bitrl::utils::trajectory::WaypointTrajectory< LinkType > Class Template Reference

A container that represents a collection of way points linked together via a LinkType The LinkType defines how smooth the trajectory will look like. More...

#include <waypoint_trajectory.h>

Public Types
typedef LinkType	link_type
typedef link_type::w_point_type	w_point_type
typedef std::vector< link_type >::iterator	link_iterator
	point iteration
typedef std::vector< link_type >::const_iterator	const_link_iterator

Public Member Functions
	WaypointTrajectory ()
	Constructor.
	WaypointTrajectory (uint_t n)
	Constructor.
std::pair< real_t, link_type >	distance (const w_point_type &p) const
	Computes the minimum distance of the given point from the trajectory.
uint_t	size () const
	How many waypoints the pah has.
void	reserve (uint_t n)
	Reserve space for waypoints.
void	clear ()
	clear the memory allocated for points and edges
bool	empty () const
	Returns true if the trajectory is empty.
void	push (const link_type &link)
	Push a new link.
link_type &	operator[] (uint_t i)
	Returns a read/write reference of the i-th link.
const link_type &	operator[] (uint_t i) const
	Returns a read reference of the i-th link.
void	resize (uint_t n)
	Resize the underlying links.
link_iterator	begin ()
	Raw node iteration.
link_iterator	end ()
const_link_iterator	begin () const
	Raw node iteration.
const_link_iterator	end () const

Detailed Description

template<typename LinkType>
class bitrl::utils::trajectory::WaypointTrajectory< LinkType >

A container that represents a collection of way points linked together via a LinkType The LinkType defines how smooth the trajectory will look like.

Member Typedef Documentation

const_link_iterator

template<typename LinkType >

typedef std::vector<link_type>::const_iterator bitrl::utils::trajectory::WaypointTrajectory< LinkType >::const_link_iterator

link_iterator

template<typename LinkType >

typedef std::vector<link_type>::iterator bitrl::utils::trajectory::WaypointTrajectory< LinkType >::link_iterator

point iteration

link_type

template<typename LinkType >

typedef LinkType bitrl::utils::trajectory::WaypointTrajectory< LinkType >::link_type

w_point_type

template<typename LinkType >

typedef link_type::w_point_type bitrl::utils::trajectory::WaypointTrajectory< LinkType >::w_point_type

Constructor & Destructor Documentation

WaypointTrajectory() [1/2]

template<typename LinkType >

bitrl::utils::trajectory::WaypointTrajectory< LinkType >::WaypointTrajectory

(

)

Constructor.

WaypointTrajectory() [2/2]

template<typename LinkType >

bitrl::utils::trajectory::WaypointTrajectory< LinkType >::WaypointTrajectory ( uint_t  n )

explicit

Constructor.

Member Function Documentation

begin() [1/2]

template<typename LinkType >

link_iterator bitrl::utils::trajectory::WaypointTrajectory< LinkType >::begin ( )

inline

Raw node iteration.

begin() [2/2]

template<typename LinkType >

const_link_iterator bitrl::utils::trajectory::WaypointTrajectory< LinkType >::begin ( ) const

inline

Raw node iteration.

clear()

template<typename LinkType >

void bitrl::utils::trajectory::WaypointTrajectory< LinkType >::clear ( )

inline

clear the memory allocated for points and edges

distance()

template<typename LinkType >

std::pair< real_t, typename WaypointTrajectory< LinkType >::link_type > bitrl::utils::trajectory::WaypointTrajectory< LinkType >::distance

(

const w_point_type &

p

)

const

Computes the minimum distance of the given point from the trajectory.

empty()

template<typename LinkType >

bool bitrl::utils::trajectory::WaypointTrajectory< LinkType >::empty ( ) const

inline

Returns true if the trajectory is empty.

end() [1/2]

template<typename LinkType >

link_iterator bitrl::utils::trajectory::WaypointTrajectory< LinkType >::end ( )

inline

end() [2/2]

template<typename LinkType >

const_link_iterator bitrl::utils::trajectory::WaypointTrajectory< LinkType >::end ( ) const

inline

operator[]() [1/2]

template<typename LinkType >

link_type & bitrl::utils::trajectory::WaypointTrajectory< LinkType >::operator[] ( uint_t  i )

inline

Returns a read/write reference of the i-th link.

operator[]() [2/2]

template<typename LinkType >

const link_type & bitrl::utils::trajectory::WaypointTrajectory< LinkType >::operator[] ( uint_t  i ) const

inline

Returns a read reference of the i-th link.

push()

template<typename LinkType >

void bitrl::utils::trajectory::WaypointTrajectory< LinkType >::push ( const link_type &  link )

inline

Push a new link.

reserve()

template<typename LinkType >

void bitrl::utils::trajectory::WaypointTrajectory< LinkType >::reserve ( uint_t  n )

inline

Reserve space for waypoints.

resize()

template<typename LinkType >

void bitrl::utils::trajectory::WaypointTrajectory< LinkType >::resize ( uint_t  n )

inline

Resize the underlying links.

size()

template<typename LinkType >

uint_t bitrl::utils::trajectory::WaypointTrajectory< LinkType >::size ( ) const

inline

How many waypoints the pah has.

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

• libs/bitrl/src/bitrl/utils/trajectory/waypoint_trajectory.h