Struct ReroutingState

• Defined in File types.hpp

Struct Documentation

struct ReroutingState

State shared to objects to communicate important rerouting data to avoid rerouting over blocked edges, ensure reroute from the current appropriate starting point along the route, and state of edges if pruned for seeding the Tracker’s state. Admittedly, this is a bit complex, so more context is provided inline.

Public Functions

inline void reset()

Public Members

std::vector<unsigned int> blocked_ids

bool first_time = {true}

EdgePtr curr_edge = {nullptr}

Coordinates closest_pt_on_edge

unsigned int rerouting_start_id = {std::numeric_limits<unsigned int>::max()}

geometry_msgs::msg::PoseStamped rerouting_start_pose