Class EasyFullControl::Destination
Defined in File EasyFullControl.hpp
Nested Relationships
This class is a nested type of Class EasyFullControl.
Class Documentation
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class Destination
Public Functions
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const std::string &map() const
The name of the map where the destination is located.
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Eigen::Vector3d position() const
The (x, y, yaw) position of the destination.
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Eigen::Vector2d xy() const
The (x, y) position of the destination.
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double yaw() const
The intended orientation of the robot at the destination, represented in radians.
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std::optional<std::size_t> graph_index() const
If the destination has an index in the navigation graph, you can get it from this field.
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std::string name() const
The name of this destination, if it has one. Nameless destinations will give an empty string.
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std::optional<double> speed_limit() const
If there is a speed limit that should be respected while approaching the destination, this will indicate it.
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std::optional<std::string> dock() const
If the destination should be reached by performing a dock maneuver, this will contain the name of the dock.
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rmf_traffic::agv::Graph::LiftPropertiesPtr inside_lift() const
Get whether the destination is inside of a lift, and if so get the properties of the lift.
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const std::string &map() const