#include <trgen.h>

Collaboration diagram for Segment::Spline:

Public Member Functions
	Spline (Point _p1, Point _p2, Point *_corner)
virtual bool	isSpline () const
virtual void	setMaxV (const TrajectoryConstraints &constr)
	Finds maximal speeds vc, v1 and v2 (in the middle, in the beginning and at the end).
virtual double	getLength () const
	Length of the segment in meters.
virtual double	getDistance (double time) const
	return distance on the spline in a given time
virtual void	getPointAt (double distance, Point *p)
	Returns the point of the segment, located at the specific `distance` from the beginning or end.
virtual void	shortenBy (double distance, Point *newEnd)
	result is changed variable `length` and one of `param0` and `param1` changed is also `p1` or `p2`, but they are no more utilized
virtual TrajectorySegment *	splitAtByTime (double time, Point *newEnd)
virtual TrajectorySegment *	splitAt (double distance, Point *newEnd)
	Splits the segment at the specified point.
virtual void	getRefPos (double time, Pos &rp)
	Return the reference position at some time.
virtual double	startAt (double time)
	Sets the starting time of the segment and calculates the ending time according to this.

Detailed Description

Spline shaped segment.

The spline is represented by x-axis polynom and y-axis polynom. Both have 5-th order. P_x(t) = A_x*t^5 + B_x*t^4 + C_x*t^3 + D_x*t^2 + E_x*t + F_x P_y(t) = A_y*t^5 + B_y*t^4 + C_y*t^3 + D_y*t^2 + E_y*t + F_y The parameter t goes from param0 to param1 (initially 0 and 1) We pressume that the parameter dt/ds = const (reasonable simplification)

TODO: comment

Constructor & Destructor Documentation

Segment::Spline::Spline	(	Point *	_p1,
		Point *	_p2,
		Point *	_corner
	)

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Member Function Documentation

double Segment::Spline::getDistance ( double time ) const [virtual]

return distance on the spline in a given time

Implements TrajectorySegment.

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virtual double Segment::Spline::getLength ( ) const [inline, virtual]

Length of the segment in meters.

Implements TrajectorySegment.

void Segment::Spline::getPointAt	(	double	distance,
		Point *	p
	)			`[virtual]`

Returns the point of the segment, located at the specific distance from the beginning or end.

Parameters:

`[in]`	distance	Distance from the beginning (if positive) or end (if negative) of the segment in meters.
`[out]`	p	Pointer to the point to sore the result.

Implements TrajectorySegment.

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void Segment::Spline::getRefPos	(	double	time,
		Pos &	rp
	)			`[virtual]`

Return the reference position at some time.

Parameters:

`[in]`	time	Time (within this segment time range).
`[out]`	rp	Reference position.

Implements TrajectorySegment.

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virtual bool Segment::Spline::isSpline ( ) const [inline, virtual]

Reimplemented from TrajectorySegment.

void Segment::Spline::setMaxV ( const TrajectoryConstraints & constr ) [virtual]

Finds maximal speeds vc, v1 and v2 (in the middle, in the beginning and at the end).

The speed profile looks like a letter 'v' because of clothoid's curvature profile shape. This is a simplified approach, but quick. Other constraints play a significant role. display constraints with on-line speed and accs values

Implements TrajectorySegment.

void Segment::Spline::shortenBy	(	double	distance,
		Point *	newEnd
	)			`[virtual]`

result is changed variable length and one of param0 and param1 changed is also p1 or p2, but they are no more utilized

Implements TrajectorySegment.

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TrajectorySegment * Segment::Spline::splitAt	(	double	distance,
		Point *	newEnd
	)			`[virtual]`

Splits the segment at the specified point.

The result will be two segments following the same trajectory as the original one.

Parameters:

`[in]`	distance	Distance of the split from the beginning of the segment.
`[in]`	newEnd	Point which will be used as a middle point joining the two segments.