f2c::pp::TurningBase Class Reference

Base class for turn planners. More...

#include <turning_base.h>

Inheritance diagram for f2c::pp::TurningBase:

Public Member Functions
virtual F2CPath	createSimpleTurn (const F2CRobot &robot, double dist_start_pos, double start_angle, double end_angle)=0
	Create a turn. More...
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

Static Public Member Functions
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
double	discretization {0.01}
std::map< std::vector< int >, F2CPath >	path_cache_
bool	using_cache {true}

Static Private Member Functions
static void	correctPath (F2CPath &path, const F2CPoint &start_pos, const F2CPoint &end_pos, float max_error_dist=0.05)

Detailed Description

Base class for turn planners.

Definition at line 22 of file turning_base.h.

Constructor & Destructor Documentation

~TurningBase()

virtual f2c::pp::TurningBase::~TurningBase ( )

virtualdefault

Member Function Documentation

correctPath()

void f2c::pp::TurningBase::correctPath ( F2CPath &  path, const F2CPoint &  start_pos, const F2CPoint &  end_pos, float  max_error_dist = 0.05  )

staticprivate

Definition at line 65 of file turning_base.cpp.

createSimpleTurn()

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

pure virtual

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

Implemented in f2c::pp::DubinsCurves, f2c::pp::DubinsCurvesCC, f2c::pp::ReedsSheppCurves, and f2c::pp::ReedsSheppCurvesHC.

createTurn()

F2CPath f2c::pp::TurningBase::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.

Start and end point are connected with a line that creates the inferior border of the turn.

Parameters

start_pos	Start point
start_angle	Start angle
end_pos	End point
end_angle	End angle

Returns

Path with the computed turn

Definition at line 30 of file turning_base.cpp.

createTurnIfNotCached()

F2CPath f2c::pp::TurningBase::createTurnIfNotCached	(	const F2CRobot &	robot,
		double	dist_start_pos,
		double	start_angle,
		double	end_angle
	)

Generate a turn if it has not been computed before.

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 81 of file turning_base.cpp.

getDiscretization()

double f2c::pp::TurningBase::getDiscretization

(

)

const

Get discretization distance from points in the turn.

Definition at line 114 of file turning_base.cpp.

getUsingCache()

bool f2c::pp::TurningBase::getUsingCache

(

)

const

Get if turns are being cached or not.

Definition at line 122 of file turning_base.cpp.

isTurnValid()

bool f2c::pp::TurningBase::isTurnValid ( const F2CPath &  path, double  dist_start_end, double  end_angle, double  max_dist_error = 0.05, double  max_rot_error = 0.1  )

static

Check if turn is valid.

Definition at line 100 of file turning_base.cpp.

setDiscretization()

void f2c::pp::TurningBase::setDiscretization

(

double

d

)

Set discretization distance from points in the turn.

Definition at line 118 of file turning_base.cpp.

setUsingCache()

void f2c::pp::TurningBase::setUsingCache

(

bool

c

)

Set if cache should be used when planning same turn as before.

Definition at line 126 of file turning_base.cpp.

transformToNormalTurn()

std::vector< double > f2c::pp::TurningBase::transformToNormalTurn ( const F2CPoint &  start_pos, double  start_angle, const F2CPoint &  end_pos, double  end_angle  )

static

Transform the turn parameters representation from two points with two angles to one distance and two angles.

Parameters

start_pos	Start point
start_angle	Start angle
end_pos	End point
end_angle	End angle

Returns

Vector with the values of the new representation

Definition at line 11 of file turning_base.cpp.

Member Data Documentation

discretization

double f2c::pp::TurningBase::discretization {0.01}

protected

Definition at line 92 of file turning_base.h.

path_cache_

std::map<std::vector<int>, F2CPath> f2c::pp::TurningBase::path_cache_

protected

Definition at line 91 of file turning_base.h.

using_cache

bool f2c::pp::TurningBase::using_cache {true}

protected

Definition at line 93 of file turning_base.h.

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

• turning_base.h
• turning_base.cpp