class to manage the waypoints and magnets of the current path More...

Public Member Functions
ReturnValue	AddMagnet (MagnetStruct magnet)
	Adds a new magnet.
ReturnValue	AddMagnet (vector< MagnetStruct > po)
	Adds a vector of magnets.
ReturnValue	AddWaypoint (Waypoint point)
	Adds a new waypoint.
ReturnValue	AddWaypoint (vector< Waypoint > po)
	Adds a vector of waypoints.
ReturnValue	BackMagnet (MagnetStruct *mg)
	Returns the back magnet.
ReturnValue	BackWaypoint (Waypoint *wp)
	Returns the last waypoint.
void	Clear ()
	Clears the waypoints and magnets.
double	DistForSpeed (double target_speed)
double	dot2 (Waypoint w, Waypoint v)
	Cross product.
ReturnValue	GetCurrentMagnet (MagnetStruct *mg)
	Gets the current magnet.
int	GetCurrentMagnetIndex ()
	Gets the current MagnetStruct in the path.
ReturnValue	GetCurrentWaypoint (Waypoint *wp)
	Gets the current waypoint.
int	GetCurrentWaypointIndex ()
	Gets the current Waypoint in the path.
ReturnValue	GetLastMagnet (MagnetStruct *mg)
	Gets the last magnet.
ReturnValue	GetNextMagnet (MagnetStruct *mg)
	Returns the next magnet.
ReturnValue	GetNextWaypoint (Waypoint *wp)
	Returns the next waypoint.
ReturnValue	GetPreviousMagnet (MagnetStruct *mg)
	Gets the previous magnet.
ReturnValue	GetWaypoint (int index, Waypoint *wp)
	Gets selected waypoint.
void	NextMagnet ()
	Increase magnet's number.
void	NextWaypoint ()
	Increase waypoint's number.
int	NumOfMagnets ()
	Returns the number of magnets.
int	NumOfWaypoints ()
	Returns the number of waypoints.
Path &	operator+= (const Path &a)
	Overloaded operator +=.
ReturnValue	Optimize (double distance)
	Path ()
	public constructor
Waypoint	PosOnQuadraticBezier (Waypoint cp0, Waypoint cp1, Waypoint cp2, float t)
void	Print ()
	Prints all the waypoints.
ReturnValue	SetCurrentMagnet (int index)
	Sets the current magnet to index.
ReturnValue	SetCurrentWaypoint (int index)
	Sets the current Waypoint to index.
unsigned int	Size ()
	Returns the size of the vector points.
	~Path ()
	Destructor.
Public Attributes
int	iCurrentMagnet
	Current magnet.
int	iCurrentWaypoint
	Current waypoint.
Private Attributes
bool	bOptimized
	Flag to control the optimization.
pthread_mutex_t	mutexPath
	Mutex to control the access.
vector< MagnetStruct >	vMagnets
	Vector to store all the magnets.
vector< Waypoint >	vPoints
	Vector to store all the Waypoints.

Detailed Description

class to manage the waypoints and magnets of the current path

Definition at line 89 of file purepursuit_planner.cpp.

Constructor & Destructor Documentation

Path::Path ( ) [inline]

public constructor

Definition at line 109 of file purepursuit_planner.cpp.

Path::~Path ( ) [inline]

Destructor.

Definition at line 116 of file purepursuit_planner.cpp.

Member Function Documentation

ReturnValue Path::AddMagnet ( MagnetStruct magnet ) [inline]

Adds a new magnet.

Definition at line 156 of file purepursuit_planner.cpp.

ReturnValue Path::AddMagnet ( vector< MagnetStruct > po ) [inline]

Adds a vector of magnets.

Definition at line 168 of file purepursuit_planner.cpp.

ReturnValue Path::AddWaypoint ( Waypoint point ) [inline]

Adds a new waypoint.

Definition at line 121 of file purepursuit_planner.cpp.

ReturnValue Path::AddWaypoint ( vector< Waypoint > po ) [inline]

Adds a vector of waypoints.

Definition at line 144 of file purepursuit_planner.cpp.

ReturnValue Path::BackMagnet ( MagnetStruct * mg ) [inline]

Returns the back magnet.

Definition at line 301 of file purepursuit_planner.cpp.

ReturnValue Path::BackWaypoint ( Waypoint * wp ) [inline]

Returns the last waypoint.

Definition at line 212 of file purepursuit_planner.cpp.

void Path::Clear ( ) [inline]

Clears the waypoints and magnets.

Definition at line 180 of file purepursuit_planner.cpp.

double Path::DistForSpeed ( double target_speed ) [inline]

Function that calculate the distance to deccelerate from target speed

Parameters:

target_speed as double, speed on m/s

Returns:: distance on meters

Definition at line 419 of file purepursuit_planner.cpp.

double Path::dot2	(	Waypoint	w,
		Waypoint	v
	)		`[inline]`

Cross product.

