Kaim::SplineTrajectory Class Reference
Related help topics: #include <splinetrajectory.h>
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 |
| Returns information about the currently followed circleArcSpline if any. More... | |
For internal use only | |
| Trajectory * | m_trajectory |
| ResetTrajectoryStatus | m_trajectoryStatus |
| Ptr< IAvoidanceComputer > | m_avoidanceComputer |
| FollowedCircleArcSpline | m_followedSpline |
| KyUInt32 | m_positionOnSplineChannelSectionIdx |
| CircleArcSpline with start/end information as well current position and target. More... | |
| 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() )
Member Data Documentation
| 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 files:
- gwnavruntime/pathfollower/splinetrajectory.h
- gwnavruntime/pathfollower/splinetrajectory.cpp