navlib::DubinsC Class Reference
A curved path segment. More...
#include <dubinsSolver.h>
Inheritance diagram for navlib::DubinsC:
Public Member Functions | |
| DubinsC (PathPoint wp0, double turnRadius, double theta) | |
| bool | collides (const Shape *body, std::vector< Point > obstacles) |
| Returns true iff the path collides with any static obstacles. | |
| Path * | copy () |
| Returns a pointer that is a new instance of this object. | |
| PathPoint | getPathPoint (double d) const |
| Returns the waypoint at distance d. | |
| double | getLength () const |
| Returns the total path length. | |
Detailed Description
A curved path segment.Constructor & Destructor Documentation
| DubinsC::DubinsC | ( | PathPoint | wp0, | |
| double | turnRadius, | |||
| double | theta | |||
| ) |
- Parameters:
-
wp0 initial waypoint turnRadius minimum turn radius theta orientation change from intial to final waypoints
References navlib::Path::_wp0.
Referenced by copy().
Member Function Documentation
Returns true iff the path collides with any static obstacles.
- Parameters:
-
body vehicle shape obstacles point cloud of obstacles
Reimplemented from navlib::Path.
References navlib::Path::_wp0, and getLength().
| PathPoint DubinsC::getPathPoint | ( | double | d | ) | const [virtual] |
Returns the waypoint at distance d.
Returns the initial waypoint if d is less than zero and the final waypoint if d greater than the path length.
- Parameters:
-
length along the path
Implements navlib::Path.
References navlib::Path::_wp0, getLength(), and navlib::Pose::globalize().
The documentation for this class was generated from the following files:
- tpbvpsolver/dubinsSolver.h
- tpbvpsolver/dubinsSolver.cpp
