navlib::HKPath Class Reference

A path produced by a HKSolver object. More...

#include <hkSolver.h>

Inheritance diagram for navlib::HKPath:

List of all members.

Public Member Functions
	HKPath (const PathPoint &wp0, double a, double b, double c, double d)
Path *	copy ()
	Returns a pointer that is a new instance of this object.
double	getA () const
	Accessor for parameter 'a'.
double	getB () const
	Accessor for parameter 'b'.
double	getC () const
	Accessor for parameter 'c'.
double	getLength () const
	Returns the total path length.
PathPoint	getPathPoint (double d) const
	Returns the waypoint at distance d.
std::vector< PathPoint >	getPathPoints (unsigned int n=0) const
unsigned int	getWindingNumber ()
	Returns the winding number of the path.
void	read (istream &is)
	Parameterizes the path from an input stream.
void	write (ostream &os) const
	Writes the path parameters to an output stream.
Friends
class	HKSolver

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Detailed Description

A path produced by a HKSolver object.

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Constructor & Destructor Documentation

HKPath::HKPath	(	const PathPoint &	wp0,
		double	a,
		double	b,
		double	c,
		double	d
	)

Parameters:

wp0

initial waypoint

References navlib::Path::_wp0.

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Member Function Documentation

PathPoint HKPath::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, navlib::PathPoint::c, navlib::Pose::theta, navlib::Pose::x, and navlib::Pose::y.

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

• tpbvpsolver/hkSolver.h
• tpbvpsolver/hkSolver.cpp