mpblocks::dubins::curves_eigen Namespace Reference

classes for solving dubins curves, optimal primitives for shortest path between two states of a dubins vehicle More...

Namespaces
	hyper

Classes
struct	DrawOpts
	encapsulates patterns for drawing More...
struct	GenericArtist
	interface for different solutions More...
struct	Integrate
struct	IntegrateIncrementally
struct	Opposite
	provides opposite arc type for given template parameter More...
struct	Opposite< L >
struct	Opposite< R >
struct	Query
	encapsulates two dubins states and a raidus More...
struct	Solver
	interface for different solutions, this is specialized for each Id in the SolutionId enum More...
struct	Solver< LRLa, Scalar >
	Solves a left turn, plus a right turn, plus a left turn. More...
struct	Solver< LRLb, Scalar >
	Solves left turn followed by a right turn followed by a left turn. More...
struct	Solver< LSL, Scalar >
	solves a left turn, plus a straight segment, plus a left turn More...
struct	Solver< LSR, Scalar >
	solves a left turn, plus a straight segment, plus a right turn More...
struct	Solver< RLRa, Scalar >
	solves a right turn, plus a left turn, plus a right turn More...
struct	Solver< RLRb, Scalar >
	solves a right turn, plus a left turn, plus a right turn More...
struct	Solver< RSL, Scalar >
	interface for different solutions More...
struct	Solver< RSR, Scalar >
	solves a right turn, plus a straight segment, plus a right turn More...
struct	SolverIterator
struct	SolverIterator< INVALID, Format_t >
struct	TrigWrap
	provides static functions which call the appropriate trig function based in the template parameter specifying the path Primitive; More...
struct	TrigWrap< Format_t, L >
struct	TrigWrap< Format_t, R >

Functions
template<typename Scalar >
Scalar	ccwAngle_inv (const Scalar alpha)
template<typename Scalar >
Scalar	ccwAngleOf (const Scalar q_theta)
	return the angle of the vector from the center of the counter clockwise (left) circle coincident to q... to q More...
template<typename Scalar >
Scalar	ccwAngleOf (const Eigen::Matrix< Scalar, 3, 1 > &q)
	return the angle of the vector from the center of the counter clockwise (left) circle coincident to q... to q More...
template<typename Scalar >
Eigen::Matrix< Scalar, 2, 1 >	ccwCenter (const Eigen::Matrix< Scalar, 3, 1 > &q, Scalar r)
	return the center of a counter clockwise (left) circle coincident to q with radius r More...
template<typename Scalar >
bool	coincidentCenterA (const Eigen::Matrix< Scalar, 2, 1 > &c0, const Eigen::Matrix< Scalar, 2, 1 > &c1, Eigen::Matrix< Scalar, 2, 1 > &c2, Scalar r, Scalar &a)
	returns the center of a circle which is coincident to the two circles whose centers are given, where all three circles have the same radius More...
template<typename Scalar >
bool	coincidentCenterB (const Eigen::Matrix< Scalar, 2, 1 > &c0, const Eigen::Matrix< Scalar, 2, 1 > &c1, Eigen::Matrix< Scalar, 2, 1 > &c2, Scalar r, Scalar &a)
	returns the center of a circle which is coincident to the two circles whose centers are given, where all three circles have the same radius More...
template<typename Scalar >
Scalar	cwAngle_inv (const Scalar alpha)
template<typename Scalar >
Scalar	cwAngleOf (const Scalar q_theta)
	return the angle of the vector from the center of the clockwise (right) circle coincident to q... to q More...
template<typename Scalar >
Scalar	cwAngleOf (const Eigen::Matrix< Scalar, 3, 1 > &q)
	return the angle of the vector from the center of the clockwise (right) circle coincident to q... to q More...
template<typename Scalar >
Eigen::Matrix< Scalar, 2, 1 >	cwCenter (const Eigen::Matrix< Scalar, 3, 1 > &q, Scalar r)
	return the center of a clockwise (right) circle coincident to q with radius r More...
template<typename Format_t >
void	draw (const Eigen::Matrix< Format_t, 3, 1 > &q0, const Format_t r, const Path< Format_t > &soln, const DrawOpts &opts)
template<typename Scalar >
Scalar	leftAngle_inv (const Scalar alpha)
template<typename Scalar >
Scalar	leftAngleOf (const Scalar q_theta)
	return the angle of the vector from the center of the counter clockwise (left) circle coincident to q... to q More...
template<typename Scalar >
Scalar	leftAngleOf (const Eigen::Matrix< Scalar, 3, 1 > &q)
	return the angle of the vector from the center of the counter clockwise (left) circle coincident to q... to q More...
template<typename Scalar >
Eigen::Matrix< Scalar, 2, 1 >	leftCenter (const Eigen::Matrix< Scalar, 3, 1 > &q, Scalar r)
	return the center of a counter clockwise (left) circle coincident to q with radius r More...
template<typename Scalar >
Scalar	rightAngle_inv (const Scalar alpha)
template<typename Scalar >
Scalar	rightAngleOf (const Scalar q_theta)
	return the angle of the vector from the center of the clockwise (right) circle coincident to q... to q More...
template<typename Scalar >
Scalar	rightAngleOf (const Eigen::Matrix< Scalar, 3, 1 > &q)
	return the angle of the vector from the center of the clockwise (right) circle coincident to q... to q More...
template<typename Scalar >
Eigen::Matrix< Scalar, 2, 1 >	rightCenter (const Eigen::Matrix< Scalar, 3, 1 > &q, Scalar r)
	return the center of a clockwise (right) circle coincident to q with radius r More...
template<typename Format_t >
Path< Format_t >	solve (const Eigen::Matrix< Format_t, 3, 1 > &q0, const Eigen::Matrix< Format_t, 3, 1 > &q1, const Format_t r)
template<typename Format_t >
Path< Format_t >	solve_specific (int solver, const Eigen::Matrix< Format_t, 3, 1 > &q0, const Eigen::Matrix< Format_t, 3, 1 > &q1, const Format_t r)

