#include <SubTrajectory.hpp>

Inheritance diagram for trajectory_follower::SubTrajectory:

Public Member Functions
	SubTrajectory ()

	SubTrajectory (const base::Trajectory &trajectory)

base::Trajectory	toBaseTrajectory ()

void	interpolate (base::Pose2D start, const std::vector< base::Angle > &angles)

void	interpolate (const std::vector< base::Pose2D > &poses)

void	interpolate (const std::vector< base::Pose2D > &poses, const std::vector< double > &orientationDiff)

base::Pose2D	getIntermediatePoint (double d)

double	getClosestPoint (const base::Pose2D &pose, double guess) const

double	getClosestPoint (const base::Pose2D &pose) const

base::Pose2D	getIntermediatePointNormalized (double d)

double	getDist (double startParam, double endParam) const

double	getClosestPoint (const base::Pose2D &pose, double guess, double start, double end)

void	setGeometricResolution (double geometricResolution)

double	getDistToGoal (double startParam) const

std::pair< double, double >	error (const Eigen::Vector2d &pos, double currentHeading, double curveParam, double forwardDist)

double	advance (double curveParam, double length)

double	getCurvature (double param)

double	getCurvatureMax ()

double	getVariationOfCurvature (double param)

const base::Pose2D &	getStartPose () const

const base::Pose2D &	getGoalPose () const

const double &	getSpeed () const

double	getStartParam () const

double	getEndParam () const

double	getGeometricResolution () const

bool	driveForward () const

void	setSpeed (double speed)

double	splineHeading (double param)

Static Public Member Functions
static double	angleLimit (double angle)

Public Attributes
base::Pose2D	startPose

base::Pose2D	goalPose

double	speed

base::geometry::Spline< 3 >	posSpline

base::geometry::Spline< 1 >	orientationSpline

DriveMode	driveMode

Constructor & Destructor Documentation

◆ SubTrajectory() [1/2]

SubTrajectory::SubTrajectory ( )

◆ SubTrajectory() [2/2]

SubTrajectory::SubTrajectory ( const base::Trajectory & trajectory )

Member Function Documentation

◆ advance()

double SubTrajectory::advance	(	double	curveParam,
		double	length
	)

◆ angleLimit()

double SubTrajectory::angleLimit ( double angle )

static

◆ driveForward()

bool SubTrajectory::driveForward ( ) const

◆ error()

std::pair< double, double > SubTrajectory::error	(	const Eigen::Vector2d &	pos,
		double	currentHeading,
		double	curveParam,
		double	forwardDist
	)

◆ getClosestPoint() [1/3]

double SubTrajectory::getClosestPoint	(	const base::Pose2D &	pose,
		double	guess
	)		const

Returns the param corresponding to the closest point of the POSITION of the given pose. This method may be given an initial guess, to speed up the search.

◆ getClosestPoint() [2/3]

double SubTrajectory::getClosestPoint ( const base::Pose2D & pose ) const

Returns the param corresponding to the closest point of the POSITION of the given pose.

◆ getClosestPoint() [3/3]

double SubTrajectory::getClosestPoint	(	const base::Pose2D &	pose,
		double	guess,
		double	start,
		double	end
	)

◆ getCurvature()

double SubTrajectory::getCurvature ( double param )

◆ getCurvatureMax()

double SubTrajectory::getCurvatureMax ( )

◆ getDist()

double SubTrajectory::getDist	(	double	startParam,
		double	endParam
	)		const

Returns the distance between the start and the endParam in POSITION.

◆ getDistToGoal()

double SubTrajectory::getDistToGoal ( double startParam ) const

◆ getEndParam()

double SubTrajectory::getEndParam ( ) const

◆ getGeometricResolution()

double SubTrajectory::getGeometricResolution ( ) const

◆ getGoalPose()

const base::Pose2D & SubTrajectory::getGoalPose ( ) const

◆ getIntermediatePoint()

base::Pose2D SubTrajectory::getIntermediatePoint ( double d )

Returns the Pose2D for param d; The Orientation NOT be normalized. This is helpfull for the calculation of steering parameters.

◆ getIntermediatePointNormalized()

base::Pose2D SubTrajectory::getIntermediatePointNormalized ( double d )

Returns the Pose2D for param d; The Orientation will be normalized to -M_PI >=< M_PI

◆ getSpeed()

const double & SubTrajectory::getSpeed ( ) const

◆ getStartParam()

double SubTrajectory::getStartParam ( ) const

◆ getStartPose()

const base::Pose2D & SubTrajectory::getStartPose ( ) const

◆ getVariationOfCurvature()

double SubTrajectory::getVariationOfCurvature ( double param )

◆ interpolate() [1/3]

void SubTrajectory::interpolate	(	base::Pose2D	start,
		const std::vector< base::Angle > &	angles
	)

This method interpolates a point turn SubTrajectory from a given set of angles.

◆ interpolate() [2/3]

void SubTrajectory::interpolate ( const std::vector< base::Pose2D > & poses )

This method tries to interpolate from a set of poses. For the direction of orienation change it always assumes the shortest distance.

◆ interpolate() [3/3]

void SubTrajectory::interpolate	(	const std::vector< base::Pose2D > &	poses,
		const std::vector< double > &	orientationDiff
	)

This method interpolates a Spline from a set of poses. For the direction of orientaiton a vector of orientation differences is given. This enables us to encode things like Pose(0,0,0) -> Pose(1,1,0) With a full turn inbetween.

◆ setGeometricResolution()

void SubTrajectory::setGeometricResolution ( double geometricResolution )

◆ setSpeed()

void SubTrajectory::setSpeed ( double speed )

◆ splineHeading()

double SubTrajectory::splineHeading ( double param )

◆ toBaseTrajectory()

base::Trajectory SubTrajectory::toBaseTrajectory ( )

Member Data Documentation

◆ driveMode

DriveMode trajectory_follower::SubTrajectory::driveMode

◆ goalPose

base::Pose2D trajectory_follower::SubTrajectory::goalPose

◆ orientationSpline

base::geometry::Spline<1> trajectory_follower::SubTrajectory::orientationSpline

◆ posSpline

base::geometry::Spline<3> trajectory_follower::SubTrajectory::posSpline

◆ speed

double trajectory_follower::SubTrajectory::speed

◆ startPose

base::Pose2D trajectory_follower::SubTrajectory::startPose

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

/build/rock-master-18.09-control-trajectory-follower-0.20170221/src/SubTrajectory.hpp
/build/rock-master-18.09-control-trajectory-follower-0.20170221/src/SubTrajectory.cpp

Public Member Functions

Static Public Member Functions

Public Attributes