.. _pilot.LocalPlannerState:

pilot.LocalPlannerState
=======================

.. cpp:namespace:: pilot::LocalPlannerState

Class
-----

`LocalPlannerState` represents the current state of the :ref:`LocalPlanner`.

Inherits from :ref:`pilot.Sample`.


Fields
------

.. cpp:member:: Hash64 job
	
	Unique id of the current job / goal.
	
.. cpp:member:: long path_time
	
	POSIX timestamp of the current path in [usec].
	
.. cpp:member:: double path_length
	
	Total path length in [meters].
	
.. cpp:member:: PathPoint2D* point
	
	Current path point if any (ie. closest to current position).
	
.. cpp:member:: PathPoint2D* goal
	
	Current goal point, ie. last point in current path.
	
.. cpp:member:: goal_options_t goal_options
	
	Current goal options.
	
.. cpp:member:: Vector2d pos_error
	
	Current (x, y) position error in [meters].
	
.. cpp:member:: double yaw_error
	
	Current yaw orientation error in [radians].
	
.. cpp:member:: float update_rate
	
	Current control update rate in [1/s].
	
.. cpp:member:: local_planner_state_e state
	
	Current local planner state, see :ref:`pilot.local_planner_state_e`.
	
.. cpp:member:: limit_reason_e velocity_reason
	
	Current reason for velocity limitation, see :ref:`pilot.limit_reason_e`.
	
.. cpp:member:: limit_reason_e yawrate_reason
	
	Current reason for yawrate limitation, see :ref:`pilot.limit_reason_e`.
	
.. cpp:member:: float time_stuck
	
	How long the platform has already been stuck in [seconds], in case ``state == STUCK``.
	
.. cpp:member:: float progress
	
	Relative progress, from 0 to 1. Ratio of traversed path distance vs. total path length.
	
.. cpp:member:: bool is_backwards
	
	If platform is currently driving backwards.
	
.. cpp:member:: bool is_restricted
	
	If platform is currently restricted from turning around.
	
.. cpp:member:: vector<int> path_history
	
	Sliding window history of traversed path element ids, newest at the end. See :ref:`pilot.MapElement`.
	Usually contains at least the last 10 elements.