Dubins' curves planner. More...

Inheritance diagram for f2c::pp::DubinsCurves:

Public Member Functions
F2CPath	createSimpleTurn (const F2CRobot &robot, double dist_start_pos, double start_angle, double end_angle) override
	Create a turn. More...

Public Member Functions inherited from f2c::pp::TurningBase
F2CPath	createTurn (const F2CRobot &robot, const F2CPoint &start_pos, double start_angle, const F2CPoint &end_pos, double end_angle)
	Create a turn that goes from one point with a certain angle to another point. More...

F2CPath	createTurnIfNotCached (const F2CRobot &robot, double dist_start_pos, double start_angle, double end_angle)
	Generate a turn if it has not been computed before. More...

double	getDiscretization () const
	Get discretization distance from points in the turn. More...

bool	getUsingCache () const
	Get if turns are being cached or not. More...

void	setDiscretization (double d)
	Set discretization distance from points in the turn. More...

void	setUsingCache (bool c)
	Set if cache should be used when planning same turn as before. More...

virtual	~TurningBase ()=default

Additional Inherited Members
Static Public Member Functions inherited from f2c::pp::TurningBase
static bool	isTurnValid (const F2CPath &path, double dist_start_end, double end_angle, double max_dist_error=0.05, double max_rot_error=0.1)
	Check if turn is valid. More...

static std::vector< double >	transformToNormalTurn (const F2CPoint &start_pos, double start_angle, const F2CPoint &end_pos, double end_angle)
	Transform the turn parameters representation from two points with two angles to one distance and two angles. More...

Protected Attributes inherited from f2c::pp::TurningBase
double	discretization {0.01}

std::map< std::vector< int >, F2CPath >	path_cache_

bool	using_cache {true}

Detailed Description

Dubins' curves planner.

Definition at line 17 of file dubins_curves.h.

Member Function Documentation

F2CPath f2c::pp::DubinsCurves::createSimpleTurn	(	const F2CRobot &	robot,
		double	dist_start_pos,
		double	start_angle,
		double	end_angle
	)

overridevirtual

Create a turn.

Parameters

dist_start_pos	Distance between start and end point
start_angle	Angle when going into the headland (0 deg is the angle of the headland)
end_angle	Angle when going out of the headland

Definition at line 13 of file dubins_curves.cpp.

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