path_interpolator.h
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29 
30 #ifndef PLANNER_CSPACE_PLANNER_3D_PATH_INTERPOLATOR_H
31 #define PLANNER_CSPACE_PLANNER_3D_PATH_INTERPOLATOR_H
32 
33 #include <list>
34 
37 
38 namespace planner_cspace
39 {
40 namespace planner_3d
41 {
43 {
44 private:
46  int range_;
47  int angle_;
48 
49 public:
50  inline void reset(
51  const float angular_resolution,
52  const int range)
53  {
54  range_ = range;
55  angle_ = std::lround(M_PI * 2 / angular_resolution);
56  rot_cache_.reset(1.0, angular_resolution, range);
57  }
58  std::list<CyclicVecFloat<3, 2>> interpolate(
59  const std::list<CyclicVecInt<3, 2>>& path_grid,
60  const float interval,
61  const int local_range) const;
62 };
63 } // namespace planner_3d
64 } // namespace planner_cspace
65 
66 #endif // PLANNER_CSPACE_PLANNER_3D_PATH_INTERPOLATOR_H
std::list< CyclicVecFloat< 3, 2 > > interpolate(const std::list< CyclicVecInt< 3, 2 >> &path_grid, const float interval, const int local_range) const
void reset(const float linear_resolution, const float angular_resolution, const int range)
void reset(const float angular_resolution, const int range)


planner_cspace
Author(s): Atsushi Watanabe
autogenerated on Wed May 12 2021 02:20:42