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WaypointEngine< MAX_WAY >::Waypoint Struct Reference#include <WaypointEngine.h>
Detailed Descriptiontemplate<unsigned int MAX_WAY>
Holds information about each waypoint, see WaypointEngine for overview.
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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 |
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defines different ways to interpret the position values
Definition at line 63 of file WaypointEngine.h. |
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constructor
Definition at line 68 of file WaypointEngine.h. |
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constructor
Definition at line 71 of file WaypointEngine.h. |
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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 >::computeIdeal(), WaypointEngine< MAX_WAY >::go(), WaypointEngine< MAX_WAY >::setTargetWaypoint(), and WaypointEngine< MAX_WAY >::Waypoint::Waypoint(). |
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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 >::computeIdeal(), and WaypointEngine< MAX_WAY >::Waypoint::Waypoint(). |
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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 >::computeIdeal(), WaypointEngine< MAX_WAY >::fixArc(), and WaypointEngine< MAX_WAY >::Waypoint::Waypoint(). |
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lets us know how to interpret the x and y values
Definition at line 80 of file WaypointEngine.h. Referenced by WaypointEngine< MAX_WAY >::fixArc(), and WaypointEngine< MAX_WAY >::Waypoint::Waypoint(). |
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speed (in meters per second)
Definition at line 78 of file WaypointEngine.h. Referenced by WaypointEngine< MAX_WAY >::computeIdeal(), WaypointEngine< MAX_WAY >::computeNewVelocity(), and WaypointEngine< MAX_WAY >::Waypoint::Waypoint(). |
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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(), and WaypointEngine< MAX_WAY >::Waypoint::Waypoint(). |
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maximum speed to correct heading (in radians per second)
Definition at line 79 of file WaypointEngine.h. Referenced by WaypointEngine< MAX_WAY >::computeNewVelocity(), and WaypointEngine< MAX_WAY >::Waypoint::Waypoint(). |
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the displacement along x (meters), subject to posType
Definition at line 74 of file WaypointEngine.h. Referenced by WaypointEngine< MAX_WAY >::fixArc(), WaypointEngine< MAX_WAY >::go(), WaypointEngine< MAX_WAY >::setTargetWaypoint(), and WaypointEngine< MAX_WAY >::Waypoint::Waypoint(). |
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the displacement along y (meters), subject to posType
Definition at line 75 of file WaypointEngine.h. Referenced by WaypointEngine< MAX_WAY >::fixArc(), WaypointEngine< MAX_WAY >::go(), WaypointEngine< MAX_WAY >::setTargetWaypoint(), and WaypointEngine< MAX_WAY >::Waypoint::Waypoint(). |
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