Tekkotsu: WaypointEngine< MAX_WAY >::Waypoint Struct Reference

Definition at line 120 of file WaypointEngine.h.


Public Types
	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
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
Public Attributes
float	x
	the displacement along x (meters), subject to posType
float	y
	the displacement along y (meters), 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 meters 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

template<unsigned int MAX_WAY>

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 122 of file WaypointEngine.h.

Constructor & Destructor Documentation

template<unsigned int MAX_WAY>

WaypointEngine< MAX_WAY >::Waypoint::Waypoint ( ) [inline]

constructor

Definition at line 127 of file WaypointEngine.h.

template<unsigned int MAX_WAY>

WaypointEngine< MAX_WAY >::Waypoint::Waypoint	(	float	xc,
		float	yc,
		Waypoint::posType_t	pos_rel,
		float	ac,
		bool	ang_rel,
		float	spd,
		bool	track,
		float	turn
	)			`[inline]`