Planner device data. More...
#include <playerc.h>
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). |
Planner device data.
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
Device info; must be at the start of all device structures.
double playerc_planner_t::px |
Current pose (m, m, radians).
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.