cpp_robotics::SplinePathBase

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#include <spline_path.hpp>

Inherited by cpp_robotics::CatumullRomSplinePath< VectorType >, cpp_robotics::CubicSplinePath< VectorType >

Protected Classes

	Name
struct	segment_info_t
struct	segment_t

Public Types

	Name
using VectorType	Vector

Protected Types

	Name
using eigen_spline_api< VectorType >	spline_api

Public Functions

	Name
	SplinePathBase() =default
	SplinePathBase(const std::vector< Vector > & waypoints)
virtual void	set_path(const std::vector< Vector > & waypoints) =0
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

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

Protected Attributes

	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::SplinePathBase;

Public Types Documentation

using Vector

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

Protected Types Documentation

using spline_api

using cpp_robotics::SplinePathBase< VectorType >::spline_api =  eigen_spline_api<VectorType>;

Public Functions Documentation

function SplinePathBase

SplinePathBase() =default

function SplinePathBase

inline SplinePathBase(
    const std::vector< Vector > & waypoints
)

function set_path

virtual void set_path(
    const std::vector< Vector > & waypoints
) =0

Reimplemented by: cpp_robotics::CatumullRomSplinePath::set_path, cpp_robotics::CubicSplinePath::set_path

function is_empty

inline bool is_empty() const

function waypoints_size

inline size_t waypoints_size() const

function length

inline double length() const

function nearest_position

inline double nearest_position(
    const Vector pos,
    double now_length =-1,
    double search_range =-1
)

function position

inline Vector position(
    double length
) const

function direction

inline Vector direction(
    double length
) const

Protected Functions Documentation

function get_segmet_idx

inline segment_info_t get_segmet_idx(
    const double t
) const

function get_segmet_idx_length

inline segment_info_t get_segmet_idx_length(
    double length
) const

Protected Attributes Documentation

variable waypoints_

std::vector< Vector > waypoints_;

variable length_

std::vector< double > length_;

variable total_length_

double total_length_ = 0;

variable spline_segments_

std::vector< segment_t > spline_segments_;

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