LocalGuidance
A library that generates velocity references to follow a path.
navigation_common::Edge Class Reference

#include <Edge.hpp>

Public Member Functions

 Edge (const NodePtr &start, const NodePtr &end, const LocomotionController &locomotionController, const double traversability=-1.0, const std::string &comment="")
 
 ~Edge ()=default
 
double getTraversability () const
 
void setTraversability (const double traversability)
 
std::string getComment () const
 
void setComment (const std::string &comment)
 
template<enum navigation_common::DimensionType Dim>
double getDistance () const
 
Vector3D getDirection () const
 

Public Attributes

NodePtr start_
 Start node. More...
 
NodePtr end_
 End node. More...
 
LocomotionController locomotionController_
 Locomotion controller. More...
 

Protected Attributes

double traversability_ = 0.3
 Traversability in [0..1]. More...
 
std::string comment_ = ""
 Comment. More...
 

Constructor & Destructor Documentation

◆ Edge()

navigation_common::Edge::Edge ( const NodePtr start,
const NodePtr end,
const LocomotionController locomotionController,
const double  traversability = -1.0,
const std::string &  comment = "" 
)
explicit

Constructor.

◆ ~Edge()

navigation_common::Edge::~Edge ( )
default

Destructor.

Member Function Documentation

◆ getComment()

std::string navigation_common::Edge::getComment ( ) const

Get the comment.

Returns
Comment

◆ getDirection()

Vector3D navigation_common::Edge::getDirection ( ) const

Get the edge direction.

Returns
direction.

◆ getDistance()

template<enum navigation_common::DimensionType Dim>
double navigation_common::Edge::getDistance ( ) const
inline

Get the edge distance in the given dimension.

Returns
distance.

◆ getTraversability()

double navigation_common::Edge::getTraversability ( ) const

Get the traversability.

Returns
Traversability.

◆ setComment()

void navigation_common::Edge::setComment ( const std::string &  comment)

Set the comment.

Parameters
commentComment

◆ setTraversability()

void navigation_common::Edge::setTraversability ( const double  traversability)

Set the traversability.

Parameters
traversabilityTraversability.

Member Data Documentation

◆ comment_

std::string navigation_common::Edge::comment_ = ""
protected

Comment.

◆ end_

NodePtr navigation_common::Edge::end_

End node.

◆ locomotionController_

LocomotionController navigation_common::Edge::locomotionController_

Locomotion controller.

◆ start_

NodePtr navigation_common::Edge::start_

Start node.

◆ traversability_

double navigation_common::Edge::traversability_ = 0.3
protected

Traversability in [0..1].


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