Kaim::Trajectory Class Reference

Kaim::Trajectory Class Reference

#include <trajectory.h>

Class Description

This class computes the trajectory either with ShortcutTrajectory or with SplineTrajectory.

+ Examples:

Inherits Kaim::RefCountBase< C, Stat >.

Functions

 Trajectory (Bot *bot)
 
 ~Trajectory ()
 
void SetShortcutTrajectory (Ptr< BaseShortcutTrajectory > shortcutTrajectory)
 
void SetAvoidanceComputer (Ptr< IAvoidanceComputer > avoidanceComputer)
 
TrajectoryMode GetTrajectoryMode () const
 
void Compute (KyFloat32 simulationTimeInSeconds, KyUInt32 worldUpdateIdx)
 
Ptr< IAvoidanceComputerGetAvoidanceComputer ()
 
Vec2f GetIdealVelocity () const
 
const FollowedCircleArcSplineGetFollowedCircleArcSpline () const
 

For internal use only

Botm_bot
 
TrajectoryMode m_trajectoryMode
 
Ptr< IAvoidanceComputerm_avoidanceComputer
 
Ptr< BaseShortcutTrajectorym_shortcutTrajectory
 
Ptr< SplineTrajectorym_splineTrajectory
 
Vec2f m_idealVelocity
 
TrajectoryMode m_previousTrajectoryModeForVisualDebug
 
void ClearOutput (const Vec2f &frontDirection)
 
void Clear ()
 
void ClearTrajectory ()
 
bool WillUpdatePathFollowThisFrame (KyFloat32 simulationTimeInSeconds, KyUInt32 worldUpdateIdx, KyUInt32 updatePeriod)
 
ResetTrajectoryStatus ResetTrajectory (const PositionOnLivePath &progressOnLivePath)
 
ResetTrajectoryStatus CanResetTrajectory (const PositionOnLivePath &progressOnLivePath, TargetOnPath &directTargetOnPath)
 
void SendVisualDebugBlob (VisualDebugServer &visualDebugServer, VisualDebugSendChangeEvent changeEvent)
 

Helper functions

enum  OutputVelocity
 
static OutputVelocity ComputeStraightVelocityToTarget (Bot *bot, KyFloat32 simulationTimeInSeconds, const Vec3f &target, Vec3f &outputVelocity)
 Compute a velocity to reach a particular target. More...
 
static OutputVelocity ComputeStraightVelocityToTarget2d (Bot *bot, KyFloat32 simulationTimeInSeconds, const Vec2f &target, Vec2f &outputVelocity)
 

Member Function Documentation

Trajectory::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 files:
  • gwnavruntime/pathfollower/trajectory.h
  • gwnavruntime/pathfollower/trajectory.cpp