laelaps::LaeSimplePath Class Reference

Robot simple path class. More...

#include <laeTraj.h>

Public Member Functions
	LaeSimplePath ()
	Default constructor.
	LaeSimplePath (const LaeSimplePath &src)
	Copy constructor.
	~LaeSimplePath ()
	Destructor.
LaeSimplePath	operator= (const LaeSimplePath &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 (LaePoint &ptDist, double fVelocity, double fAcceleration)
	Append wheel point to end of trajectory. More...
LaeSimpleWaypoint &	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< LaeSimpleWaypoint >	m_path
	path

Detailed Description

Robot simple path class.

A simple path defines a set of waypoints from the robot's current position to the endpoint. Each waypoint defines a x,y distance, plus target velocity and acceleration.

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

Definition at line 382 of file laeTraj.h.

Member Function Documentation

void laelaps::LaeSimplePath::append ( LaePoint &  ptDist, double  fVelocity, double  fAcceleration  )

inline

Append wheel point to end of trajectory.

Parameters

ptDist	Robot goal distance (meters, meters).
fVelocity	Robot goal velocity (meters/second).
fAcceleration	Robot goal acceleration (meters/second^2).

Definition at line 462 of file laeTraj.h.

    {
      LaeSimpleWaypoint pt(ptDist, fVelocity, fAcceleration);
      m_path.push_back(pt);
    }

size_t laelaps::LaeSimplePath::getNumPoints ( )

inline

Get the number of wheel points in trajectory.

Returns

Number of points.

Definition at line 450 of file laeTraj.h.

    {
      return m_path.size();
    }

timespec_t laelaps::LaeSimplePath::getStartTime ( )

inline

Get navigation start time.

Returns

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

Definition at line 429 of file laeTraj.h.

    {
      return m_timeStart;
    }

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

inline

Assignment operator.

Parameters

rhs	Right hand side object.

Returns

Returns copy of this.

Definition at line 416 of file laeTraj.h.

References m_path, and m_timeStart.

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

      return *this;
    }

LaeSimpleWaypoint& laelaps::LaeSimplePath::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 480 of file laeTraj.h.

    {
      return m_path[i];
    }

void laelaps::LaeSimplePath::setStartTime ( timespec_t &  timeStart )

inline

Set navigation start time.

Parameters

timeStart

Time to start path navigation. Time is in seconds,nanoseconds from last Epoch.

Definition at line 440 of file laeTraj.h.

    {
      m_timeStart = timeStart;
    }

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

• include/Laelaps/laeTraj.h