Waypoint base class. More...

#include <waypoint.h>

Public Member Functions
	Waypoint ()
	Empty constructor.

	Waypoint (Control::Control c)
	Simple constructor. More...

void	print (std::string str="") const
	Print all attributes.

Public Attributes
Vecf< Dim >	pos {Vecf<Dim>::Zero()}
	position in $R^{n}$

Vecf< Dim >	vel {Vecf<Dim>::Zero()}
	velocity in $R^{n}$

Vecf< Dim >	acc {Vecf<Dim>::Zero()}
	acceleration in $R^{n}$

Vecf< Dim >	jrk {Vecf<Dim>::Zero()}
	jerk in $R^{n}$

decimal_t	yaw {0}
	yaw

decimal_t	t {0}
	time when reaching this waypoint in graph search

union {
struct {
bool use_pos: 1
	If true, pos will be used in primitive generation.

bool use_vel: 1
	If true, vel will be used in primitive generation.

bool use_acc: 1
	If true, acc will be used in primitive generation.

bool use_jrk: 1
	If true, jrk will be used in primitive generation.

bool use_yaw: 1
	If true, yaw will be used in primitive generation.

}

Control::Control control: 5
	Control value.

};
	Control flag. More...

bool	enable_t {false}

Detailed Description

template<int Dim>
struct Waypoint< Dim >

Waypoint base class.

State includes position, velocity, acceleration and jerk in $R^n$ , where the dimension $n$ can be either 2 or 3. Yaw is contained by default. The anonymous union is used to set control flag.

Constructor & Destructor Documentation

◆ Waypoint()

template<int Dim>

Waypoint< Dim >::Waypoint ( Control::Control c )

inline

Simple constructor.

Parameters

c	control value

Member Data Documentation

◆ @1

union { ... }

Control flag.

Anonymous union type that contains 5 bits as xxxxx, each bit from right to left is assigned to use_pos, use_vel, use_acc, use_jrk and use_yaw.

◆ enable_t

template<int Dim>

bool Waypoint< Dim >::enable_t {false}

if enabled, use $t$ when calculating hash_value

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

include/mpl_basis/waypoint.h

Public Member Functions

Public Attributes