#include <trajectory.h>

Class Description

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)

Member Function Documentation

static OutputVelocity Kaim::Trajectory::ComputeStraightVelocityToTarget	(	Bot *	bot,
		KyFloat32	simulationTimeInSeconds,
		const Vec3f &	target,
		Vec3f &	outputVelocity
	)

static

Compute a velocity to reach a particular target.

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