navlib::DubinsSolver Class Reference

A solver that connects two path points using Dubins curves. More...

#include <dubinsSolver.h>

Inheritance diagram for navlib::DubinsSolver:

List of all members.

Public Member Functions
	DubinsSolver (double turnRadius)
Path *	getPath (const PathPoint &wp0, const PathPoint &wpf)
	Returns a path that goes from one waypoint to another.

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Detailed Description

A solver that connects two path points using Dubins curves.

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Constructor & Destructor Documentation

DubinsSolver::DubinsSolver

(

double

turnRadius

)

Parameters:

turnRadius

minimum turn radius

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Member Function Documentation

Path * DubinsSolver::getPath	(	const PathPoint &	wp0,
		const PathPoint &	wpf
	)			[virtual]

Returns a path that goes from one waypoint to another.

Parameters:

	wp0	initial waypoint
	wpf	final waypoint

Implements navlib::TpbvpSolver.

References navlib::PathChain::append(), navlib::Point::getAngleTo(), navlib::Point::getDistance(), navlib::Path::getFinalPathPoint(), navlib::DubinsC::getLength(), navlib::Pose::globalize(), navlib::Pose::localize(), navlib::Pose::x, and navlib::Pose::y.

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

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