, const char *varName, double v)
static void	dumpVar_bool (CStream &out, const char *varName, bool v)
static void	dumpVar_string (CStream &out, const char *varName, const std::string &v)

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Constructor & Destructor Documentation

mrpt::reactivenav::CPRRTNavigator::TOptions::TOptions

(

)

Initial values.

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Member Function Documentation

void mrpt::utils::CLoadableOptions::dumpToConsole

(

)

const [inherited]

This method must display clearly all the contents of the structure in textual form, sending it to a CStream.

void mrpt::reactivenav::CPRRTNavigator::TOptions::dumpToTextStream

(

CStream &

out

)

const [virtual]

This method displays clearly all the contents of the structure in textual form, sending it to a CStream.

Implements mrpt::utils::CLoadableOptions.

static void mrpt::utils::CLoadableOptions::dumpVar_bool	(	CStream &	out,
		const char *	varName,
		bool	v
	)		[static, protected, inherited]

static void mrpt::utils::CLoadableOptions::dumpVar_double	(	CStream &	out,
		const char *	varName,
		double	v
	)		[static, protected, inherited]

static void mrpt::utils::CLoadableOptions::dumpVar_float	(	CStream &	out,
		const char *	varName,
		float	v
	)		[static, protected, inherited]

static void mrpt::utils::CLoadableOptions::dumpVar_int	(	CStream &	out,
		const char *	varName,
		int	v
	)		[static, protected, inherited]

Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.

static void mrpt::utils::CLoadableOptions::dumpVar_string	(	CStream &	out,
		const char *	varName,
		const std::string &	v
	)		[static, protected, inherited]

void mrpt::reactivenav::CPRRTNavigator::TOptions::loadFromConfigFile	(	const mrpt::utils::CConfigFileBase &	source,
		const std::string &	section
	)		[virtual]

This method load the options from a ".ini"-like file or memory-stored string list.

Implements mrpt::utils::CLoadableOptions.

void mrpt::utils::CLoadableOptions::loadFromConfigFileName	(	const std::string &	config_file,
		const std::string &	section
	)		[inherited]

Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file.

See also:

loadFromConfigFile

virtual void mrpt::utils::CLoadableOptions::saveToConfigFile	(	mrpt::utils::CConfigFileBase &	source,
		const std::string &	section
	)		[inline, virtual, inherited]

This method saves the options to a ".ini"-like file or memory-stored string list.

See also:

loadFromConfigFile, saveToConfigFileName

Reimplemented in mrpt::vision::TMultiResDescOptions, and mrpt::vision::TMultiResDescMatchOptions.

Definition at line 87 of file CLoadableOptions.h.

References THROW_EXCEPTION.

void mrpt::utils::CLoadableOptions::saveToConfigFileName	(	const std::string &	config_file,
		const std::string &	section
	)		[inherited]

Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file.

See also:

saveToConfigFile, loadFromConfigFileName

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Member Data Documentation

double mrpt::reactivenav::CPRRTNavigator::TOptions::absolute_max_v

Max linear speed (m/s)

Definition at line 149 of file CPRRTNavigator.h.

double mrpt::reactivenav::CPRRTNavigator::TOptions::absolute_max_w

Max angular speed (rad/s)

Definition at line 150 of file CPRRTNavigator.h.

double mrpt::reactivenav::CPRRTNavigator::TOptions::max_accel_v

Max desired linear speed acceleration (m/s^2)

Definition at line 151 of file CPRRTNavigator.h.

double mrpt::reactivenav::CPRRTNavigator::TOptions::max_accel_w

Max desired angular speed acceleration (rad/s^2)

Definition at line 152 of file CPRRTNavigator.h.

double mrpt::reactivenav::CPRRTNavigator::TOptions::max_age_observations

Max age (in seconds) for an observation to be considered invalid for navigation purposes.

Definition at line 154 of file CPRRTNavigator.h.

TPathTrackingOpts mrpt::reactivenav::CPRRTNavigator::TOptions::pathtrack

Definition at line 168 of file CPRRTNavigator.h.

TPlannerOpts mrpt::reactivenav::CPRRTNavigator::TOptions::planner

Definition at line 174 of file CPRRTNavigator.h.

TPolygon2D mrpt::reactivenav::CPRRTNavigator::TOptions::robot_shape

The robot shape used when computing collisions; it's loaded from the config file/text as a single 2xN matrix in MATLAB format, first row are Xs, second are Ys, e.g:

   robot_shape = [-0.2 0.2 0.2 -0.2; -0.1 -0.1 0.1 0.1]

Definition at line 162 of file CPRRTNavigator.h.