Class HC_CC_Circle

• Defined in File hc_cc_circle.hpp

Inheritance Relationships

Base Type

• public steering::HC_CC_Circle_Param (Class HC_CC_Circle_Param)

Class Documentation

class HC_CC_Circle : public steering::HC_CC_Circle_Param

Public Functions

HC_CC_Circle(const Configuration &_start, bool _left, bool _forward, bool _regular, const HC_CC_Circle_Param &_param)

Constructor.

HC_CC_Circle(double _xc, double _yc, bool _left, bool _forward, bool _regular, const HC_CC_Circle_Param &_param)

Constructor.

double deflection(const Configuration &q) const

Computation of deflection (angle between start configuration of circle and configuration q)

double D1(double alpha) const

Calculation of D1 for the evaluation of an elementary path.

double rs_circular_deflection(double delta) const

Computation of a rs-turn’s circular deflection.

double rs_turn_length(const Configuration &q) const

Length of a rs-turn.

double hc_circular_deflection(double delta) const

Computation of a hc-turn’s circular deflection.

double hc_turn_length(const Configuration &q) const

Length of a hc-turn.

bool cc_elementary_sharpness(const Configuration &q, double delta, double &sigma0) const

Computation of an elementary path’s sharpness.

double cc_circular_deflection(double delta) const

Computation of a cc-turn’s circular deflection.

double cc_turn_length(const Configuration &q) const

Length of a cc-turn.

void print(bool eol) const

Alphanumeric display.

Public Members

Configuration start

Start configuration.

bool left

Turning direction: left/right.

bool forward

Driving direction: forwards/backwards.

bool regular

Type of the circle: regular/irregular.

double xc

Center of the circle.

double yc