playerc_planner_t Struct Reference

Planner device data. More...

#include <playerc.h>

Collaboration diagram for playerc_planner_t:

Detailed Description

Planner device data.

Public Attributes
playerc_device_t	info
	Device info; must be at the start of all device structures.
int	path_valid
	Did the planner find a valid path?
int	path_done
	Have we arrived at the goal?
double	px
	Current pose (m, m, radians).
double	py
double	pa
double	gx
	Goal location (m, m, radians)
double	gy
double	ga
double	wx
	Current waypoint location (m, m, radians)
double	wy
double	wa
int	curr_waypoint
	Current waypoint index (handy if you already have the list of waypoints).
int	waypoint_count
	Number of waypoints in the plan.
double(*	waypoints )[3]
	List of waypoints in the current plan (m,m,radians).
double	waypoint_distance
	Straight-line distance along allwaypoints in the current plan.

Member Data Documentation

curr_waypoint

int playerc_planner_t::curr_waypoint

Current waypoint index (handy if you already have the list of waypoints).

May be negative if there's no plan, or if the plan is done

waypoint_distance

double playerc_planner_t::waypoint_distance

Straight-line distance along allwaypoints in the current plan.

Call playerc_planner_get_waypoints() to fill this in.

waypoints

double(* playerc_planner_t::waypoints)[3]

List of waypoints in the current plan (m,m,radians).

Call playerc_planner_get_waypoints() to fill this in.

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

• playerc.h