| Tekkotsu Homepage | Demos | Overview | Downloads | Dev. Resources | Reference | Credits |
WaypointEngine< MAX_WAY >::Waypoint Struct Reference#include <WaypointEngine.h>
Detailed Descriptiontemplate<unsigned int MAX_WAY>
Holds information about each waypoint, see WaypointEngine for overview.
| ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
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 | |
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 | |
| enum WaypointEngine::Waypoint::posType_t |
defines different ways to interpret the position values
| 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 123 of file WaypointEngine.h.
| WaypointEngine< MAX_WAY >::Waypoint::Waypoint | ( | ) | [inline] |
| 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] |
| float WaypointEngine< MAX_WAY >::Waypoint::x |
the displacement along x (meters), subject to posType
Definition at line 134 of file WaypointEngine.h.
Referenced by WaypointEngine< MAX_WAY >::applyWaypoint(), WaypointEngine< MAX_WAY >::fixArc(), WaypointEngine< MAX_WAY >::go(), WaypointEngine< MAX_WAY >::setTargetWaypoint(), and WaypointWalkControl::WaypointEditControl::WaypointEditControl().
| float WaypointEngine< MAX_WAY >::Waypoint::y |
the displacement along y (meters), subject to posType
Definition at line 135 of file WaypointEngine.h.
Referenced by WaypointEngine< MAX_WAY >::applyWaypoint(), WaypointEngine< MAX_WAY >::fixArc(), WaypointEngine< MAX_WAY >::go(), WaypointEngine< MAX_WAY >::setTargetWaypoint(), and WaypointWalkControl::WaypointEditControl::WaypointEditControl().
| float WaypointEngine< MAX_WAY >::Waypoint::angle |
either the angle relative to path to maintain, or the heading to maintain, see angleIsRelative
Definition at line 136 of file WaypointEngine.h.
Referenced by WaypointEngine< MAX_WAY >::applyWaypoint(), WaypointEngine< MAX_WAY >::computeIdeal(), WaypointEngine< MAX_WAY >::go(), WaypointEngine< MAX_WAY >::setTargetWaypoint(), and WaypointWalkControl::WaypointEditControl::WaypointEditControl().
| float WaypointEngine< MAX_WAY >::Waypoint::arc |
angle of sector of arc to use to get to waypoint (0 means straight line)
Definition at line 137 of file WaypointEngine.h.
Referenced by WaypointEngine< MAX_WAY >::applyWaypoint(), WaypointEngine< MAX_WAY >::computeIdeal(), WaypointEngine< MAX_WAY >::fixArc(), and WaypointWalkControl::WaypointEditControl::WaypointEditControl().
| float WaypointEngine< MAX_WAY >::Waypoint::speed |
speed (in meters per second)
Definition at line 138 of file WaypointEngine.h.
Referenced by WaypointEngine< MAX_WAY >::computeIdeal(), WaypointEngine< MAX_WAY >::computeNewVelocity(), and WaypointWalkControl::WaypointEditControl::WaypointEditControl().
| float WaypointEngine< MAX_WAY >::Waypoint::turnSpeed |
maximum speed to correct heading (in radians per second)
Definition at line 139 of file WaypointEngine.h.
Referenced by WaypointEngine< MAX_WAY >::computeNewVelocity(), and WaypointWalkControl::WaypointEditControl::WaypointEditControl().
| posType_t WaypointEngine< MAX_WAY >::Waypoint::posType |
lets us know how to interpret the x and y values
Definition at line 140 of file WaypointEngine.h.
Referenced by WaypointEngine< MAX_WAY >::applyWaypoint(), WaypointEngine< MAX_WAY >::fixArc(), and WaypointWalkControl::WaypointEditControl::WaypointEditControl().
| bool WaypointEngine< MAX_WAY >::Waypoint::angleIsRelative |
if true, angle is interpreted as relative to the path; otherwise, interpreted as an absolute heading to maintain
Definition at line 141 of file WaypointEngine.h.
Referenced by WaypointEngine< MAX_WAY >::applyWaypoint(), WaypointEngine< MAX_WAY >::computeIdeal(), and WaypointWalkControl::WaypointEditControl::WaypointEditControl().
| bool WaypointEngine< MAX_WAY >::Waypoint::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
Definition at line 142 of file WaypointEngine.h.
Referenced by WaypointEngine< MAX_WAY >::computeIdeal(), and WaypointWalkControl::WaypointEditControl::WaypointEditControl().
|
Tekkotsu v4.0 |
Generated Thu Nov 22 00:58:48 2007 by Doxygen 1.5.4
|