TYPE_traj Struct Reference
[Motion Planner using Trajectory Nodes in 2D]

#include <mptn2d.h>

Collaboration diagram for TYPE_traj:

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Data Fields
double	alfa
double	x1
double	D
double	a
double	b
double	c
double	R
double	cx
double	cy
double	Bcx
double	Bcy
TYPE_pts	pts [_MAX_NUMTRAJPTS_]
int	numpts
TYPE_normal	n [_MAX_NUMTRAJPTS_]
double	o [_MAX_NUMTRAJPTS_]
double	pts_clength
TYPE_pts	pts_cleft [_MAX_NUMTRAJPTS_]
TYPE_pts	pts_cright [_MAX_NUMTRAJPTS_]
double	pts_nlength
TYPE_pts	pts_nleft [_MAX_NUMTRAJPTS_]
TYPE_pts	pts_nright [_MAX_NUMTRAJPTS_]
struct {
double   dist_sum
double   TYPE_traj::difo_sum
double   TYPE_traj::dist [_MAX_NUMTRAJPTS_]
double   TYPE_traj::difo [_MAX_NUMTRAJPTS_]
}	central
double	repulsor_dist_sum
double	repulsor_dist [_MAX_NUMTRAJPTS_]
int	num_intr_lanemarkers
TYPE_intr	intr_lanemarkers [_MAX_NUMTRAJPTS_]
int	num_intr_laserobstacles
TYPE_intr	intr_laserobstacles [_MAX_NUMTRAJPTS_]
TYPE_intr	closest_intr
TYPE_intr	closest_intr_lanemarkers
struct {
int   free_space
char   TYPE_traj::free_space_calculated
int   TYPE_traj::free_space_lanemarkers
char   TYPE_traj::free_space_lanemarkers_calculated
struct {
char   dist_avg_calculated
double   TYPE_traj::dist_avg
char   TYPE_traj::difo_avg_calculated
double   TYPE_traj::difo_avg
}   TYPE_traj::central
char   TYPE_traj::repulsor_dist_avg_calculated
double   TYPE_traj::repulsor_dist_avg
}	stats
struct {
double   free_space
double   TYPE_traj::free_space_lanemarkers
struct {
double   TYPE_traj::dist_avg
double   TYPE_traj::difo_avg
double   TYPE_traj::final
}   TYPE_traj::central
double   TYPE_traj::repulsor_dist_avg
double   TYPE_traj::angleconsistency
}	score

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Field Documentation

double TYPE_traj::alfa

Referenced by generate_trajectories().

char TYPE_traj::dist_avg_calculated

Referenced by calculate_traj_distance_to_atractor_pts(), and score_trajectories().

double TYPE_traj::dist_sum

Referenced by calculate_traj_distance_to_atractor_pts().

double TYPE_traj::free_space

int TYPE_traj::free_space

Referenced by calculate_freespace_laserobstacles(), and score_trajectories().

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

• navigation/motion/mptn2d/mptn2d.h