Segment::Arc Class Reference

Arc shaped segment. More...

Inheritance diagram for Segment::Arc:

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Collaboration diagram for Segment::Arc:

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List of all members.

Public Member Functions
	Arc (Point *_p1, Point *_p2, double _radius)
virtual	~Arc ()
virtual void	setMaxV (const TrajectoryConstraints &constr)
virtual double	getLength () const
	Length of the segment in meters.
virtual void	getPointAt (double distance, Point *p)
	Returns the point of the segment, located at the specific distance from the beginning or end.
virtual void	shortenBy (double distance, Point *newEnd)
	Shorten the segment by a specific length.
virtual TrajectorySegment *	splitAt (double distance, Point *newEnd)
	Splits the segment at the specified point.
virtual void	getRefPos (double time, Pos &rp)
	Return the reference position at some time.
Private Attributes
Point *	p1
Point *	p2
double	angle
double	startAngle
double	radius
double	length
Point	center

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Detailed Description

Arc shaped segment.

Definition at line 124 of file trgen.cc.

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Member Function Documentation

virtual double Segment::Arc::getLength

(

)

const [inline, virtual]

Length of the segment in meters.

Implements TrajectorySegment.

Definition at line 164 of file trgen.cc.

References length.

virtual void Segment::Arc::getPointAt	(	double	distance,
		Point *	p
	)			[inline, virtual]

Returns the point of the segment, located at the specific distance from the beginning or end.

Parameters:

[in]	distance	Distance from the beginning (if positive) or end (if negative) of the segment in meters.
[out]	p	Pointer to the point to sore the result.

Implements TrajectorySegment.

Definition at line 166 of file trgen.cc.

References angle, center, length, radius, startAngle, Point::x, and Point::y.

Referenced by shortenBy(), and splitAt().

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virtual void Segment::Arc::shortenBy	(	double	distance,
		Point *	newEnd
	)			[inline, virtual]

Shorten the segment by a specific length.

Parameters:

[in]	distance	Distance from the end (if positive) of the segment, where should be the end of the segment.
[in]	newEnd	Point which will be set to the position of the new end.

Implements TrajectorySegment.

Definition at line 178 of file trgen.cc.

References angle, getPointAt(), length, p1, p2, and startAngle.

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virtual TrajectorySegment* Segment::Arc::splitAt	(	double	distance,
		Point *	newEnd
	)			[inline, virtual]

Splits the segment at the specified point.

The result will be two segments following the same trajectory as the original one.

Parameters:

[in]	distance	Distance of the split from the beginning of the segment.
[in]	newEnd	Point which will be used as a middle point joining the two segments.

Returns:

Pointer to the newly created segment.

Implements TrajectorySegment.

Definition at line 192 of file trgen.cc.

References angle, Arc(), getPointAt(), length, p1, p2, and startAngle.

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virtual void Segment::Arc::getRefPos	(	double	time,
		Pos &	rp
	)			[inline, virtual]

Return the reference position at some time.

Parameters:

[in]	time	Time (within this segment time range).
[out]	rp	Reference position.

Implements TrajectorySegment.

Definition at line 211 of file trgen.cc.

References TrajectorySegment::acc, angle, center, length, Pos::omega, Pos::phi, radius, startAngle, TrajectorySegment::t1, TrajectorySegment::t2, Pos::v, TrajectorySegment::v1, TrajectorySegment::v2, Point::x, Pos::x, Point::y, and Pos::y.

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

• robofsm/trgen.cc

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