navlib::PathChain Class Reference

A path composed of several smaller paths. More...

#include <path.h>

Inheritance diagram for navlib::PathChain:

List of all members.

Public Member Functions
bool	collides (const Shape *body, std::vector< Point > obstacles)
	Returns true iff the path collides with any static obstacles.
double	getLength () const
	Returns the total path length.
PathPoint	getPathPoint (double d) const
	Returns the waypoint at distance d.
std::vector< PathPoint >	getPathPoints () const
	Returns a series of waypoints that describe the path.
bool	append (Path *T)
	Adds a path to end of the chain if the old end waypoint is the same as the new beginning waypoint.
Path *	copy ()
	Returns a pointer that is a new instance of this object.
bool	insert (Path *T)
	Adds a path to beginning of the chain if the new end waypoint is the same as the old beginning waypoint.
bool	isReverse (double d) const
	Returns true if the path is moving in reverse and true otherwise.

---

Detailed Description

A path composed of several smaller paths.

---

Member Function Documentation

bool PathChain::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 from navlib::Path.

PathPoint PathChain::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::getLength(), and navlib::Path::getPathPoint().

bool PathChain::append

(

Path *

T

)

Adds a path to end of the chain if the old end waypoint is the same as the new beginning waypoint.

Returns false otherwise.

References navlib::Path::_wp0, navlib::Path::copy(), navlib::Path::getInitPathPoint(), and navlib::Path::getLength().

Referenced by navlib::DubinsSolver::getPath(), and navlib::NDPlanner::getPath().

bool PathChain::insert

(

Path *

T

)

Adds a path to beginning of the chain if the new end waypoint is the same as the old beginning waypoint.

Returns false otherwise.

References navlib::Path::_wp0, navlib::Path::copy(), navlib::Path::getInitPathPoint(), and navlib::Path::getLength().

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

---

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

• path.h
• path.cpp