#include <Mobility.hpp>

Collaboration diagram for ugv_nav4d::Mobility:

Public Member Functions
	Mobility ()

	Mobility (double speed, double turning_speed, double min_turning_radius, double sampling_resolution, bool correct_goal_offset, unsigned int mult_forward=0, unsigned int mult_backward=0, unsigned int mult_lateral=0, unsigned int mult_forward_turn=0, unsigned int mult_backward_turn=0, unsigned int mult_pointturn=0, unsigned int mult_lateral_curve=0, double search_radius=0, double search_progress_steps=0, double max_motion_curve_length=0)

Public Attributes
double	translationSpeed

double	rotationSpeed

double	minTurningRadius

double	spline_sampling_resolution

bool	remove_goal_offset

unsigned int	multiplierForward

unsigned int	multiplierBackward

unsigned int	multiplierLateral

unsigned int	multiplierForwardTurn

unsigned int	multiplierBackwardTurn

unsigned int	multiplierPointTurn

unsigned int	multiplierLateralCurve

double	searchRadius

double	searchProgressSteps

double	maxMotionCurveLength

Detailed Description

Describes the mobility of the system. The minimal turning radius is used to create valid curves. The multipliers are used by SBPL during planning.

Constructor & Destructor Documentation

◆ Mobility() [1/2]

ugv_nav4d::Mobility::Mobility ( )

inline

◆ Mobility() [2/2]

ugv_nav4d::Mobility::Mobility	(	double	speed,
		double	turning_speed,
		double	min_turning_radius,
		double	sampling_resolution,
		bool	correct_goal_offset,
		unsigned int	mult_forward = `0`,
		unsigned int	mult_backward = `0`,
		unsigned int	mult_lateral = `0`,
		unsigned int	mult_forward_turn = `0`,
		unsigned int	mult_backward_turn = `0`,
		unsigned int	mult_pointturn = `0`,
		unsigned int	mult_lateral_curve = `0`,
		double	search_radius = `0`,
		double	search_progress_steps = `0`,
		double	max_motion_curve_length = `0`
	)

inline

Member Data Documentation

◆ maxMotionCurveLength

double ugv_nav4d::Mobility::maxMotionCurveLength

◆ minTurningRadius

double ugv_nav4d::Mobility::minTurningRadius

◆ multiplierBackward

unsigned int ugv_nav4d::Mobility::multiplierBackward

◆ multiplierBackwardTurn

unsigned int ugv_nav4d::Mobility::multiplierBackwardTurn

◆ multiplierForward

unsigned int ugv_nav4d::Mobility::multiplierForward

The cost of a motion is multiplied by one of the following Multipliers. This allows the user to penalize some motion types. Do not set the multiplier to zero. If you do all motions of that type will have no cost

◆ multiplierForwardTurn

unsigned int ugv_nav4d::Mobility::multiplierForwardTurn

◆ multiplierLateral

unsigned int ugv_nav4d::Mobility::multiplierLateral

◆ multiplierLateralCurve

unsigned int ugv_nav4d::Mobility::multiplierLateralCurve

◆ multiplierPointTurn

unsigned int ugv_nav4d::Mobility::multiplierPointTurn

◆ remove_goal_offset

bool ugv_nav4d::Mobility::remove_goal_offset

◆ rotationSpeed

double ugv_nav4d::Mobility::rotationSpeed

◆ searchProgressSteps

double ugv_nav4d::Mobility::searchProgressSteps

◆ searchRadius

double ugv_nav4d::Mobility::searchRadius

◆ spline_sampling_resolution

double ugv_nav4d::Mobility::spline_sampling_resolution

◆ translationSpeed

double ugv_nav4d::Mobility::translationSpeed

The documentation for this struct was generated from the following file:

src/Mobility.hpp

Public Member Functions

Public Attributes