snav_fci::WaypointConfig Class Reference

Structure containing waypoint options. More...

#include <waypoint_config.hpp>

Public Types
enum	YawType { YawType::FORWARD, YawType::WAYPOINT }
	Enum used to handle different ways of handling yaw tracking. More...

Public Member Functions
	WaypointConfig ()
	Default constructor.
	WaypointConfig (float max_linear_velocity_norm, float max_linear_acceleration_norm, float max_angular_velocity_norm, float max_angular_acceleration_norm, YawType yaw_type)

Public Attributes
float	max_linear_velocity_norm
	Maximum allowed linear velocity magnitude in m/s. More...
float	max_linear_acceleration_norm
	Maximum allowed linear acceleration magnitude in m/s/s. More...
float	max_yaw_velocity_norm
	Maximum allowed yaw velocity magnitude in rad/s.
YawType	yaw_type
	Specifies how desired yaw is handled for this waypoint.

Detailed Description

Structure containing waypoint options.

Member Enumeration Documentation

enum snav_fci::WaypointConfig::YawType

strong

Enum used to handle different ways of handling yaw tracking.

Enumerator
FORWARD	Desired yaw points in the direction of travel
WAYPOINT	Desired yaw is fixed and specified

Constructor & Destructor Documentation

snav_fci::WaypointConfig::WaypointConfig ( float  max_linear_velocity_norm, float  max_linear_acceleration_norm, float  max_angular_velocity_norm, float  max_angular_acceleration_norm, YawType  yaw_type  )

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Member Data Documentation

float snav_fci::WaypointConfig::max_linear_acceleration_norm

Maximum allowed linear acceleration magnitude in m/s/s.

Only used for PlannerConfig::TrajType::SHORTEST_PATH

float snav_fci::WaypointConfig::max_linear_velocity_norm

Maximum allowed linear velocity magnitude in m/s.

Only used for PlannerConfig::TrajType::SHORTEST_PATH

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

• api/config/waypoint_config.hpp