Definition at line 394 of file purepursuit_planner.cpp.

ReturnValue Path::GetCurrentMagnet ( MagnetStruct * mg ) [inline]

Gets the current magnet.

Definition at line 315 of file purepursuit_planner.cpp.

int Path::GetCurrentMagnetIndex ( ) [inline]

Gets the current MagnetStruct in the path.

Definition at line 343 of file purepursuit_planner.cpp.

ReturnValue Path::GetCurrentWaypoint ( Waypoint * wp ) [inline]

Gets the current waypoint.

Definition at line 226 of file purepursuit_planner.cpp.

int Path::GetCurrentWaypointIndex ( ) [inline]

Gets the current Waypoint in the path.

Definition at line 254 of file purepursuit_planner.cpp.

ReturnValue Path::GetLastMagnet ( MagnetStruct * mg ) [inline]

Gets the last magnet.

Definition at line 368 of file purepursuit_planner.cpp.

ReturnValue Path::GetNextMagnet ( MagnetStruct * mg ) [inline]

Returns the next magnet.

Definition at line 285 of file purepursuit_planner.cpp.

ReturnValue Path::GetNextWaypoint ( Waypoint * wp ) [inline]

Returns the next waypoint.

Definition at line 196 of file purepursuit_planner.cpp.

ReturnValue Path::GetPreviousMagnet ( MagnetStruct * mg ) [inline]

Gets the previous magnet.

Definition at line 329 of file purepursuit_planner.cpp.

ReturnValue Path::GetWaypoint	(	int	index,
		Waypoint *	wp
	)		`[inline]`

Gets selected waypoint.

Definition at line 240 of file purepursuit_planner.cpp.

void Path::NextMagnet ( ) [inline]

Increase magnet's number.

Definition at line 361 of file purepursuit_planner.cpp.

void Path::NextWaypoint ( ) [inline]

Increase waypoint's number.

Definition at line 273 of file purepursuit_planner.cpp.

int Path::NumOfMagnets ( ) [inline]

Returns the number of magnets.

Definition at line 382 of file purepursuit_planner.cpp.

int Path::NumOfWaypoints ( ) [inline]

Returns the number of waypoints.

Definition at line 280 of file purepursuit_planner.cpp.

Path& Path::operator+= ( const Path & a ) [inline]

Overloaded operator +=.

Definition at line 387 of file purepursuit_planner.cpp.

ReturnValue Path::Optimize ( double distance ) [inline]

Modifies and adds new waypoints to the route for improving the path

Parameters:

distance as double, used for the calculation of the new points

Returns:: ERROR if Size is lower than 3, distance <= 0 or the waypoints has already been optimized; OK

Definition at line 433 of file purepursuit_planner.cpp.

Waypoint Path::PosOnQuadraticBezier	(	Waypoint	cp0,
		Waypoint	cp1,
		Waypoint	cp2,
		float	t
	)		`[inline]`

Obtains the points for a quadratic Bezier's curve

Parameters:

cp0	as player_pose2d_t, control point 0
cp1	as player_pose2d_t, control point 1
cp2	as player_pose2d_t, control point 2
t	as float, [0 ... 1]

Returns:: Point over the curve

Definition at line 404 of file purepursuit_planner.cpp.

void Path::Print ( ) [inline]

Prints all the waypoints.

Definition at line 662 of file purepursuit_planner.cpp.

ReturnValue Path::SetCurrentMagnet ( int index ) [inline]

Sets the current magnet to index.

Definition at line 348 of file purepursuit_planner.cpp.

ReturnValue Path::SetCurrentWaypoint ( int index ) [inline]

Sets the current Waypoint to index.

Definition at line 259 of file purepursuit_planner.cpp.

unsigned int Path::Size ( ) [inline]

Returns the size of the vector points.

Definition at line 191 of file purepursuit_planner.cpp.

Member Data Documentation

bool Path::bOptimized [private]

Flag to control the optimization.

Definition at line 104 of file purepursuit_planner.cpp.

int Path::iCurrentMagnet

Current magnet.

Definition at line 94 of file purepursuit_planner.cpp.

int Path::iCurrentWaypoint

Current waypoint.

Definition at line 92 of file purepursuit_planner.cpp.

pthread_mutex_t Path::mutexPath [private]

Mutex to control the access.

Definition at line 98 of file purepursuit_planner.cpp.

vector<MagnetStruct> Path::vMagnets [private]

Vector to store all the magnets.

Definition at line 102 of file purepursuit_planner.cpp.

vector<Waypoint> Path::vPoints [private]

Vector to store all the Waypoints.

Definition at line 100 of file purepursuit_planner.cpp.

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

purepursuit_planner.cpp

Public Member Functions

Public Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation