Segment::Line Class Reference

#include <trgen.h>

Inherits TrajectorySegment.

Collaboration diagram for Segment::Line:

List of all members.

Public Member Functions
	Line (Point *_p1, Point *_p2)
virtual void	setMaxV (const TrajectoryConstraints &constr)
virtual double	getLength () const
	Length of the segment in meters.
virtual double	getDistance (double time) const
double	getAngle ()
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)
	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.

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Constructor & Destructor Documentation

Segment::Line::Line	(	Point *	_p1,
		Point *	_p2
	)

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Member Function Documentation

double Segment::Line::getAngle

(

)

[inline]

double Segment::Line::getDistance

(

double

time

)

const [virtual]

Implements TrajectorySegment.

virtual double Segment::Line::getLength

(

)

const [inline, virtual]

Length of the segment in meters.

Implements TrajectorySegment.

void Segment::Line::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::Line::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.

void Segment::Line::setMaxV

(

const TrajectoryConstraints &

constr

)

[virtual]

Implements TrajectorySegment.

void Segment::Line::shortenBy	(	double	distance,
		Point *	newEnd
	)			[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.

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TrajectorySegment * Segment::Line::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.

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

Implements TrajectorySegment.

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

• motion/trgen.h
• motion/line.cc