playerc_planner_t Struct Reference

Planner device data. More...

#include <playerc.h>

List of all members.

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).

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Detailed Description

Planner device data.

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Member Data Documentation

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

playerc_device_t playerc_planner_t::info

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.

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

• playerc.h