laelaps::LaeWaypoint Class Reference

Robot fully-defined waypoint. More...

#include <laeTraj.h>

Public Member Functions
	LaeWaypoint ()
	Default constructor.
	LaeWaypoint (const LaePose &pose, const double fVelocity, const double fAcceleration, const std::string &strName="", const timespec_t &timeStart=StartImmediately)
	Initialization constructor. More...
	LaeWaypoint (const LaeWaypoint &src)
	Copy constructor. More...
	~LaeWaypoint ()
	Destructor.
LaeWaypoint	operator= (const LaeWaypoint &rhs)
	Assignment operator. More...
void	get (std::string &strName, timespec_t &timeStart, LaePose &pose, double &fVelocity, double &fAcceleration)
	Get waypoint data. More...
timespec_t	getStartTime ()
	Get waypoint navigation start time. More...
void	setStartTime (timespec_t timeStart)
	Set waypoint navigation start time. More...
void	clear ()
	Clear (reset) waypoint data.

Protected Attributes
std::string	m_strName
	waypoint name
timespec_t	m_timeStart
	time to start navigation
LaePose	m_pose
	robot pose at waypoint
double	m_fVelocity
	target velocity at waypoint (meters/s)
double	m_fAcceleration
	target acceleration (meters/s^2)

Detailed Description

Robot fully-defined waypoint.

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.

Each waypoint has an associtated name identifier and start time.

Definition at line 584 of file laeTraj.h.

Constructor & Destructor Documentation

laelaps::LaeWaypoint::LaeWaypoint	(	const LaePose &	pose,
		const double	fVelocity,
		const double	fAcceleration,
		const std::string &	strName = "",
		const timespec_t &	timeStart = StartImmediately
	)

Initialization constructor.

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.

LaeWaypoint::LaeWaypoint

(

const LaeWaypoint &

src

)

Copy constructor.

Parameters

src	Source object.

Definition at line 126 of file laeTraj.cxx.

References m_fAcceleration, m_fVelocity, and m_timeStart.

    : m_pose(src.m_pose), m_strName(src.m_strName)
{
  m_timeStart     = src.m_timeStart;
  m_fVelocity     = src.m_fVelocity;
  m_fAcceleration = src.m_fAcceleration;
}

Member Function Documentation

void LaeWaypoint::get	(	std::string &	strName,
		timespec_t &	timeStart,
		LaePose &	pose,
		double &	fVelocity,
		double &	fAcceleration
	)

Get waypoint data.

Parameters

[out]	strName	Waypoint name.
[out]	timeStart	Waypoint navigation start time.
[out]	pose	Robot 2D pose (x,y,theta).
[out]	fVelocity	Target waypoint velocity (meters/second).
[out]	fAcceleration	Target acceleration (meters/second^2).

Definition at line 145 of file laeTraj.cxx.

References m_fAcceleration, m_fVelocity, m_pose, m_strName, and m_timeStart.

{
  strName       = m_strName;
  timeStart     = m_timeStart;
  pose          = m_pose;
  fVelocity     = m_fVelocity;
  fAcceleration = m_fAcceleration;
}

timespec_t laelaps::LaeWaypoint::getStartTime ( )

inline

Get waypoint navigation start time.

Returns

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

Definition at line 650 of file laeTraj.h.

    {
      return m_timeStart;
    }

LaeWaypoint LaeWaypoint::operator=

(

const LaeWaypoint &

rhs

)

Assignment operator.

Parameters

rhs	Right hand side object.

Returns

Returns copy of this.

Definition at line 134 of file laeTraj.cxx.

References m_fAcceleration, m_fVelocity, m_pose, m_strName, and m_timeStart.

{
  m_strName       = rhs.m_strName;
  m_timeStart     = rhs.m_timeStart;
  m_pose          = rhs.m_pose;
  m_fVelocity     = rhs.m_fVelocity;
  m_fAcceleration = rhs.m_fAcceleration;

  return *this;
}

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

inline

Set waypoint navigation start time.

Parameters

timeStart

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

Definition at line 661 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