Abstract class for a segment of the trajectory. More...

#include <trgen.h>

Inherited by Segment::Arc, Segment::Line, Segment::Spline, and Segment::Turn.

Public Member Functions
virtual void	setMaxV (const TrajectoryConstraints &constr)=0
virtual double	getMaxAcc (const TrajectoryConstraints &constr) const
virtual bool	isTurn () const
virtual bool	isSpline () const
virtual double	getDistance (double time) const =0
	TrajectorySegment ()
virtual	~TrajectorySegment ()
virtual double	getLength () const =0
	Length of the segment in meters.
virtual double	getUnifiedLength () const
	Unified length of the segment, used for calculations of speed and accelerations.
virtual void	getPointAt (double distance, Point *p)=0
	Returns the point of the segment, located at the specific `distance` from the beginning or end.
virtual void	shortenBy (double distance, Point *newEnd)=0
	Shorten the segment by a specific length.
virtual TrajectorySegment *	splitAt (double distance, Point *newEnd)=0
	Splits the segment at the specified point.
virtual TrajectorySegment *	splitAtByTime (double time, Point *newEnd)=0
virtual double	startAt (double time)
	Sets the starting time of the segment and calculates the ending time according to this.
virtual void	getRefPos (double time, Pos &rp)=0
	Return the reference position at some time.
int	containsTime (double t)
	Return the position in time of this segment relative to the specified time.
double	getT1 ()
	Returns `t1`.
double	getT2 ()
	Returns `t2`.
Public Attributes
double	maxv
	Maximum speed of the segment.
double	acc
	Acceleration at this segment [ $\mathrm m\cdot \mathrm s^{-2}$ ].
double	v1
double	v2
	speed in the beginning and at the end of the segment
double	s
	Helper values for Trajectory::corners2arcs().
double	r
double	alphahalf
Protected Attributes
double	t1
	Time in the beginning and at the end of the segment.
double	t2

Detailed Description

Abstract class for a segment of the trajectory.

Constructor & Destructor Documentation

TrajectorySegment::TrajectorySegment ( ) [inline]

virtual TrajectorySegment::~TrajectorySegment ( ) [inline, virtual]

Member Function Documentation

int TrajectorySegment::containsTime ( double t ) [inline]

Return the position in time of this segment relative to the specified time.

Parameters:

t

Time

Returns:: 0 if time t is within this segment, -1 if time t is before this segment, +1 if time t is after this segment.

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virtual double TrajectorySegment::getDistance ( double time ) const [pure virtual]

Implemented in Segment::Line, Segment::Turn, Segment::Spline, and Segment::Arc.

virtual double TrajectorySegment::getLength ( ) const [pure virtual]

Length of the segment in meters.

Implemented in Segment::Line, Segment::Turn, Segment::Spline, and Segment::Arc.

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virtual double TrajectorySegment::getMaxAcc ( const TrajectoryConstraints & constr ) const [inline, virtual]

Reimplemented in Segment::Turn.

virtual void TrajectorySegment::getPointAt	(	double	distance,
		Point *	p
	)			`[pure 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.

Implemented in Segment::Line, Segment::Turn, Segment::Spline, and Segment::Arc.

virtual void TrajectorySegment::getRefPos	(	double	time,
		Pos &	rp
	)			`[pure virtual]`

Return the reference position at some time.

Parameters:

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

Implemented in Segment::Line, Segment::Turn, Segment::Spline, and Segment::Arc.

double TrajectorySegment::getT1 ( ) [inline]

Returns t1.

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double TrajectorySegment::getT2 ( ) [inline]

Returns t2.

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virtual double TrajectorySegment::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 in Segment::Turn.

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virtual bool TrajectorySegment::isSpline ( ) const [inline, virtual]

Reimplemented in Segment::Spline.

virtual bool TrajectorySegment::isTurn ( ) const [inline, virtual]

Reimplemented in Segment::Turn.

virtual void TrajectorySegment::setMaxV ( const TrajectoryConstraints & constr ) [pure virtual]

Implemented in Segment::Line, Segment::Turn, Segment::Spline, and Segment::Arc.

virtual void TrajectorySegment::shortenBy	(	double	distance,
		Point *	newEnd
	)			`[pure 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.

Implemented in Segment::Line, Segment::Turn, Segment::Spline, and Segment::Arc.

virtual TrajectorySegment* TrajectorySegment::splitAt	(	double	distance,
		Point *	newEnd
	)			`[pure 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.