TrajectoryPath Class Reference

#include <trajectory_path.h>

Inheritance diagram for TrajectoryPath:

Collaboration diagram for TrajectoryPath:

Public Member Functions
	TrajectoryPath (const std::shared_ptr< Trajectory2D > &initial_trajectory, const TrajectoryGenerator &traj_generator)
void	append (double connection_time_sec, const Point &destination, const KinematicConstraints &constraints)
Point	getPosition (double t_sec) const override
Vector	getVelocity (double t_sec) const override
Vector	getAcceleration (double t_sec) const override
double	getTotalTime () const override
std::vector< Rectangle >	getBoundingBoxes () const override
const std::vector< TrajectoryPathNode > &	getTrajectoryPathNodes () const
Public Member Functions inherited from Trajectory< Point, Vector, Vector >
Point	getDestination () const

Detailed Description

TrajectoryPath represents a list of 2D trajectories that are connected end-to-end to form a path. A TrajectoryPathNode is a 2D trajectory and the time at which it ends and the next TrajectoryPathNode begins.

Constructor & Destructor Documentation

TrajectoryPath()

TrajectoryPath	(	const std::shared_ptr< Trajectory2D > &	initial_trajectory,
		const TrajectoryGenerator &	traj_generator
	)

Constructor

Parameters

initial_trajectory	The initial trajectory of this trajectory path
traj_generator	A function used to generate new trajectories given the kinematic constraints, initial position, final position, and initial velocity.

Member Function Documentation

append()

void append	(	double	connection_time_sec,
		const Point &	destination,
		const KinematicConstraints &	constraints
	)

Generate and append a new trajectory to the end of this trajectory path

Parameters

constraints	Constraints of the new generated trajectory
connection_time_sec	The time where the last existing trajectory should connect to the newly generated trajectory
destination	Destination of the newly generated trajectory

getAcceleration()

Vector getAcceleration ( double  t_sec ) const

overridevirtual

Get the acceleration at time t of this trajectory path

Parameters

t_sec

The time elapsed since the start of the trajectory path

Returns

The acceleration at time t

Implements Trajectory< Point, Vector, Vector >.

getBoundingBoxes()

std::vector< Rectangle > getBoundingBoxes ( ) const

overridevirtual

Get the bounding boxes of the trajectory path

Returns

A list of bounding boxes which wrap this trajectory path

Implements Trajectory2D.

getPosition()

Point getPosition ( double  t_sec ) const

overridevirtual

Get the position at time t of this trajectory path

Parameters

t_sec

The time elapsed since the start of the trajectory path

Returns

The position at time t

Implements Trajectory< Point, Vector, Vector >.

getTotalTime()

double getTotalTime ( ) const

overridevirtual

Get the total duration of the trajectory until it reaches the destination

Returns

The total duration for this trajectory path

Implements Trajectory< Point, Vector, Vector >.

getTrajectoryPathNodes()

const std::vector< TrajectoryPathNode > & getTrajectoryPathNodes

(

)

const

Get the list of TrajectoryPathNodes that make up this trajectory path

Returns

The list of TrajectoryPathNodes that make up this trajectory path

getVelocity()

Vector getVelocity ( double  t_sec ) const

overridevirtual

Get the velocity at time t of this trajectory path

Parameters

t_sec

The time elapsed since the start of the trajectory path

Returns

The velocity at time t

Implements Trajectory< Point, Vector, Vector >.

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

• src/software/ai/navigator/trajectory/trajectory_path.h
• src/software/ai/navigator/trajectory/trajectory_path.cpp