mpblocks::dubins::Path< Format_t > Struct Template Reference

Encodes a dubins path primitive, which is three connected arc segments. More...

#include <mpblocks/dubins/curves/path.h>

Public Types
typedef Eigen::Matrix < Format_t, 3, 1 >	Vector3d

Public Member Functions
Format_t	dist (const Format_t r) const
	compute distance based on id More...
	operator bool () const
	because I'm lazy More...
Path< Format_t > &	operator= (const Vector3d &s_in)
	fill and set to feasible, returns itself so that we can do the return in one line More...
Path< Format_t > &	operator= (const Path< Format_t > &other)
	Path (const Path< Format_t > &other)
	Path ()
	Path (int id)
	the default constructor marks it as infeasible, so we can return it immediately More...
	Path (int id, const Vector3d &s)
	we only use this constructor when it's feasible More...

Public Attributes
bool	f
	is feasible More...
int	id
	identifies the type of path More...
Vector3d	s
	lengths of each segment, how it's interpreted depends on id More...

Detailed Description

template<typename Format_t>
struct mpblocks::dubins::Path< Format_t >

Encodes a dubins path primitive, which is three connected arc segments.

Note: one of the segments may be a line segment (an arc with infinite radius). In this case the value of 's' for the line segment is the length of the segment, not an arc-length.

Definition at line 42 of file path.h.

Member Typedef Documentation

template<typename Format_t>

typedef Eigen::Matrix<Format_t, 3, 1> mpblocks::dubins::Path< Format_t >::Vector3d

Definition at line 43 of file path.h.

Constructor & Destructor Documentation

template<typename Format_t>

mpblocks::dubins::Path< Format_t >::Path ( const Path< Format_t > &  other )

inline

Definition at line 50 of file path.h.

template<typename Format_t>

mpblocks::dubins::Path< Format_t >::Path ( )

inline

Definition at line 56 of file path.h.

template<typename Format_t>

mpblocks::dubins::Path< Format_t >::Path ( int  id )

inline

the default constructor marks it as infeasible, so we can return it immediately

Definition at line 61 of file path.h.

template<typename Format_t>

mpblocks::dubins::Path< Format_t >::Path ( int  id, const Vector3d &  s  )

inline

we only use this constructor when it's feasible

Definition at line 65 of file path.h.

Member Function Documentation

template<typename Format_t>

Format_t mpblocks::dubins::Path< Format_t >::dist ( const Format_t  r ) const

inline

compute distance based on id

Definition at line 84 of file path.h.

template<typename Format_t>

mpblocks::dubins::Path< Format_t >::operator bool ( ) const

inline

because I'm lazy

Definition at line 92 of file path.h.

template<typename Format_t>

Path<Format_t>& mpblocks::dubins::Path< Format_t >::operator= ( const Vector3d &  s_in )

inline

fill and set to feasible, returns itself so that we can do the return in one line

Definition at line 70 of file path.h.

template<typename Format_t>

Path<Format_t>& mpblocks::dubins::Path< Format_t >::operator= ( const Path< Format_t > &  other )

inline

Definition at line 76 of file path.h.

Member Data Documentation

template<typename Format_t>

bool mpblocks::dubins::Path< Format_t >::f

is feasible

Definition at line 46 of file path.h.

template<typename Format_t>

int mpblocks::dubins::Path< Format_t >::id

identifies the type of path

Definition at line 45 of file path.h.

template<typename Format_t>

Vector3d mpblocks::dubins::Path< Format_t >::s

lengths of each segment, how it's interpreted depends on id

Definition at line 47 of file path.h.

---

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

• include/mpblocks/dubins/curves/path.h