◆ TrajectoryPlanner()
◆ findTrajectory()
| std::optional< TrajectoryPath > findTrajectory |
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const Point & |
start, |
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const Point & |
destination, |
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const Vector & |
initial_velocity, |
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const KinematicConstraints & |
constraints, |
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const std::vector< ObstaclePtr > & |
obstacles, |
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const Rectangle & |
navigable_area, |
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const std::optional< Point > & |
prev_sub_destination = std::nullopt |
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Find a trajectory from the start position to the destination which attempts to avoid the list of obstacles.
- Parameters
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| start | Start position of the trajectory |
| destination | Destination of the trajectory |
| initial_velocity | Initial velocity of the trajectory |
| constraints | Kinematic constraints of the trajectory |
| obstacles | List of obstacles to avoid |
| navigable_area | The navigable area of the field |
| prev_sub_destination | The previous sub destination of this robot. nullopt if there is no previous sub destination |
- Returns
- TrajectoryPath which attempts to avoid the obstacles
The documentation for this class was generated from the following files:
- src/software/ai/navigator/trajectory/trajectory_planner.h
- src/software/ai/navigator/trajectory/trajectory_planner.cpp
1.9.8