Waypoint Struct Reference

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

#include <WaypointList.h>

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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

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Member Enumeration Documentation

enum Waypoint::posType_t

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.

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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.

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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().

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Member Data Documentation

float Waypoint::angle

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().

bool Waypoint::angleIsRelative

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().

float Waypoint::arc

angle of sector of arc to use to get to waypoint (0 means straight line)

Definition at line 35 of file WaypointList.h.

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

posType_t Waypoint::posType

lets us know how to interpret the x and y values

Definition at line 38 of file WaypointList.h.

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

float Waypoint::speed

speed (in millimeters per second)

Definition at line 36 of file WaypointList.h.

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

bool 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 40 of file WaypointList.h.

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

float Waypoint::turnSpeed

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().

float Waypoint::x

the displacement along x (millimeters), subject to posType

Definition at line 32 of file WaypointList.h.

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

float Waypoint::y

the displacement along y (millimeters), subject to posType

Definition at line 33 of file WaypointList.h.

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

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

• WaypointList.h
• WaypointList.cc