Planning::PlanRequest Struct Reference

Encapsulates information needed for planner to make a path. More...

Public Member Functions
	PlanRequest (Context *context, MotionInstant start, std::unique_ptr< MotionCommand > command, RobotConstraints constraints, std::unique_ptr< Path > prevPath, Geometry2d::ShapeSet obs, std::vector< DynamicObstacle > dObs, unsigned shellID, int8_t priority=0)

Public Attributes
Context *	context
	Allows debug drawing, position info.
MotionInstant	start
	Starting state of the robot.
std::unique_ptr< MotionCommand >	motionCommand
	Specific type of motion desired.
RobotConstraints	constraints
	Constraint parameters on motion.
std::unique_ptr< Path >	prevPath
	Last path planned or nullptr.
Geometry2d::ShapeSet	obstacles
	Static obstacles.
std::vector< DynamicObstacle >	dynamicObstacles
	Dynamic obstacles.
unsigned	shellID
	Shell ID used for debug drawing.
int8_t	priority
	Higher priority planned first.

Detailed Description

Encapsulates information needed for planner to make a path.

This struct contains ALL information necessary for a single robot path to be planned.

Collaboration diagram for Planning::PlanRequest:

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

• soccer/planning/PlanRequest.hpp