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Waypoint Struct Reference

Holds information about each waypoint, see WaypointEngine for overview. More...

#include <WaypointList.h>


Detailed Description

Holds information about each waypoint, see WaypointEngine for overview.

Definition at line 8 of file WaypointList.h.

List of all members.

Public Types

enum  posType_t { POSTYPE_EGOCENTRIC, POSTYPE_OFFSET, POSTYPE_ABSOLUTE }
 

defines different ways to interpret the position values

More...

Public Member Functions

 Waypoint ()
 constructor
 Waypoint (float xc, float yc, Waypoint::posType_t pos_rel, float ac, bool ang_rel, float spd, bool track, float turn)
 constructor
void apply (const Waypoint &next, float eps[])

Public Attributes

float x
 the displacement along x (millimeters), subject to posType
float y
 the displacement along y (millimeters), subject to posType
float angle
 either the angle relative to path to maintain, or the heading to maintain, see angleIsRelative
float arc
 angle of sector of arc to use to get to waypoint (0 means straight line)
float speed
 speed (in millimeters per second)
float turnSpeed
 maximum speed to correct heading (in radians per second)
posType_t posType
 lets us know how to interpret the x and y values
bool angleIsRelative
 if true, angle is interpreted as relative to the path; otherwise, interpreted as an absolute heading to maintain
bool trackPath
 if true, if off course, will attempt to get back on path at the ideal location; if false, simply heads directly for waypoint from whereever it is

Member Enumeration Documentation

defines different ways to interpret the position values

Enumerator:
POSTYPE_EGOCENTRIC 

x and y are relative to current heading - so x is forward and y is strafe

POSTYPE_OFFSET 

x and y are oriented with the coordinates, but relative to current location (delta x and delta y)

POSTYPE_ABSOLUTE 

x and y are a specific coordinate location

Definition at line 12 of file WaypointList.h.


Constructor & Destructor Documentation

Waypoint::Waypoint (  ) 

constructor

Definition at line 19 of file WaypointList.h.

Waypoint::Waypoint ( float  xc,
float  yc,
Waypoint::posType_t  pos_rel,
float  ac,
bool  ang_rel,
float  spd,
bool  track,
float  turn 
)

constructor

If next is a relative waypoint (offset or egocentric), it is added to this instance's location; otherwise if next is absolute, this is set to next

Definition at line 24 of file WaypointList.h.


Member Function Documentation

void Waypoint::apply ( const Waypoint next,
float  eps[] 
)

The Waypoint::angle field is used to store the headings

Definition at line 6 of file WaypointList.cc.

Referenced by WaypointList::calcAbsoluteCoords(), WaypointEngine::calcAbsoluteCoords(), and WaypointEngine::go().


Member Data Documentation

either the angle relative to path to maintain, or the heading to maintain, see angleIsRelative

Definition at line 34 of file WaypointList.h.

Referenced by apply(), WaypointEngine::computeIdeal(), WaypointEngine::go(), WaypointEngine::setTargetWaypoint(), and WaypointWalkControl::WaypointEditControl::WaypointEditControl().

if true, angle is interpreted as relative to the path; otherwise, interpreted as an absolute heading to maintain

Definition at line 39 of file WaypointList.h.

Referenced by apply(), WaypointEngine::computeIdeal(), and WaypointWalkControl::WaypointEditControl::WaypointEditControl().

if true, if off course, will attempt to get back on path at the ideal location; if false, simply heads directly for waypoint from whereever it is

Definition at line 40 of file WaypointList.h.

Referenced by WaypointEngine::computeIdeal(), and WaypointWalkControl::WaypointEditControl::WaypointEditControl().

maximum speed to correct heading (in radians per second)

Definition at line 37 of file WaypointList.h.

Referenced by WaypointEngine::computeNewVelocity(), and WaypointWalkControl::WaypointEditControl::WaypointEditControl().


The documentation for this struct was generated from the following files:

Tekkotsu v5.1CVS
Generated Mon May 9 04:59:18 2016 by Doxygen 1.6.3