#include <trajectory.h>
This class computes the trajectory either with ShortcutTrajectory or with SplineTrajectory.
Inherits Kaim::RefCountBase< C, Stat >.
Public Member Functions | |
Trajectory (Bot *bot) | |
virtual | ~Trajectory () |
void | SetShortcutTrajectory (Ptr< BaseShortcutTrajectory > shortcutTrajectory) |
void | SetAvoidanceComputer (Ptr< IAvoidanceComputer > avoidanceComputer) |
TrajectoryMode | GetTrajectoryMode () const |
virtual void | Compute (KyFloat32 simulationTimeInSeconds) |
Ptr< IAvoidanceComputer > | GetAvoidanceComputer () |
Vec2f | GetIdealVelocity () const |
const FollowedCircleArcSpline * | GetFollowedCircleArcSpline () const |
For internal use only | |
Bot * | m_bot |
TrajectoryMode | m_trajectoryMode |
Ptr< IAvoidanceComputer > | m_avoidanceComputer |
Ptr< BaseShortcutTrajectory > | m_shortcutTrajectory |
Ptr< SplineTrajectory > | m_splineTrajectory |
Vec2f | m_idealVelocity |
TrajectoryMode | m_previousTrajectoryModeForVisualDebug |
void | ClearOutput (const Vec2f &frontDirection) |
virtual void | Clear () |
virtual void | ClearTrajectory () |
virtual bool | IsShortcutTrajectoryAllowingToSkipPathFollowingThisFrame (KyFloat32 &simulationTimeInSeconds) |
virtual ResetTrajectoryStatus | ResetTrajectory (const PositionOnLivePath &progressOnLivePath) |
virtual ResetTrajectoryStatus | CanResetTrajectory (const PositionOnLivePath &progressOnLivePath, TargetOnPath &directTargetOnPath) |
virtual void | SendVisualDebugBlob (VisualDebugServer &visualDebugServer, VisualDebugSendChangeEvent changeEvent) |
Helper functions | |
enum | OutputVelocity |
static OutputVelocity | ComputeStraightVelocityToTarget (Bot *bot, KyFloat32 simulationTimeInSeconds, const Vec3f &target, Vec3f &outputVelocity) |
static OutputVelocity | ComputeStraightVelocityToTarget2d (Bot *bot, KyFloat32 simulationTimeInSeconds, const Vec2f &target, Vec2f &outputVelocity) |
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static |
Compute a velocity to reach a particular target.