GoToPoseTask

#include "navground/sim/tasks/go_to_pose.h"

struct GoToPoseTask : public navground::sim::WaypointsTask

This class offers a simplified interface to navground::sim::WaypointsTask to go to a single point/pose.

Registered properties:

• point (navground::core::Vector2, get_point)

• orientation (float, get_orientation)

• tolerance (bool, navground::sim::WaypointsTask::get_tolerance)

• angular_tolerance (float, navground::sim::WaypointsTask::get_angular_tolerance)

Public Functions

inline explicit GoToPoseTask(const core::Vector2 &point = core::Vector2::Zero(), ng_float_t orientation = 0, ng_float_t tolerance = default_tolerance, ng_float_t angular_tolerance = default_angular_tolerance)

Constructs a new instance.

Parameters:

• point – [in] The goal point

• orientation – [in] The goal orientation

• tolerance – [in] The goal spatial tolerance

• angular_tolerance – [in] The goal angular tolerance

inline void set_point(const core::Vector2 &point)

Sets the goal point.

Parameters:

value – [in] The desired point

inline void set_orientation(ng_float_t value)

Sets the goal orientations.

Parameters:

value – [in] The desired orientations (in radians)

inline core::Vector2 get_point() const

Gets the goal point.

Returns:

The waypoints.

inline ng_float_t get_orientation() const

Gets the goal orientations at the waypoints.

Returns:

The orientations (in radians).

Public Static Attributes

static const ng_float_t default_tolerance = 1

The default goal spatial tolerance.

static const ng_float_t default_angular_tolerance = std::numeric_limits<ng_float_t>::infinity()

The default goal orientation tolerance.