DynamicPath Class Reference

A bounded-velocity, bounded-acceleration trajectory consisting of parabolic ramps. More...

#include <DynamicPath.h>

List of all members.

Public Member Functions
void	Append (const Vector &x, const Vector &dx)
void	Append (const Vector &x)
void	Clear ()
void	Derivative (Real t, Vector &dx)
	DynamicPath ()
bool	Empty () const
void	Evaluate (Real t, Vector &x)
void	GetMilestones (std::vector< Vector > &x, std::vector< Vector > &dx) const
Real	GetTotalTime () const
void	Init (const Vector &velMax, const Vector &accMax)
void	SetMilestones (const std::vector< Vector > &x, const std::vector< Vector > &dx)
void	SetMilestones (const std::vector< Vector > &x)
int	ShortCircuit (FeasibilityCheckerBase *, DistanceCheckerBase *)
int	ShortCircuit (FeasibilityCheckerBase *, Real tol)
int	Shortcut (int numIters, FeasibilityCheckerBase *, DistanceCheckerBase *)
int	Shortcut (int numIters, FeasibilityCheckerBase *, Real tol)
bool	TryShortcut (Real t1, Real t2, FeasibilityCheckerBase *, DistanceCheckerBase *)
bool	TryShortcut (Real t1, Real t2, FeasibilityCheckerBase *, Real tol)
Public Attributes
Vector	accMax
std::vector< ParabolicRampND >	ramps
	The path is stored as a series of ramps.
Vector	velMax
	The velocity and acceleration bounds.

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Detailed Description

A bounded-velocity, bounded-acceleration trajectory consisting of parabolic ramps.

Definition at line 65 of file DynamicPath.h.

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Constructor & Destructor Documentation

DynamicPath::DynamicPath

(

)

Definition at line 61 of file DynamicPath.cpp.

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Member Function Documentation

void DynamicPath::Append	(	const Vector &	x,
		const Vector &	dx
	)

Definition at line 195 of file DynamicPath.cpp.

void DynamicPath::Append

(

const Vector &

x

)

Definition at line 176 of file DynamicPath.cpp.

void DynamicPath::Clear

(

)

[inline]

Definition at line 70 of file DynamicPath.h.

void DynamicPath::Derivative	(	Real	t,
		Vector &	dx
	)

Definition at line 96 of file DynamicPath.cpp.

bool DynamicPath::Empty

(

)

const [inline]

Definition at line 71 of file DynamicPath.h.

void DynamicPath::Evaluate	(	Real	t,
		Vector &	x
	)

Definition at line 78 of file DynamicPath.cpp.

void DynamicPath::GetMilestones	(	std::vector< Vector > &	x,
		std::vector< Vector > &	dx
	)			const

Real DynamicPath::GetTotalTime

(

)

const

Definition at line 71 of file DynamicPath.cpp.

void DynamicPath::Init	(	const Vector &	velMax,
		const Vector &	accMax
	)

Definition at line 64 of file DynamicPath.cpp.

void DynamicPath::SetMilestones	(	const std::vector< Vector > &	x,
		const std::vector< Vector > &	dx
	)

void DynamicPath::SetMilestones

(

const std::vector< Vector > &

x

)

int DynamicPath::ShortCircuit	(	FeasibilityCheckerBase *	space,
		DistanceCheckerBase *	dist
	)

Definition at line 730 of file DynamicPath.cpp.

int DynamicPath::ShortCircuit	(	FeasibilityCheckerBase *	space,
		Real	tol
	)

Definition at line 626 of file DynamicPath.cpp.

int DynamicPath::Shortcut	(	int	numIters,
		FeasibilityCheckerBase *	space,
		DistanceCheckerBase *	distance
	)

Definition at line 650 of file DynamicPath.cpp.

int DynamicPath::Shortcut	(	int	numIters,
		FeasibilityCheckerBase *	space,
		Real	tol
	)

Definition at line 546 of file DynamicPath.cpp.

bool DynamicPath::TryShortcut	(	Real	t1,
		Real	t2,
		FeasibilityCheckerBase *	feas,
		DistanceCheckerBase *	dist
	)

Definition at line 478 of file DynamicPath.cpp.

bool DynamicPath::TryShortcut	(	Real	t1,
		Real	t2,
		FeasibilityCheckerBase *	space,
		Real	tol
	)

Definition at line 410 of file DynamicPath.cpp.

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Member Data Documentation

Vector DynamicPath::accMax

Definition at line 88 of file DynamicPath.h.

std::vector<ParabolicRampND> DynamicPath::ramps

The path is stored as a series of ramps.

Definition at line 90 of file DynamicPath.h.

Vector DynamicPath::velMax

The velocity and acceleration bounds.

Definition at line 88 of file DynamicPath.h.

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The documentation for this class was generated from the following files:

• DynamicPath.h
• DynamicPath.cpp