nav2_graceful_controller::EgocentricPolarCoordinates Struct Reference

Egocentric polar coordinates defined as the difference between the robot pose and the target pose relative to the robot position and orientation. More...

#include <nav2_graceful_controller/include/nav2_graceful_controller/ego_polar_coords.hpp>

Public Member Functions
	EgocentricPolarCoordinates (const float &r_in=0.0, const float &phi_in=0.0, const float &delta_in=0.0)
	EgocentricPolarCoordinates (const geometry_msgs::msg::Pose &target, const geometry_msgs::msg::Pose &current=geometry_msgs::msg::Pose(), bool backward=false)
	Construct a new egocentric polar coordinates as the difference between the robot pose and the target pose relative to the robot position and orientation, both referenced to the same frame. More...

Public Attributes
float	r
float	phi
float	delta

Detailed Description

Egocentric polar coordinates defined as the difference between the robot pose and the target pose relative to the robot position and orientation.

Definition at line 31 of file ego_polar_coords.hpp.

Constructor & Destructor Documentation

EgocentricPolarCoordinates()

nav2_graceful_controller::EgocentricPolarCoordinates::EgocentricPolarCoordinates ( const geometry_msgs::msg::Pose &  target, const geometry_msgs::msg::Pose &  current = geometry_msgs::msg::Pose(), bool  backward = false  )

inlineexplicit

Construct a new egocentric polar coordinates as the difference between the robot pose and the target pose relative to the robot position and orientation, both referenced to the same frame.

Thus, r, phi and delta are always at the origin of the frame.

Parameters

target	Target pose.
current	Current pose. Defaults to the origin.
backward	If true, the robot is moving backwards. Defaults to false.

Definition at line 54 of file ego_polar_coords.hpp.

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

• nav2_graceful_controller/include/nav2_graceful_controller/ego_polar_coords.hpp