Struct MotionPose

Defined in File types.hpp

Struct Documentation

struct MotionPose

A struct for poses in motion primitives.

Public Functions

inline MotionPose(): A constructor for nav2_smac_planner::MotionPose.

inline MotionPose(const float &x, const float &y, const float &theta, const TurnDirection &turn_dir)

A constructor for nav2_smac_planner::MotionPose.

Parameters:

x – X pose
y – Y pose
theta – Angle of pose
TurnDirection – Direction of the primitive’s turn

inline MotionPose operator-(const MotionPose &p2)

Public Members

float _x

float _y

float _theta

TurnDirection _turn_dir