laelaps::LaePath Class Reference

Robot path class. More...

#include <laeTraj.h>

Public Member Functions
	LaePath ()
	Default constructor.
	LaePath (const LaePath &src)
	Copy constructor.
	~LaePath ()
	Destructor.
LaePath	operator= (const LaePath &rhs)
	Assignment operator. More...
timespec_t	getStartTime ()
	Get navigation start time. More...
void	setStartTime (timespec_t timeStart)
	Set navigation start time. More...
size_t	getNumPoints ()
	Get the number of wheel points in trajectory. More...
void	append (const LaePose &pose, const double fVelocity, const double fAcceleration, const std::string &strName="", const timespec_t &timeStart=StartImmediately)
	Append waypoint to end of path. More...
LaeWaypoint &	operator[] (const size_t i)
	Subscript operator to get reference to wheel point at the given index. More...
void	clear ()
	Clear data.

Protected Attributes
timespec_t	m_timeStart
	start time
std::vector< LaeWaypoint >	m_path
	path

Detailed Description

Robot path class.

A waypoint specifies the goal pose (absolute x,y,theta position), plus the target velocity with the given acceleration at the destination. The waypoint is used in path navigation.

A sequence of waypoints points Wp_i, i=0,n define a path.

Definition at line 693 of file laeTraj.h.

Member Function Documentation

void LaePath::append	(	const LaePose &	pose,
		const double	fVelocity,
		const double	fAcceleration,
		const std::string &	strName = "",
		const timespec_t &	timeStart = StartImmediately
	)

Append waypoint to end of path.

Parameters

Pose	Robot 2D pose (x,y,theta).
fVelocity	Robot target velocity at waypoint (meters/second).
fAcceleration	Robot target acceleration (meters/second^2).
strName	Name of waypoint
timeStart	Start time to navigate to this waypoint.

Definition at line 172 of file laeTraj.cxx.

{
  stringstream ss;

  if( strName.empty() )
  {
    ss << "wp_" << m_path.size();
  }
  else
  {
    ss << strName;
  }

  LaeWaypoint pt(pose, fVelocity, fAcceleration, ss.str(), timeStart);
  m_path.push_back(pt);
}

size_t laelaps::LaePath::getNumPoints ( )

inline

Get the number of wheel points in trajectory.

Returns

Number of points.

Definition at line 761 of file laeTraj.h.

    {
      return m_path.size();
    }

timespec_t laelaps::LaePath::getStartTime ( )

inline

Get navigation start time.

Returns

Start time. Time is in seconds,nanoseconds from last Epoch.

Definition at line 740 of file laeTraj.h.

    {
      return m_timeStart;
    }

LaePath laelaps::LaePath::operator= ( const LaePath &  rhs )

inline

Assignment operator.

Parameters

rhs	Right hand side object.

Returns

Returns copy of this.

Definition at line 727 of file laeTraj.h.

References m_path, and m_timeStart.

    {
      m_timeStart = rhs.m_timeStart;
      m_path      = rhs.m_path;

      return *this;
    }

LaeWaypoint& laelaps::LaePath::operator[] ( const size_t  i )

inline

Subscript operator to get reference to wheel point at the given index.

Big boy warranty. No out of bound checks are made.

Parameters

i

Index.

Returns

Wheel point.

Definition at line 791 of file laeTraj.h.

    {
      return m_path[i];
    }

void laelaps::LaePath::setStartTime ( timespec_t  timeStart )

inline

Set navigation start time.

Parameters

timeStart

Start time. Time is in seconds,nanoseconds from last Epoch.

Definition at line 751 of file laeTraj.h.

    {
      m_timeStart = timeStart;
    }

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

• include/Laelaps/laeTraj.h
• sw/liblaelaps/laeTraj.cxx