cpp_robotics::CatumullRomSplinePath

#include <spline_path.hpp>

Inherits from cpp_robotics::SplinePathBase< VectorType >

Public Types

	Name
using VectorType	Vector

Public Functions

	Name
	CatumullRomSplinePath() =default
	CatumullRomSplinePath(std::vector< Vector > & waypoints, bool trajectory_loop =false, const double error =DEFAULT_LENGTH_ERROR)
void	set_path_with_config(std::vector< Vector > & waypoints, bool trajectory_loop =false, const double error =DEFAULT_LENGTH_ERROR)
virtual void	set_path(const std::vector< Vector > & waypoints) override

Public Attributes

	Name
constexpr double	DEFAULT_LENGTH_ERROR

Additional inherited members

Protected Classes inherited from cpp_robotics::SplinePathBase< VectorType >

	Name
struct	segment_info_t
struct	segment_t

Public Functions inherited from cpp_robotics::SplinePathBase< VectorType >

	Name
	SplinePathBase() =default
	SplinePathBase(const std::vector< Vector > & waypoints)
bool	is_empty() const
size_t	waypoints_size() const
double	length() const
double	nearest_position(const Vector pos, double now_length =-1, double search_range =-1)
Vector	position(double length) const
Vector	direction(double length) const

Protected Functions inherited from cpp_robotics::SplinePathBase< VectorType >

	Name
segment_info_t	get_segmet_idx(const double t) const
segment_info_t	get_segmet_idx_length(double length) const

Protected Attributes inherited from cpp_robotics::SplinePathBase< VectorType >

	Name
std::vector< Vector >	waypoints_
std::vector< double >	length_
double	total_length_
std::vector< segment_t >	spline_segments_

Detailed Description

template <class VectorType >
class cpp_robotics::CatumullRomSplinePath;

Public Types Documentation

using Vector

using cpp_robotics::CatumullRomSplinePath< VectorType >::Vector =  VectorType;

Public Functions Documentation

function CatumullRomSplinePath

CatumullRomSplinePath() =default

function CatumullRomSplinePath

inline CatumullRomSplinePath(
    std::vector< Vector > & waypoints,
    bool trajectory_loop =false,
    const double error =DEFAULT_LENGTH_ERROR
)

function set_path_with_config

inline void set_path_with_config(
    std::vector< Vector > & waypoints,
    bool trajectory_loop =false,
    const double error =DEFAULT_LENGTH_ERROR
)

function set_path

inline virtual void set_path(
    const std::vector< Vector > & waypoints
) override

Reimplements: cpp_robotics::SplinePathBase::set_path

Public Attributes Documentation

variable DEFAULT_LENGTH_ERROR

static constexpr double DEFAULT_LENGTH_ERROR = 0.05;

Updated on 2024-05-28 at 06:55:40 +0000