Detailed Description

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

Function Documentation

template<typename Scalar >

Scalar mpblocks::dubins::curves_eigen::ccwAngle_inv

(

const Scalar

alpha

)

Definition at line 92 of file funcs.hpp.

template<typename Scalar >

Scalar mpblocks::dubins::curves_eigen::ccwAngleOf

(

const Scalar

q_theta

)

return the angle of the vector from the center of the counter clockwise (left) circle coincident to q... to q

Definition at line 82 of file funcs.hpp.

template<typename Scalar >

Scalar mpblocks::dubins::curves_eigen::ccwAngleOf

(

const Eigen::Matrix< Scalar, 3, 1 > &

q

)

return the angle of the vector from the center of the counter clockwise (left) circle coincident to q... to q

Definition at line 122 of file funcs.hpp.

template<typename Scalar >

Eigen::Matrix< Scalar, 2, 1 > mpblocks::dubins::curves_eigen::ccwCenter	(	const Eigen::Matrix< Scalar, 3, 1 > &	q,
		Scalar	r
	)

return the center of a counter clockwise (left) circle coincident to q with radius r

Definition at line 40 of file funcs.hpp.

template<typename Scalar >

bool mpblocks::dubins::curves_eigen::coincidentCenterA	(	const Eigen::Matrix< Scalar, 2, 1 > &	c0,
		const Eigen::Matrix< Scalar, 2, 1 > &	c1,
		Eigen::Matrix< Scalar, 2, 1 > &	c2,
		Scalar	r,
		Scalar &	a
	)

returns the center of a circle which is coincident to the two circles whose centers are given, where all three circles have the same radius

Definition at line 144 of file funcs.hpp.

template<typename Scalar >

bool mpblocks::dubins::curves_eigen::coincidentCenterB	(	const Eigen::Matrix< Scalar, 2, 1 > &	c0,
		const Eigen::Matrix< Scalar, 2, 1 > &	c1,
		Eigen::Matrix< Scalar, 2, 1 > &	c2,
		Scalar	r,
		Scalar &	a
	)

returns the center of a circle which is coincident to the two circles whose centers are given, where all three circles have the same radius

Definition at line 173 of file funcs.hpp.

template<typename Scalar >

Scalar mpblocks::dubins::curves_eigen::cwAngle_inv

(

const Scalar

alpha

)

