#include <segment.h>

Public Member Functions
void	addPredecessor (const uint32_t _predecessor)
	adds a predecessor to the object More...

void	addSuccessor (const uint32_t _successor)
	adds a successor to the object More...

void	cleanNeighbors (uint32_t _id)
	removing all predecessors or successors with id More...

bool	containsPredecessor (const uint32_t _predecessor)
	checks if the segment has a predecessor with id _predecessor More...

bool	containsSuccessor (const uint32_t _successor)
	checks if the segment has a predecessor with id _successor More...

void	decreaseNeighborIdAbove (uint32_t _id)
	decreases the id and all neighbor ids above or equal _id by one (needed to safely remove entities) More...

const Eigen::Vector2d &	getEnd () const
	returns const ref to endpoint More...

uint32_t	getId () const
	returns the id More...

int	getLength () const
	returns the length of the path More...

float	getMinPathSpace () const
	returns the minimum space in a segment More...

bool &	getOptEnd ()
	returns a reference to opt end used to save if a segment was allready optimized More...

bool &	getOptStart ()
	returns a reference to opt start used to save if a segment was allready optimized More...

std::vector< Eigen::Vector2d >	getPath () const
	returns the path More...

const std::vector< uint32_t > &	getPredecessors () const
	returns a const reference to the predecessors More...

const Eigen::Vector2d &	getStart () const
	returns const ref to startpoint More...

const std::vector< uint32_t > &	getSuccessors () const
	returns a const reference to the successor More...

	Segment (const std::vector< Eigen::Vector2d > &_path, const float _min_space)
	constructor More...

	Segment (const uint32_t _id, const std::vector< Eigen::Vector2d > &_points, const float _min_space)
	constructor More...

void	setEnd (const Eigen::Vector2d &_pt)
	sets endpoint More...

void	setId (const uint32_t _id)
	set the id More...

void	setMinPathSpace (const float _space)
	sets the minimum space of a segment More...

void	setPath (const std::vector< Eigen::Vector2d > &_path)
	sets a new path of the robot More...

void	setStart (const Eigen::Vector2d &_pt)
	sets the startpoint More...

Static Public Member Functions
static void	resetId ()
	resets the id counter (which is used to generate uinique ids) More...

Private Attributes
Eigen::Vector2d	end_

uint32_t	id_

float	length_

float	min_space_

bool	optimizedEnd_

bool	optimizedStart_

std::vector< uint32_t >	predecessor_

Eigen::Vector2d	start_

std::vector< uint32_t >	successor_

std::vector< Eigen::Vector2d >	wayPoints_

Static Private Attributes
static uint32_t	static_id_ = 0

Detailed Description

Definition at line 37 of file segment.h.

Constructor & Destructor Documentation

tuw_graph::Segment::Segment	(	const std::vector< Eigen::Vector2d > &	_path,
		const float	_min_space
	)

constructor

Parameters

_path	a list of points which describes the real shape of the path
_min_space	the space a robot has at minimum on its space

Definition at line 85 of file segment.cpp.

tuw_graph::Segment::Segment	(	const uint32_t	_id,
		const std::vector< Eigen::Vector2d > &	_points,
		const float	_min_space
	)

constructor

Parameters

_id	the id of the segment
_path	a list of points which describes the real shape of the path
_min_space	the space a robot has at minimum on its space

Definition at line 98 of file segment.cpp.

Member Function Documentation

void tuw_graph::Segment::addPredecessor ( const uint32_t _predecessor )

adds a predecessor to the object

Parameters

_predecessor the id of the predecessor

Definition at line 77 of file segment.cpp.

void tuw_graph::Segment::addSuccessor ( const uint32_t _successor )

adds a successor to the object

Parameters

_successor the id of the successor

Definition at line 81 of file segment.cpp.

void tuw_graph::Segment::cleanNeighbors ( uint32_t _id )

removing all predecessors or successors with id

Parameters

_id	the id to remove

Definition at line 36 of file segment.cpp.

bool tuw_graph::Segment::containsPredecessor ( const uint32_t _predecessor )

checks if the segment has a predecessor with id _predecessor

Parameters

_predecessor the id the fctn is lookiing for

Returns: if the segment contains a predecessor

Definition at line 158 of file segment.cpp.

bool tuw_graph::Segment::containsSuccessor ( const uint32_t _successor )

checks if the segment has a predecessor with id _successor

Parameters

_successor the id the fctn is looking for

Returns: if the segment contains this successor

Definition at line 170 of file segment.cpp.

