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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 121 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

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 123 of file WaypointEngine.h.


Constructor & Destructor Documentation

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

constructor

Definition at line 128 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 131 of file WaypointEngine.h.


Member Data Documentation

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

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

template<unsigned int MAX_WAY>
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().

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

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 141 of file WaypointEngine.h.

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

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 142 of file WaypointEngine.h.

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


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

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