Public Member Functions | |
| Turn (Point *_center, double _startHeading, double _turnBy) | |
| turning starts at this heading [rad] | |
| virtual | ~Turn () |
| virtual void | setMaxV (const TrajectoryConstraints &constr) |
| virtual double | getMaxAcc (const TrajectoryConstraints &constr) const |
| virtual bool | isTurn () const |
| virtual double | getLength () const |
| Length of the segment in meters. | |
| virtual double | getUnifiedLength () const |
| Unified length of the segment, used for calculations of speed and accelerations. | |
| 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 * | center |
| double | turnBy |
| double | startHeading |
| turn by this angle [rad] | |
Speed related variables v1, v2 and acc represents angular speed here.
Definition at line 262 of file trgen.cc.
| virtual double Segment::Turn::getLength | ( | ) | const [inline, virtual] |
| virtual double Segment::Turn::getUnifiedLength | ( | ) | const [inline, virtual] |
Unified length of the segment, used for calculations of speed and accelerations.
Normally, it equal to the real length, buf for TrajectorySegmentTurn (whose length is zero) it represents angle.
Reimplemented from TrajectorySegment.
Definition at line 284 of file trgen.cc.
References turnBy.
| virtual void Segment::Turn::getPointAt | ( | double | distance, | |
| Point * | p | |||
| ) | [inline, virtual] |
Returns the point of the segment, located at the specific distance from the beginning or end.
| [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 288 of file trgen.cc.
References center.
| virtual void Segment::Turn::shortenBy | ( | double | distance, | |
| Point * | newEnd | |||
| ) | [inline, virtual] |
Shorten the segment by a specific length.
| [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.
| virtual TrajectorySegment* Segment::Turn::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.
| [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. |
Implements TrajectorySegment.
Definition at line 293 of file trgen.cc.
References dbgPrintf, startHeading, Turn(), and turnBy.
| virtual void Segment::Turn::getRefPos | ( | double | time, | |
| Pos & | rp | |||
| ) | [inline, virtual] |
Return the reference position at some time.
| [in] | time | Time (within this segment time range). |
| [out] | rp | Reference position. |
Implements TrajectorySegment.
Definition at line 308 of file trgen.cc.
References TrajectorySegment::acc, center, Pos::omega, Pos::phi, startHeading, TrajectorySegment::t1, TrajectorySegment::t2, turnBy, Pos::v, TrajectorySegment::v1, TrajectorySegment::v2, Point::x, Pos::x, Point::y, and Pos::y.
1.5.3