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WaypointEngine< MAX_WAY >::Waypoint Struct Reference

#include <WaypointEngine.h>

List of all members.


Detailed Description

template<unsigned int MAX_WAY>
struct WaypointEngine< MAX_WAY >::Waypoint

Holds information about each waypoint, see WaypointEngine for overview.

Definition at line 61 of file WaypointEngine.h.

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


Member Enumeration Documentation

template<unsigned int MAX_WAY>
enum WaypointEngine::Waypoint::posType_t
 

defines different ways to interpret the position values

Enumeration 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 63 of file WaypointEngine.h.


Constructor & Destructor Documentation

template<unsigned int MAX_WAY>
WaypointEngine< MAX_WAY >::Waypoint::Waypoint  )  [inline]
 

constructor

Definition at line 68 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]
 

constructor

Definition at line 71 of file WaypointEngine.h.


Member Data Documentation

template<unsigned int MAX_WAY>
float WaypointEngine< MAX_WAY >::Waypoint::angle
 

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

Definition at line 76 of file WaypointEngine.h.

Referenced by WaypointEngine< MAX_WAY >::applyWaypoint(), WaypointEngine< MAX_WAY >::computeIdeal(), WaypointEngine< MAX_WAY >::go(), and WaypointEngine< MAX_WAY >::setTargetWaypoint().

template<unsigned int MAX_WAY>
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 81 of file WaypointEngine.h.

Referenced by WaypointEngine< MAX_WAY >::applyWaypoint(), and WaypointEngine< MAX_WAY >::computeIdeal().

template<unsigned int MAX_WAY>
float WaypointEngine< MAX_WAY >::Waypoint::arc
 

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

Definition at line 77 of file WaypointEngine.h.

Referenced by WaypointEngine< MAX_WAY >::applyWaypoint(), WaypointEngine< MAX_WAY >::computeIdeal(), and WaypointEngine< MAX_WAY >::fixArc().

template<unsigned int MAX_WAY>
posType_t WaypointEngine< MAX_WAY >::Waypoint::posType
 

lets us know how to interpret the x and y values

Definition at line 80 of file WaypointEngine.h.

Referenced by WaypointEngine< MAX_WAY >::applyWaypoint(), and WaypointEngine< MAX_WAY >::fixArc().

template<unsigned int MAX_WAY>
float WaypointEngine< MAX_WAY >::Waypoint::speed
 

speed (in meters per second)

Definition at line 78 of file WaypointEngine.h.

Referenced by WaypointEngine< MAX_WAY >::computeIdeal(), and WaypointEngine< MAX_WAY >::computeNewVelocity().

template<unsigned int MAX_WAY>
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 82 of file WaypointEngine.h.

Referenced by WaypointEngine< MAX_WAY >::computeIdeal().

template<unsigned int MAX_WAY>
float WaypointEngine< MAX_WAY >::Waypoint::turnSpeed
 

maximum speed to correct heading (in radians per second)

Definition at line 79 of file WaypointEngine.h.

Referenced by WaypointEngine< MAX_WAY >::computeNewVelocity().

template<unsigned int MAX_WAY>
float WaypointEngine< MAX_WAY >::Waypoint::x
 

the displacement along x (meters), subject to posType

Definition at line 74 of file WaypointEngine.h.

Referenced by WaypointEngine< MAX_WAY >::applyWaypoint(), WaypointEngine< MAX_WAY >::fixArc(), WaypointEngine< MAX_WAY >::go(), and WaypointEngine< MAX_WAY >::setTargetWaypoint().

template<unsigned int MAX_WAY>
float WaypointEngine< MAX_WAY >::Waypoint::y
 

the displacement along y (meters), subject to posType

Definition at line 75 of file WaypointEngine.h.

Referenced by WaypointEngine< MAX_WAY >::applyWaypoint(), WaypointEngine< MAX_WAY >::fixArc(), WaypointEngine< MAX_WAY >::go(), and WaypointEngine< MAX_WAY >::setTargetWaypoint().


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

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