.. _pilot.PathPoint2D:

pilot.PathPoint2D
=================

.. cpp:namespace:: pilot::PathPoint2D

Class
-----

`PathPoint2D` represents a point on a path to navigate.
They are usually generated from a Road Map and then optimized while driving.
It can also be a final goal position.

Inherits from :ref:`pilot.Pose2D`.


Fields
------

.. cpp:member:: int map_id = -1
	
	Id of the map element in the Road Map, if any.
	
.. cpp:member:: drive_mode_e drive_mode = DEFAULT
	
	Specifies how the robot should navigate, see :ref:`pilot.drive_mode_e`.
	
.. cpp:member:: set<drive_flags_e> drive_flags
	
	A set of drive flags for this path point, see :ref:`pilot.drive_flags_e`.
	
.. cpp:member:: float_param_t orientation
	
	Yaw angle offset relative to ``pose.z()`` (holonomic only) in [radians]. See :ref:`pilot.float_param_t`.
	
.. cpp:member:: float_param_t max_velocity
	
	Maximum velocity in [m/s]. See :ref:`pilot.float_param_t`.
	
.. cpp:member:: float_param_t max_yawrate
	
	Maximum yawrate in [rad/s]. See :ref:`pilot.float_param_t`.
	
.. cpp:member:: float_param_t goal_tune_time
	
	Additional time for fine tuning position in [seconds]. See :ref:`pilot.float_param_t`.
	
.. cpp:member:: vector_3f_param_t tolerance
	
	Maximum position error (x, y, yaw) [m, m, rad], see :ref:`pilot.vector_3f_param_t`.
	
.. cpp:member:: bool is_restricted
	
	True if a 360 degree rotation is not possible at this location.