TrajSolver< Dim > Class Template Reference

Trajectory generator. More...

#include <traj_solver.h>

Public Member Functions
	TrajSolver (Control::Control control, Control::Control yaw_control=Control::VEL, bool debug=false)
	Constructor. More...
void	setWaypoints (const vec_E< Waypoint< Dim >> &ws)
	Set Waypoint array directly, overwrite global vars.
void	setV (decimal_t v)
	Set velocity used for internal time allocation.
void	setDts (const std::vector< decimal_t > &dts)
void	setPath (const vec_Vecf< Dim > &path)
Trajectory< Dim >	solve (bool verbose=false)
	Solve for trajectory.
vec_Vecf< Dim >	getPath () const
	Get the path used for time allocation.
vec_E< Waypoint< Dim > >	getWaypoints () const
	Get the Waypoint array used to solve trajectory.
std::vector< decimal_t >	getDts () const
	Get the time allocation.

Private Member Functions
std::vector< decimal_t >	allocate_time (const vec_Vecf< Dim > &pts, decimal_t v)
	Internal time allocation from path and vel using L-inf.

Private Attributes
vec_Vecf< Dim >	path_
	Intermediate pos.
vec_E< Waypoint< Dim > >	waypoints_
	Intermediate waypoints.
std::vector< decimal_t >	dts_
	Time allocation.
decimal_t	v_ {1}
	Velocity used for internal time allocation.
Control::Control	control_
	Control constraints for start and goal.
Control::Control	yaw_control_
	Control constraints for start and goal yaw.
std::unique_ptr< PolySolver< Dim > >	poly_solver_
	Poly solver.
std::unique_ptr< PolySolver< 1 > >	yaw_solver_
	Poly solver for yaw only.

Detailed Description

template<int Dim>
class TrajSolver< Dim >

Trajectory generator.

Constructor & Destructor Documentation

TrajSolver()

template<int Dim>

TrajSolver< Dim >::TrajSolver ( Control::Control  control, Control::Control  yaw_control = Control::VEL, bool  debug = false  )

inline

Constructor.

Parameters

control	define the control flag for start and end
yaw_control	define the control flag for yaw start and end

Member Function Documentation

setDts()

template<int Dim>

void TrajSolver< Dim >::setDts ( const std::vector< decimal_t > &  dts )

inline

Set time allocation (optional), overwrite global dts, if not set, we will set a time allocation using L-inf

setPath()

template<int Dim>

void TrajSolver< Dim >::setPath ( const vec_Vecf< Dim > &  path )

inline

Set Waypoint array from path, overwrite global vars, in this mode, the intermediate Waypoint are with Control::VEL

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

• include/mpl_traj_solver/traj_solver.h