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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 |
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().
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