void tuw_graph::Segment::decreaseNeighborIdAbove ( uint32_t _id )

decreases the id and all neighbor ids above or equal _id by one (needed to safely remove entities)

Parameters

_id	the minimum id to decrease the id by one

Definition at line 55 of file segment.cpp.

const Eigen::Vector2d & tuw_graph::Segment::getEnd ( ) const

returns const ref to endpoint

Returns: const ref to endpoint

Definition at line 138 of file segment.cpp.

uint32_t tuw_graph::Segment::getId ( ) const

returns the id

Returns: the id

Definition at line 128 of file segment.cpp.

int tuw_graph::Segment::getLength ( ) const

returns the length of the path

Returns: the path length

Definition at line 213 of file segment.cpp.

float tuw_graph::Segment::getMinPathSpace ( ) const

returns the minimum space in a segment

Returns: the minimum space on this segment

Definition at line 203 of file segment.cpp.

bool & tuw_graph::Segment::getOptEnd ( )

returns a reference to opt end used to save if a segment was allready optimized

Returns: a reference to opt end

Definition at line 223 of file segment.cpp.

bool & tuw_graph::Segment::getOptStart ( )

returns a reference to opt start used to save if a segment was allready optimized

Returns: a reference to opt start

Definition at line 218 of file segment.cpp.

std::vector< Eigen::Vector2d > tuw_graph::Segment::getPath ( ) const

returns the path

Returns: a list of points which represents the real path

Definition at line 187 of file segment.cpp.

const std::vector< uint32_t > & tuw_graph::Segment::getPredecessors ( ) const

returns a const reference to the predecessors

Returns: a const reference to the predecessor vector

Definition at line 148 of file segment.cpp.

const Eigen::Vector2d & tuw_graph::Segment::getStart ( ) const

returns const ref to startpoint

Returns: const ref to startpoint

Definition at line 143 of file segment.cpp.

const std::vector< uint32_t > & tuw_graph::Segment::getSuccessors ( ) const

returns a const reference to the successor

Returns: a const reference to the successor

Definition at line 153 of file segment.cpp.

void tuw_graph::Segment::resetId ( )

static

resets the id counter (which is used to generate uinique ids)

Definition at line 182 of file segment.cpp.

void tuw_graph::Segment::setEnd ( const Eigen::Vector2d & _pt )

sets endpoint

Parameters

_pt endpoint

Definition at line 118 of file segment.cpp.

void tuw_graph::Segment::setId ( const uint32_t _id )

set the id

Parameters

_id the id

Definition at line 133 of file segment.cpp.

void tuw_graph::Segment::setMinPathSpace ( const float _space )

sets the minimum space of a segment

Parameters

_space the minimum space on this segemtn

Definition at line 208 of file segment.cpp.

void tuw_graph::Segment::setPath ( const std::vector< Eigen::Vector2d > & _path )

sets a new path of the robot

Parameters

_path a list of points representing the real path

Definition at line 192 of file segment.cpp.

void tuw_graph::Segment::setStart ( const Eigen::Vector2d & _pt )

sets the startpoint

Parameters

_pt	startpoint

Definition at line 111 of file segment.cpp.

Member Data Documentation

Eigen::Vector2d tuw_graph::Segment::end_

private

Definition at line 171 of file segment.h.

uint32_t tuw_graph::Segment::id_

private

Definition at line 180 of file segment.h.

float tuw_graph::Segment::length_

private

Definition at line 173 of file segment.h.

float tuw_graph::Segment::min_space_

private

Definition at line 172 of file segment.h.

bool tuw_graph::Segment::optimizedEnd_

private

Definition at line 183 of file segment.h.

bool tuw_graph::Segment::optimizedStart_

private

Definition at line 182 of file segment.h.

std::vector<uint32_t> tuw_graph::Segment::predecessor_

private

Definition at line 176 of file segment.h.

Eigen::Vector2d tuw_graph::Segment::start_

private

Definition at line 171 of file segment.h.

uint32_t tuw_graph::Segment::static_id_ = 0

staticprivate

Definition at line 179 of file segment.h.

std::vector<uint32_t> tuw_graph::Segment::successor_

private

Definition at line 177 of file segment.h.

std::vector<Eigen::Vector2d> tuw_graph::Segment::wayPoints_

private

Definition at line 174 of file segment.h.

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

Public Member Functions

Static Public Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation