navlib::Path Class Reference

Route that has a continuous position, orientation, and curvature. More...

#include <path.h>

Inheritance diagram for navlib::Path:

List of all members.

Public Member Functions
virtual bool	collides (const Shape *body, std::vector< Point > obstacles)
	Returns true iff the path collides with any static obstacles.
virtual Path *	copy ()=0
	Returns a pointer that is a new instance of this object.
virtual PathPoint	getPathPoint (double d) const =0
	Returns the waypoint at distance d.
virtual std::vector< PathPoint >	getPathPoints () const
	Returns a series of waypoints that describe the path.
PathPoint	getInitPathPoint () const
	Returns the waypoint where the path begins.
PathPoint	getFinalPathPoint () const
	Returns the waypoint where the path ends.
virtual double	getLength () const =0
	Returns the total path length.
virtual bool	isReverse (double d) const
	Returns true if the path is moving in reverse and true otherwise.
virtual void	read (istream &is)
	Reads the path from an input stream using polymorphic >> operator.
virtual void	write (ostream &os) const
	Prints the path to an output stream using polymorphic << operator.
Protected Attributes
PathPoint	_wp0
	initial waypoint

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Detailed Description

Route that has a continuous position, orientation, and curvature.

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Member Function Documentation

bool Path::collides	(	const Shape *	body,
		std::vector< Point >	obstacles
	)			[virtual]

Returns true iff the path collides with any static obstacles.

Parameters:

	body	vehicle shape
	obstacles	point cloud of obstacles

Reimplemented in navlib::PathChain, and navlib::DubinsC.

References _wp0, navlib::Shape::contains(), getPathPoints(), navlib::Shape::getPoints(), navlib::Pose::localize(), navlib::Pose::x, and navlib::Pose::y.

Referenced by navlib::NDPlanner::getPath().

virtual PathPoint navlib::Path::getPathPoint

(

double

d

)

const [pure 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

Implemented in navlib::PathChain, navlib::ReversePath, navlib::DubinsC, navlib::DubinsS, and navlib::HKPath.

Referenced by navlib::FrenetSerretController::getAction(), getFinalPathPoint(), navlib::ReversePath::getPathPoint(), navlib::PathChain::getPathPoint(), and getPathPoints().

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

• path.h
• path.cpp