.. _pilot.drive_mode_e:

pilot.drive_mode_e
===================

.. cpp:namespace:: pilot::drive_mode_e

Enumeration
-----------

Specifies how the robot should navigate.

.. cpp:enumerator:: STRICT_PATH_FOLLOW
	
	Follows a given path exactly, without trying to optimize it. If there is an obstacle the robot will wait.
	
.. cpp:enumerator:: RELAXED_PATH_FOLLOW
	
	The given path is optimized while driving. Obstacles may be avoided, corners are cut.
	
.. cpp:enumerator:: FREE_PATH_FOLLOW
	
	Same as ``RELAXED_PATH_FOLLOW`` except that in case of a blockage the robot is allowed to generate a new path by itself.
	
.. cpp:enumerator:: FREE_ROAMING
	
	Will ignore the geometry of the path segment(s) and use the :ref:`GlobalPlanner` to create an actual path to follow.
	
.. cpp:enumerator:: DEFAULT
	
	One of the above, depending on robot configuration, usually ``RELAXED_PATH_FOLLOW``.