gwnavruntime/pathfollower/splinetrajectoryconfig.h Source File

splinetrajectoryconfig.h
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1 /*
2 * Copyright 2016 Autodesk, Inc. All rights reserved.
3 * Use of this software is subject to the terms of the Autodesk license agreement and any attachments or Appendices thereto provided at the time of installation or download,
4 * or which otherwise accompanies this software in either electronic or hard copy form, or which is signed by you and accepted by Autodesk.
5 */
6 
7 #pragma once
8 
11 
12 namespace Kaim
13 {
14 
15 class SplineTrajectoryConfigBlob;
16 
17 
20 {
25 };
26 
29 {
31 
32 public:
33 
36  {
39 
43  };
44 
45  SplineTrajectoryConfig() { SetDefaults(); }
46 
47  void SetDefaults();
48  void UpdateFromBlob(const SplineTrajectoryConfigBlob& blob);
49  bool operator==(const SplineTrajectoryConfig& other) const;
50  bool operator!=(const SplineTrajectoryConfig& other) const { return !operator==(other); }
51 
52 public:
53 
54  //-------------------- Spline computation parameters --------------------
55 
56  SplineComputationConfig m_splineComputationConfig;
57 
61 
68 
73 
78 
79 
80  //-------------------- Spline follow parameters --------------------
81 
86 
91 
100 
101 };
102 
103 } // namespace Kaim
104 
KyFloat32 m_recomputationDistanceRatio
Once the bot has moved of splineLength * m_recomputationDistanceRatio meters along the spline...
Definition: splinetrajectoryconfig.h:72
StartConstraintDirectionMode m_startConstraintDirectionMode
Defines the direction to be used to constraint the start of a new Spline.
Definition: splinetrajectoryconfig.h:60
Deactivate start constraint.
Definition: splinetrajectoryconfig.h:24
KyFloat32 m_startConstraintDirectionVelocityThreshold
When start constraint direction mode is StartConstraintDirectionMode_Velocity, the start constraint i...
Definition: splinetrajectoryconfig.h:67
#define KY_DEFINE_NEW_DELETE_OPERATORS(MemStat)
This macro defines new and delete operators.
Definition: memory.h:132
This mode is designed to let a bot without any inertia slide as close as possible along spline...
Definition: splinetrajectoryconfig.h:38
Class that configures how the trajectory is computed from the Channel.
Definition: splinetrajectoryconfig.h:28
KyFloat32 m_stabilityDistance
When updating a followed spline, we ensure the spline will not change on m_stabilityDistance meters...
Definition: splinetrajectoryconfig.h:77
Same as StartConstraintDirectionMode_Velocity, but if velocity under threshold use current bot front ...
Definition: splinetrajectoryconfig.h:23
The Autodesk Navigation namespace.
Definition: gamekitcrowddispersion.cpp:17
KyFloat32 m_maxDistanceToSplinePosition
If the bot is more than m_maxDistanceToSplinePosition meters from its position on the spline...
Definition: splinetrajectoryconfig.h:85
Aligns the start constraint along current bot velocity when greater than the threshold (cf m_startCon...
Definition: splinetrajectoryconfig.h:21
KyFloat32 m_targetOnSplineDistance
The target is a point along the spline that is used to compute the final velocity.
Definition: splinetrajectoryconfig.h:99
VelocityComputationMode m_velocityComputationMode
Choose whether you want to directly read your velocity from the spline or if you are animation driven...
Definition: splinetrajectoryconfig.h:90
VelocityComputationMode
Enumerates the SplineTrajectory velocity computation modes.
Definition: splinetrajectoryconfig.h:35
StartConstraintDirectionMode
Enumerates the SplineTrajectory start constraint direction modes.
Definition: splinetrajectoryconfig.h:19
In this mode, we use m_targetOnSplineDistance to anticipate ahead.
Definition: splinetrajectoryconfig.h:42
Always aligns the start constraint along current bot front direction.
Definition: splinetrajectoryconfig.h:22
float KyFloat32
float
Definition: types.h:32