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Public Types | Static Public Member Functions | Static Public Attributes | List of all members
mpblocks::dubins::curves_eigen::hyper::two_theta_y::Solver< ySpec, tSpec, LSR, Format_t > Struct Template Reference

specialization for a single theta constraint (min or max) More...

#include <mpblocks/dubins/curves_eigen/hyper/two_theta_y/LSR.hpp>

Public Types

typedef HyperRect< Format_t > Hyper_t
 
typedef Path< Format_t > Result_t
 
typedef Eigen::Matrix
< Format_t, 2, 1 > 		Vector2d_t
 
typedef Eigen::Matrix
< Format_t, 3, 1 > 		Vector3d_t
 

Static Public Member Functions

static Result_t solve (const Vector3d_t &q0, const Hyper_t &h, const Format_t r)
 

Static Public Attributes

static const unsigned int SPEC = SpecPack<OFF, ySpec, tSpec>::Result
 

Detailed Description

template<int ySpec, int tSpec, typename Format_t>
struct mpblocks::dubins::curves_eigen::hyper::two_theta_y::Solver< ySpec, tSpec, LSR, Format_t >

specialization for a single theta constraint (min or max)

Definition at line 37 of file LSR.hpp.

Member Typedef Documentation

template<int ySpec, int tSpec, typename Format_t >
typedef HyperRect<Format_t> mpblocks::dubins::curves_eigen::hyper::two_theta_y::Solver< ySpec, tSpec, LSR, Format_t >::Hyper_t

Definition at line 41 of file LSR.hpp.

template<int ySpec, int tSpec, typename Format_t >
typedef Path<Format_t> mpblocks::dubins::curves_eigen::hyper::two_theta_y::Solver< ySpec, tSpec, LSR, Format_t >::Result_t

Definition at line 40 of file LSR.hpp.

template<int ySpec, int tSpec, typename Format_t >
typedef Eigen::Matrix<Format_t, 2, 1> mpblocks::dubins::curves_eigen::hyper::two_theta_y::Solver< ySpec, tSpec, LSR, Format_t >::Vector2d_t

Definition at line 39 of file LSR.hpp.

template<int ySpec, int tSpec, typename Format_t >
typedef Eigen::Matrix<Format_t, 3, 1> mpblocks::dubins::curves_eigen::hyper::two_theta_y::Solver< ySpec, tSpec, LSR, Format_t >::Vector3d_t

Definition at line 38 of file LSR.hpp.

Member Function Documentation

template<int ySpec, int tSpec, typename Format_t >
static Result_t mpblocks::dubins::curves_eigen::hyper::two_theta_y::Solver< ySpec, tSpec, LSR, Format_t >::solve ( const Vector3d_t &  q0,
const Hyper_t &  h,
const Format_t  r 
)
inlinestatic

intermediates

the solution minimizing the straight section

the solution minimizing L0 we have a restriction here b/c minimizing L0 means zero initial arc length, if we're pointed in the wrong directino, then there is no zero-arc length solution

Definition at line 45 of file LSR.hpp.

Member Data Documentation

template<int ySpec, int tSpec, typename Format_t >
const unsigned int mpblocks::dubins::curves_eigen::hyper::two_theta_y::Solver< ySpec, tSpec, LSR, Format_t >::SPEC = SpecPack<OFF, ySpec, tSpec>::Result
static

Definition at line 43 of file LSR.hpp.

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