Definition at line 112 of file funcs.hpp.

template<typename Scalar >

Scalar mpblocks::dubins::curves_eigen::cwAngleOf

(

const Scalar

q_theta

)

return the angle of the vector from the center of the clockwise (right) circle coincident to q... to q

Definition at line 102 of file funcs.hpp.

template<typename Scalar >

Scalar mpblocks::dubins::curves_eigen::cwAngleOf

(

const Eigen::Matrix< Scalar, 3, 1 > &

q

)

return the angle of the vector from the center of the clockwise (right) circle coincident to q... to q

Definition at line 132 of file funcs.hpp.

template<typename Scalar >

Eigen::Matrix< Scalar, 2, 1 > mpblocks::dubins::curves_eigen::cwCenter	(	const Eigen::Matrix< Scalar, 3, 1 > &	q,
		Scalar	r
	)

return the center of a clockwise (right) circle coincident to q with radius r

Definition at line 62 of file funcs.hpp.

template<typename Format_t >

void mpblocks::dubins::curves_eigen::draw	(	const Eigen::Matrix< Format_t, 3, 1 > &	q0,
		const Format_t	r,
		const Path< Format_t > &	soln,
		const DrawOpts &	opts
	)

Definition at line 396 of file generic_artist.hpp.

template<typename Scalar >

Scalar mpblocks::dubins::curves_eigen::leftAngle_inv

(

const Scalar

alpha

)

Definition at line 97 of file funcs.hpp.

template<typename Scalar >

Scalar mpblocks::dubins::curves_eigen::leftAngleOf

(

const Scalar

q_theta

)

return the angle of the vector from the center of the counter clockwise (left) circle coincident to q... to q

Definition at line 87 of file funcs.hpp.

template<typename Scalar >

Scalar mpblocks::dubins::curves_eigen::leftAngleOf

(

const Eigen::Matrix< Scalar, 3, 1 > &

q

)

return the angle of the vector from the center of the counter clockwise (left) circle coincident to q... to q

Definition at line 127 of file funcs.hpp.

template<typename Scalar >

Eigen::Matrix< Scalar, 2, 1 > mpblocks::dubins::curves_eigen::leftCenter	(	const Eigen::Matrix< Scalar, 3, 1 > &	q,
		Scalar	r
	)

return the center of a counter clockwise (left) circle coincident to q with radius r

Definition at line 54 of file funcs.hpp.

template<typename Scalar >

Scalar mpblocks::dubins::curves_eigen::rightAngle_inv

(

const Scalar

alpha

)

Definition at line 117 of file funcs.hpp.

template<typename Scalar >

Scalar mpblocks::dubins::curves_eigen::rightAngleOf

(

const Scalar

q_theta

)

return the angle of the vector from the center of the clockwise (right) circle coincident to q... to q

Definition at line 107 of file funcs.hpp.

template<typename Scalar >

Scalar mpblocks::dubins::curves_eigen::rightAngleOf

(

const Eigen::Matrix< Scalar, 3, 1 > &

q

)

return the angle of the vector from the center of the clockwise (right) circle coincident to q... to q

Definition at line 137 of file funcs.hpp.

template<typename Scalar >

Eigen::Matrix< Scalar, 2, 1 > mpblocks::dubins::curves_eigen::rightCenter	(	const Eigen::Matrix< Scalar, 3, 1 > &	q,
		Scalar	r
	)

return the center of a clockwise (right) circle coincident to q with radius r

Definition at line 76 of file funcs.hpp.

template<typename Format_t >

Path< Format_t > mpblocks::dubins::curves_eigen::solve	(	const Eigen::Matrix< Format_t, 3, 1 > &	q0,
		const Eigen::Matrix< Format_t, 3, 1 > &	q1,
		const Format_t	r
	)

Definition at line 76 of file solver.hpp.

template<typename Format_t >

Path< Format_t > mpblocks::dubins::curves_eigen::solve_specific	(	int	solver,
		const Eigen::Matrix< Format_t, 3, 1 > &	q0,
		const Eigen::Matrix< Format_t, 3, 1 > &	q1,
		const Format_t	r
	)

Definition at line 83 of file solver.hpp.