rpos::features::motion_planner::MoveOptions Struct Type

MoveOptions Struct packs the NavigationMode、MoveOptionFlag and the speed control data as optional parameters.

Header File

rpos/features/motion_planner/feature.h

Applies to

• Slamware

Member Fields

MoveOptionFlag flag;

boost::optional<double> speed_ratio

boost::optional<int> fail_retry_count;  

boost::optional<double> yaw;  //robot will turn to this yaw after arriving milestone

boost::optional<double> acceptable_precision;  //if the distance from robot to milestone is less than acceptable_precision, action is considered successful

Constructors

MoveOptions()

default constructor

Methods

bool hasFlag(MoveOptionFlag flag); 

if a MoveOptionFlag value is set or not

void addFlag(MoveOptionFlag flag);

set a MoveOptionFlag value