mpblocks::dubins Namespace Reference

Namespaces
	curves_cuda
	classes for solving dubins curves, optimal primitives for shortest path between two states of a dubins vehicle
	curves_eigen
	classes for solving dubins curves, optimal primitives for shortest path between two states of a dubins vehicle
	kd_tree

Classes
struct	a
	empty struct used to template "variant" of three arc primitives More...
struct	b
	empty struct used to template "variant" of three arc primitives More...
struct	DistanceAndId
	Encapsulates a solution distance along with the id of the path type, identifying the nature of the three arc segments in the path. More...
struct	IdToType
	converts a SolutionID and index 0,1,2 into a type More...
struct	IdToType< LRLa, 0 >
struct	IdToType< LRLa, 1 >
struct	IdToType< LRLa, 2 >
struct	IdToType< LRLb, 0 >
struct	IdToType< LRLb, 1 >
struct	IdToType< LRLb, 2 >
struct	IdToType< LSL, 0 >
struct	IdToType< LSL, 1 >
struct	IdToType< LSL, 2 >
struct	IdToType< LSR, 0 >
struct	IdToType< LSR, 1 >
struct	IdToType< LSR, 2 >
struct	IdToType< RLRa, 0 >
struct	IdToType< RLRa, 1 >
struct	IdToType< RLRa, 2 >
struct	IdToType< RLRb, 0 >
struct	IdToType< RLRb, 1 >
struct	IdToType< RLRb, 2 >
struct	IdToType< RSL, 0 >
struct	IdToType< RSL, 1 >
struct	IdToType< RSL, 2 >
struct	IdToType< RSR, 0 >
struct	IdToType< RSR, 1 >
struct	IdToType< RSR, 2 >
struct	L
	empty struct used to template "left turn" primitive More...
struct	Path
	Encodes a dubins path primitive, which is three connected arc segments. More...
struct	R
	empty struct used to template "right turn" primitive More...
struct	Result
	Encapsulates the solution distance along with a feasibility bit for a particular primitive solution. More...
struct	S
	empty struct used to template "straight" primitive More...
struct	TypeToId
	converts template paramters to SolutionID More...
struct	TypeToId< L, R, L, a >
struct	TypeToId< L, R, L, b >
struct	TypeToId< L, S, L, V >
struct	TypeToId< L, S, R, V >
struct	TypeToId< R, L, R, a >
struct	TypeToId< R, L, R, b >
struct	TypeToId< R, S, L, V >
struct	TypeToId< R, S, R, V >

Enumerations
enum	SolutionId {   LRLa, LRLb, RLRa, RLRb,   LSL, RSR, LSR, RSL,   INVALID }
	enumerates solution types More...

Functions
template<typename Format_t >
Path< Format_t >	bestOf (const Path< Format_t > &r0, const Path< Format_t > &r1, const Format_t r)
template<typename Format_t >
__host__ __device__ Format_t	ccwArc (Format_t a, Format_t b)
	returns the counter clockwise (left) distance from a to b More...
template<typename Format_t >
__host__ __device__ Format_t	clampRadian (Format_t a)
	wraps the input onto [-pi,pi] More...
template<typename Format_t >
__host__ __device__ Format_t	cwArc (Format_t a, Format_t b)
	returns the clockwise (right) distance from a to b More...
template<typename Format_t >
__host__ __device__ Format_t	leftArc (Format_t a, Format_t b)
	returns the counter clockwise (left) distance from a to b More...
template<typename Format_t >
__host__ __device__ Format_t	rightArc (Format_t a, Format_t b)
	returns the clockwise (right) distance from a to b More...

Enumeration Type Documentation

enum mpblocks::dubins::SolutionId

enumerates solution types

Enumerator
LRLa
LRLb
RLRa
RLRb
LSL
RSR
LSR
RSL
INVALID

Definition at line 49 of file types.h.

Function Documentation

template<typename Format_t >

Path<Format_t> mpblocks::dubins::bestOf	(	const Path< Format_t > &	r0,
		const Path< Format_t > &	r1,
		const Format_t	r
	)

Definition at line 96 of file path.h.

template<typename Format_t >

__host__ __device__ Format_t mpblocks::dubins::ccwArc	(	Format_t	a,
		Format_t	b
	)

returns the counter clockwise (left) distance from a to b

Given two arc positions (in radians), return the arc distance from a to in the counter-clockwise direction.

Definition at line 51 of file funcs.hpp.

template<typename Format_t >

__host__ __device__ Format_t mpblocks::dubins::clampRadian

(

Format_t

a

)

wraps the input onto [-pi,pi]

Definition at line 37 of file funcs.hpp.

template<typename Format_t >

__host__ __device__ Format_t mpblocks::dubins::cwArc	(	Format_t	a,
		Format_t	b
	)

returns the clockwise (right) distance from a to b

Given two arc positions (in radians), return the arc distance from a to in the clockwise direction.

Definition at line 72 of file funcs.hpp.

template<typename Format_t >

__host__ __device__ Format_t mpblocks::dubins::leftArc	(	Format_t	a,
		Format_t	b
	)

returns the counter clockwise (left) distance from a to b

Given two arc positions (in radians), return the arc distance from a to in the counter-clockwise direction.

Definition at line 64 of file funcs.hpp.

template<typename Format_t >

__host__ __device__ Format_t mpblocks::dubins::rightArc	(	Format_t	a,
		Format_t	b
	)

returns the clockwise (right) distance from a to b

Given two arc positions (in radians), return the arc distance from a to in the clockwise direction.

Definition at line 85 of file funcs.hpp.