Struct NavigationDomain 

pub struct NavigationDomain {
    pub localization: Option<Localization>,
    pub slam: Option<SlamStatus>,
    pub path: Option<PathInfo>,
    pub goal: Option<NavigationGoal>,
    pub obstacles: Option<Vec<Obstacle>>,
    pub obstacle_count: Option<u32>,
    pub semantic_map: Option<SemanticMapInfo>,
    pub costmap: Option<CostmapInfo>,
}

Navigation domain containing path planning and localization information.

Fields

localization: Option<Localization>

Localization status

slam: Option<SlamStatus>

SLAM status

path: Option<PathInfo>

Current path information

goal: Option<NavigationGoal>

Current navigation goal

obstacles: Option<Vec<Obstacle>>

Detected obstacles

obstacle_count: Option<u32>

Number of obstacles detected

semantic_map: Option<SemanticMapInfo>

Semantic map information

costmap: Option<CostmapInfo>

Costmap status

Implementations

impl NavigationDomain

pub fn from_localization(quality: LocalizationQuality, confidence: f64) -> Self

Create with localization quality.

pub fn with_path(self, path: PathInfo) -> Self

Builder to add path.

pub fn with_goal(self, goal: NavigationGoal) -> Self

Builder to add goal.

pub fn with_obstacle(self, obstacle: Obstacle) -> Self

Builder to add obstacle.

Trait Implementations

impl Clone for NavigationDomain

fn clone(&self) -> NavigationDomain

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for NavigationDomain

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for NavigationDomain

fn default() -> NavigationDomain

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for NavigationDomain

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Serialize for NavigationDomain

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl Validate for NavigationDomain

fn validate(&self) -> Result<(), ValidationErrors>

impl<'v_a> ValidateArgs<'v_a> for NavigationDomain

type Args = ()

fn validate_with_args(&self, args: Self::Args) -> Result<(), ValidationErrors>