LocalGuidance
A library that generates velocity references to follow a path.
local_guidance_path_manager::SubPathsManager::CurrentSubPath Struct Reference

Public Attributes

int indexCurrentSubPath_ {-1}
 Holds the index of the original (i.e. as passed during creation of the object) current sub-path which is being followed. More...
 
std::unique_ptr< PathTypesubPath_ {nullptr}
 Current sub-path to be followed. This is a deep copy of one of the original sub-paths obtained during creation. More...
 
std::unique_ptr< PathTypetraversableSubPath_ {nullptr}
 Traversable version (i.e. modified) of the current sub-path, in case traversability is taken into account. More...
 
std::unique_ptr< PathTypeportionTraversableSubPathAheadRobot_ {nullptr}
 Portion of the current traversable sub-path ahead of the robot, in case traversability is taken into account. More...
 
unsigned int idSegmentNextWaypointOnOriginalSubPath_ {0}
 Id of the segment where next waypoint lives, in the original sub-path (i.e. not modified by traversability planning). More...
 

Detailed Description

Class to hold information about the current sub-path that is being followed.

Member Data Documentation

unsigned int local_guidance_path_manager::SubPathsManager::CurrentSubPath::idSegmentNextWaypointOnOriginalSubPath_ {0}

Id of the segment where next waypoint lives, in the original sub-path (i.e. not modified by traversability planning).

int local_guidance_path_manager::SubPathsManager::CurrentSubPath::indexCurrentSubPath_ {-1}

Holds the index of the original (i.e. as passed during creation of the object) current sub-path which is being followed.

std::unique_ptr<PathType> local_guidance_path_manager::SubPathsManager::CurrentSubPath::portionTraversableSubPathAheadRobot_ {nullptr}

Portion of the current traversable sub-path ahead of the robot, in case traversability is taken into account.

std::unique_ptr<PathType> local_guidance_path_manager::SubPathsManager::CurrentSubPath::subPath_ {nullptr}

Current sub-path to be followed. This is a deep copy of one of the original sub-paths obtained during creation.

std::unique_ptr<PathType> local_guidance_path_manager::SubPathsManager::CurrentSubPath::traversableSubPath_ {nullptr}

Traversable version (i.e. modified) of the current sub-path, in case traversability is taken into account.


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