navlib::DubinsS Class Reference

A straight path segment. More...

#include <dubinsSolver.h>

Inheritance diagram for navlib::DubinsS:

List of all members.

Public Member Functions
	DubinsS (PathPoint wp0, double d)
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.

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Detailed Description

A straight path segment.

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Constructor & Destructor Documentation

DubinsS::DubinsS	(	PathPoint	wp0,
		double	d
	)

Parameters:

	wp0	initial waypoint
	d	path length

References navlib::Path::_wp0.

Referenced by copy().

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Member Function Documentation

PathPoint DubinsS::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().

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

• tpbvpsolver/dubinsSolver.h
• tpbvpsolver/dubinsSolver.cpp