#include <hc_cc_circle.hpp>

Inheritance diagram for steering::HC_CC_Circle:

Public Member Functions
double	cc_circular_deflection (double delta) const
	Computation of a cc-turn's circular deflection. More...

bool	cc_elementary_sharpness (const Configuration &q, double delta, double &sigma0) const
	Computation of an elementary path's sharpness. More...

double	cc_turn_length (const Configuration &q) const
	Length of a cc-turn. More...

double	D1 (double alpha) const
	Calculation of D1 for the evaluation of an elementary path. More...

double	deflection (const Configuration &q) const
	Computation of deflection (angle between start configuration of circle and configuration q) More...

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

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

double	hc_circular_deflection (double delta) const
	Computation of a hc-turn's circular deflection. More...

double	hc_turn_length (const Configuration &q) const
	Length of a hc-turn. More...

void	print (bool eol) const
	Alphanumeric display. More...

double	rs_circular_deflection (double delta) const
	Computation of a rs-turn's circular deflection. More...

double	rs_turn_length (const Configuration &q) const
	Length of a rs-turn. More...

Public Member Functions inherited from steering::HC_CC_Circle_Param
void	set_param (double _kappa, double _sigma, double _radius, double _mu, double _sin_mu, double _cos_mu, double _delta_min)
	Set parameters. More...

Public Attributes
bool	forward
	Driving direction: forwards/backwards. More...

bool	left
	Turning direction: left/right. More...

bool	regular
	Type of the circle: regular/irregular. More...

Configuration	start
	Start configuration. More...

double	xc
	Center of the circle. More...

double	yc

Public Attributes inherited from steering::HC_CC_Circle_Param
double	cos_mu

double	delta_min
	Minimal deflection. More...

double	kappa
	Max. curvature, inverse of max. curvature, max. sharpness. More...

double	kappa_inv

double	mu
	Angle between the initial orientation and the tangent to the circle at the initial position. More...

double	radius
	Radius of the outer circle. More...

double	sigma

double	sin_mu
	Sine and cosine of mu. More...

Detailed Description

Definition at line 80 of file hc_cc_circle.hpp.

Constructor & Destructor Documentation

◆ HC_CC_Circle() [1/2]

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

Constructor.

Definition at line 52 of file hc_cc_circle.cpp.

◆ HC_CC_Circle() [2/2]

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

Constructor.

Definition at line 88 of file hc_cc_circle.cpp.

Member Function Documentation

◆ cc_circular_deflection()

double steering::HC_CC_Circle::cc_circular_deflection ( double delta ) const

Computation of a cc-turn's circular deflection.

Definition at line 209 of file hc_cc_circle.cpp.

◆ cc_elementary_sharpness()

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

Computation of an elementary path's sharpness.

Definition at line 192 of file hc_cc_circle.cpp.

◆ cc_turn_length()

double steering::HC_CC_Circle::cc_turn_length ( const Configuration & q ) const

Length of a cc-turn.

Definition at line 238 of file hc_cc_circle.cpp.

◆ D1()

double steering::HC_CC_Circle::D1 ( double alpha ) const

Calculation of D1 for the evaluation of an elementary path.

Definition at line 130 of file hc_cc_circle.cpp.

◆ deflection()

double steering::HC_CC_Circle::deflection ( const Configuration & q ) const

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

Definition at line 116 of file hc_cc_circle.cpp.

◆ hc_circular_deflection()

double steering::HC_CC_Circle::hc_circular_deflection ( double delta ) const

Computation of a hc-turn's circular deflection.

Definition at line 156 of file hc_cc_circle.cpp.

◆ hc_turn_length()

double steering::HC_CC_Circle::hc_turn_length ( const Configuration & q ) const

Length of a hc-turn.

Definition at line 185 of file hc_cc_circle.cpp.

◆ print()

void steering::HC_CC_Circle::print ( bool eol ) const

Alphanumeric display.

Definition at line 270 of file hc_cc_circle.cpp.

◆ rs_circular_deflection()

double steering::HC_CC_Circle::rs_circular_deflection ( double delta ) const

Computation of a rs-turn's circular deflection.

Definition at line 138 of file hc_cc_circle.cpp.

◆ rs_turn_length()

double steering::HC_CC_Circle::rs_turn_length ( const Configuration & q ) const

Length of a rs-turn.

Definition at line 148 of file hc_cc_circle.cpp.

Member Data Documentation

◆ forward

bool steering::HC_CC_Circle::forward

Driving direction: forwards/backwards.

Definition at line 126 of file hc_cc_circle.hpp.

◆ left

bool steering::HC_CC_Circle::left

Turning direction: left/right.

Definition at line 123 of file hc_cc_circle.hpp.

◆ regular

bool steering::HC_CC_Circle::regular

Type of the circle: regular/irregular.

Definition at line 129 of file hc_cc_circle.hpp.

◆ start

Configuration steering::HC_CC_Circle::start

Start configuration.

Definition at line 120 of file hc_cc_circle.hpp.

◆ xc

double steering::HC_CC_Circle::xc

Center of the circle.

Definition at line 132 of file hc_cc_circle.hpp.

◆ yc

double steering::HC_CC_Circle::yc