laelaps::LaeSimpleWaypoint Class Reference

Robot simple path waypoint. More...

#include <laeTraj.h>

Public Member Functions
	LaeSimpleWaypoint ()
	Default constructor.
	LaeSimpleWaypoint (const LaePoint &ptDist, const double fVelocity, const double fAcceleration)
	Initialization constructor. More...
	LaeSimpleWaypoint (const LaeSimpleWaypoint &src)
	Copy constructor. More...
	~LaeSimpleWaypoint ()
	Destructor.
LaeSimpleWaypoint	operator= (const LaeSimpleWaypoint &rhs)
	Assignment operator. More...
void	get (LaePoint &ptDist, double &fVelocity, double &fAcceleration)
	Get the waypoint data. More...

Protected Attributes
LaePoint	m_ptDist
	robot goal x,y distance (meters, meters)
double	m_fVelocity
	robot target velocity (meters/second)
double	m_fAcceleration
	robot target acceleration (meters/s^2)

Detailed Description

Robot simple path waypoint.

A simple waypoint specifies the goal x,y distance from the robot's current position, along with a target velocity with acceleration at the destination. The waypoint is used in path navigation.

Definition at line 283 of file laeTraj.h.

Constructor & Destructor Documentation

laelaps::LaeSimpleWaypoint::LaeSimpleWaypoint ( const LaePoint &  ptDist, const double  fVelocity, const double  fAcceleration  )

inline

Initialization constructor.

Parameters

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

Definition at line 302 of file laeTraj.h.

    {
      m_ptDist        = ptDist;
      m_fVelocity     = fVelocity;
      m_fAcceleration = fAcceleration;
    }

laelaps::LaeSimpleWaypoint::LaeSimpleWaypoint ( const LaeSimpleWaypoint &  src )

inline

Copy constructor.

Parameters

src	Source object.

Definition at line 316 of file laeTraj.h.

References m_fAcceleration, m_fVelocity, and m_ptDist.

    {
      m_ptDist        = src.m_ptDist;
      m_fVelocity     = src.m_fVelocity;
      m_fAcceleration = src.m_fAcceleration;
    }

Member Function Documentation

void laelaps::LaeSimpleWaypoint::get ( LaePoint &  ptDist, double &  fVelocity, double &  fAcceleration  )

inline

Get the waypoint data.

Parameters

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

Definition at line 353 of file laeTraj.h.

    {
      ptDist        = m_ptDist;
      fVelocity     = m_fVelocity;
      fAcceleration = m_fAcceleration;
    }

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

inline

Assignment operator.

Parameters

rhs	Right hand side object.

Returns

Returns copy of this.

Definition at line 337 of file laeTraj.h.

References m_fAcceleration, m_fVelocity, and m_ptDist.

    {
      m_ptDist        = rhs.m_ptDist;
      m_fVelocity     = rhs.m_fVelocity;
      m_fAcceleration = rhs.m_fAcceleration;

      return *this;
    }

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

• include/Laelaps/laeTraj.h