Represents the whole trajectory. More...

#include <trgen.h>

Inherits std::list< TrajectorySegment * >.

Collaboration diagram for Trajectory:

Public Member Functions
	Trajectory (TrajectoryConstraints tc, bool _backward=false)
	Trajectory constructor.
	~Trajectory ()
void	addPoint (double x, double y)
	Adds a new point to the trajectory.
void	addTurn (double angle)
double	calcLength ()
	Returns the length of the whole trajectory.
bool	appendTrajectory (Trajectory &traj, double time)
	Connects to the recent trajectory a new one - `traj`.
bool	prepare (Pos _initPos)
	Prepares the trajectory.
bool	getRefPos (double time, Pos &rp)
	Returns reference position of the trajectory at a given time.
Public Attributes
TrajectoryConstraints	constr
struct final_heading	finalHeading
	Desired heading of the robot at the end of the trajectory.
bool	backward
double	initialTurnBy

Detailed Description

Represents the whole trajectory.

When a new trajectory is created (by Trajectory() constructor), addPoint() should be used to add points, the trajectory should go through. After all points are added, a call to prepare() uses these points to construct optimized trajectory and find the speeds along the trajectory. After the trajectory is prepared, you can call getRefPos(), to get the reference position at a specific time.

Constructor & Destructor Documentation

Trajectory::Trajectory	(	TrajectoryConstraints	tc,
		bool	_backward = `false`
	)			`[inline]`

Trajectory constructor.

Parameters:

	tc	Trajectory constraints
	_backward	Whether the trajectory should be followed in backward direction.

Trajectory::~Trajectory ( ) [inline]

Member Function Documentation

void Trajectory::addPoint	(	double	x,
		double	y
	)			`[inline]`

Adds a new point to the trajectory.

Parameters:

	x
	y

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void Trajectory::addTurn ( double angle )

bool Trajectory::appendTrajectory	(	Trajectory &	traj,
		double	time
	)

Connects to the recent trajectory a new one - traj.

It must satisfy some demands e.g. being prepared.

Parameters:

	traj	new trajectory
	time	on the recent trajectory to find the point where to join trajectories.

Returns:: true if the action succeeded

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double Trajectory::calcLength ( )

Returns the length of the whole trajectory.

bool Trajectory::getRefPos	(	double	time,
		Pos &	rp
	)

Returns reference position of the trajectory at a given time.

Parameters:

`[in]`	time	Time from the beginning of the trajectory.
`[out]`	rp	Returned reference position.

Returns:: True if the time is after the trajectory ends or error. False otherwise.

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bool Trajectory::prepare ( Pos _initPos )

Prepares the trajectory.

It converts points added by addPoint() to line segments (Line). Then it replaces by sharp corners by arcs (see corners2arcs()), then it adds turns at the begin and end and finally it calculates speeds in the different parts of the trajectory by adding acceleration and decceleration segments (see calcSpeeds()).

Parameters:

_initPos

The point where the trajectory should start. Typically the current robot position.