primitive.h File Reference

Primitive classes. More...

#include <mpl_basis/data_type.h>
#include <mpl_basis/waypoint.h>
#include "math.h"

Go to the source code of this file.

Classes
class	Primitive1D
	Primitive1D class. More...
class	Primitive< Dim >
	Primitive class. More...

Typedefs
typedef Primitive< 2 >	Primitive2D
	Primitive for 2D.
typedef Primitive< 3 >	Primitive3D
	Primitive for 3D.

Functions
template<int Dim>
bool	validate_primitive (const Primitive< Dim > &pr, decimal_t mv=0, decimal_t ma=0, decimal_t mj=0, decimal_t myaw=0)
	Check if the max velocity magnitude is within the threshold. More...
template<int Dim>
bool	validate_xxx (const Primitive< Dim > &pr, decimal_t max, Control::Control xxx)
	Check if the max velocity magnitude is within the threshold. More...
template<int Dim>
bool	validate_yaw (const Primitive< Dim > &pr, decimal_t my)
	Check if the successor goes outside of the fov. More...
template<int Dim>
void	print (const Primitive< Dim > &p)
	Print all coefficients in primitive p.
template<int Dim>
void	print_max (const Primitive< Dim > &p)
	Print max dynamic infomation in primitive p.

Detailed Description

Primitive classes.

Function Documentation

validate_primitive()

template<int Dim>

bool validate_primitive	(	const Primitive< Dim > &	pr,
		decimal_t	mv = 0,
		decimal_t	ma = 0,
		decimal_t	mj = 0,
		decimal_t	myaw = 0
	)

Check if the max velocity magnitude is within the threshold.

Parameters

mv	is the max threshold for velocity
ma	is the max threshold for acceleration
mj	is the max threshold for jerk
myaw	is the max threshold for yaw

Use L1 norm for the maximum

validate_xxx()

template<int Dim>

bool validate_xxx	(	const Primitive< Dim > &	pr,
		decimal_t	max,
		Control::Control	xxx
	)

Check if the max velocity magnitude is within the threshold.

Parameters

mv	is the max threshold

Use L1 norm for the maximum

validate_yaw()

template<int Dim>

bool validate_yaw	(	const Primitive< Dim > &	pr,
		decimal_t	my
	)

Check if the successor goes outside of the fov.

Parameters

my	is the value of semi-fov