Class Description

SplineTrajectory computes a CircleArcSpline that allows to anticipate and adapt the velocity in the turns.

To use this trajectory class, you have to compute Channels along your bot paths.

NOTE: It should not be instantiated directly. It is in fact a sub-component of Trajectory

Inherits Kaim::RefCountBase< C, Stat >.

Public Member Functions
const FollowedCircleArcSpline *	GetFollowedCircleArcSpline () const

For internal use only
Trajectory *	m_trajectory

ResetTrajectoryStatus	m_trajectoryStatus

Ptr< IAvoidanceComputer >	m_avoidanceComputer

FollowedCircleArcSpline	m_followedSpline

KyUInt32	m_positionOnSplineChannelSectionIdx

ChannelSectionPtr	m_splineComputerStartSection

Vec3f	m_splineComputerStartPosition

SplineCutMode	m_botPosSplineCutMode

SplineCut	m_splineCutThisFrame

SplineCut	m_splineCutWhenSplineRequested

Ptr< CircleArcSplineComputationQuery >	m_splineComputationQuery

SplineTrajectoryConfig	m_splineTrajectoryConfig

RadiusProfile	m_currentSplineRadiusProfile

Vec2f	m_previousMovingDirection

float	m_stopWaitTime

bool	m_advancedVisualDebuggingEnabled

Bot *	GetBot () const

void	Clear ()

void	ClearTrajectory ()

void	SetSplineTrajectoryConfig (const SplineTrajectoryConfig &other)

virtual void	SendVisualDebugBlob (VisualDebugServer &visualDebugServer, VisualDebugSendChangeEvent changeEvent)

void	RemoveAllVisualDebugBeforeTrajectoryChange (VisualDebugServer &visualDebugServer)

Member Function Documentation

const FollowedCircleArcSpline* Kaim::SplineTrajectory::GetFollowedCircleArcSpline ( ) const

Returns information about the currently followed circleArcSpline if any.

The end constraint is extracted from PathEvent flagged as user checkpoint with direction (cf. PathEvent::SetCheckPointWithDirection() )

KyUInt32 Kaim::SplineTrajectory::m_positionOnSplineChannelSectionIdx

CircleArcSpline with start/end information as well current position and target.

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