Segment::Turn Class Reference

#include <trgen.h>

Inherits TrajectorySegment.

Collaboration diagram for Segment::Turn:

List of all members.

Public Member Functions
	Turn (Point *_center, double _startHeading, double _turnBy)
	turning starts at this heading [rad]
virtual void	setMaxV (const TrajectoryConstraints &constr)
virtual double	getMaxAcc (const TrajectoryConstraints &constr) const
virtual bool	isTurn () const
virtual double	getLength () const
	Length of the segment in meters.
virtual double	getDistance (double time) const
virtual double	getUnifiedLength () const
	Unified length of the segment, used for calculations of speed and accelerations.
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, Point *)
	Shorten the segment by a specific length.
virtual TrajectorySegment *	splitAt (double distance, Point *newEnd)
	Splits the segment at the specified point.
virtual TrajectorySegment *	splitAtByTime (double time, Point *newEnd)
virtual void	getRefPos (double time, Pos &rp)
	Return the reference position at some time.

---

Constructor & Destructor Documentation

Segment::Turn::Turn	(	Point *	_center,
		double	_startHeading,
		double	_turnBy
	)

turning starts at this heading [rad]

Segment representing turn at one place.

Speed related variables v1, v2 and acc represents angular speed here.

Here is the caller graph for this function:

---

Member Function Documentation

double Segment::Turn::getDistance

(

double

time

)

const [virtual]

Implements TrajectorySegment.

virtual double Segment::Turn::getLength

(

)

const [inline, virtual]

Length of the segment in meters.

Implements TrajectorySegment.

virtual double Segment::Turn::getMaxAcc

(

const TrajectoryConstraints &

constr

)

const [inline, virtual]

Reimplemented from TrajectorySegment.

void Segment::Turn::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.

void Segment::Turn::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.

virtual double Segment::Turn::getUnifiedLength

(

)

const [inline, virtual]

Unified length of the segment, used for calculations of speed and accelerations.

Normally, it equal to the real length, buf for TrajectorySegmentTurn (whose length is zero) it represents angle.

Reimplemented from TrajectorySegment.

virtual bool Segment::Turn::isTurn

(

)

const [inline, virtual]

Reimplemented from TrajectorySegment.

void Segment::Turn::setMaxV

(

const TrajectoryConstraints &

constr

)

[virtual]

Implements TrajectorySegment.

virtual void Segment::Turn::shortenBy	(	double	distance,
		Point *	newEnd
	)			[inline, virtual]

Shorten the segment by a specific length.

Parameters:

[in]	distance	Distance from the end (if positive) of the segment, where should be the end of the segment.
[in]	newEnd	Point which will be set to the position of the new end.

Implements TrajectorySegment.

TrajectorySegment * Segment::Turn::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.

Returns:

Pointer to the newly created segment.

Implements TrajectorySegment.

Here is the call graph for this function:

TrajectorySegment * Segment::Turn::splitAtByTime	(	double	time,
		Point *	newEnd
	)			[virtual]

Implements TrajectorySegment.

Here is the call graph for this function:

---

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

• motion/trgen.h
• motion/turn.cc