Planning::Path Class Reference

Abstract class representing a motion path. More...

Public Member Functions
	Path (RJ::Time startTime=RJ::now())
std::optional< RobotInstant >	evaluate (RJ::Seconds t) const
	This method evaluates the path at a given time and returns the target angle, position, and velocity of the robot. More...
virtual bool	hit (const Geometry2d::ShapeSet &obstacles, RJ::Seconds startTimeIntoPath, RJ::Seconds *hitTime=nullptr) const =0
	Returns true if the path hits an obstacle. More...
virtual void	draw (DebugDrawer *const debug_drawer, const QColor &color=Qt::black, const QString &layer="Motion") const
	Draws the path. More...
virtual RJ::Seconds	getDuration () const =0
	Returns how long it would take for the entire path to be traversed. More...
RJ::Seconds	getSlowedDuration () const
virtual std::unique_ptr< Path >	subPath (RJ::Seconds startTime=0ms, RJ::Seconds endTime=RJ::Seconds::max()) const =0
	Returns a subPath. More...
virtual RobotInstant	start () const =0
	Start instant of the path.
virtual RobotInstant	end () const =0
	Destination instant of the path.
virtual std::unique_ptr< Path >	clone () const =0
	Returns a deep copy of the Path.
virtual void	setDebugText (QString string)
virtual void	drawDebugText (DebugDrawer *debug_drawer, const QColor &color=Qt::darkCyan, const QString &layer="PathDebugText") const
virtual RJ::Time	startTime () const
	The time the path starts at.
virtual void	setStartTime (RJ::Time t)
virtual bool	pathsIntersect (const std::vector< DynamicObstacle > &paths, RJ::Time startTime, Geometry2d::Point *hitLocation, RJ::Seconds *hitTime) const
virtual std::unique_ptr< ConstPathIterator >	iterator (RJ::Time startTime, RJ::Seconds deltaT) const
void	slow (float multiplier, RJ::Seconds timeInto=RJ::Seconds::zero())

Protected Member Functions
virtual std::optional< RobotInstant >	eval (RJ::Seconds t) const =0

Protected Attributes
double	evalRate = 1.0
RJ::Time	_startTime
std::optional< QString >	_debugText

Detailed Description

Abstract class representing a motion path.

Inheritance diagram for Planning::Path:

Member Function Documentation

draw()

void Planning::Path::draw ( DebugDrawer *const  debug_drawer, const QColor &  color = Qt::black, const QString &  layer = "Motion"  ) const

virtual

Draws the path.

The default implementation adds a DebugRobotPath to the SystemState that interpolates points along the path.

Parameters

debug_drawer	The SystemState to draw the path on
color	The color the path should be drawn
layer	The layer to draw the path on

Reimplemented in Planning::AngleFunctionPath, Planning::InterpolatedPath, and Planning::CompositePath.

evaluate()

std::optional<RobotInstant> Planning::Path::evaluate ( RJ::Seconds  t ) const

inline

This method evaluates the path at a given time and returns the target angle, position, and velocity of the robot.

Parameters

t	Time (in seconds) since the robot started the path. Throws an exception if t<0

Returns

A RobotInstant containing the angle, position, and velocity at the given time if is within the range of the path. If is not within the time range of this path, this method returns std::nullopt

getDuration()

virtual RJ::Seconds Planning::Path::getDuration ( ) const

pure virtual

Returns how long it would take for the entire path to be traversed.

Returns

The time from start to path completion or infinity if it never stops

Implemented in Planning::AngleFunctionPath, Planning::InterpolatedPath, Planning::CompositePath, and Planning::TrapezoidalPath.

hit()

virtual bool Planning::Path::hit ( const Geometry2d::ShapeSet &  obstacles, RJ::Seconds  startTimeIntoPath, RJ::Seconds *  hitTime = nullptr  ) const

pure virtual

Returns true if the path hits an obstacle.

Parameters

[in]	shape	The obstacles on the field
[out]	hitTime	the approximate time when the path hits an obstacle. If no obstacles are hit, behavior is undefined for the final value.
[in]	startTimeIntoPath	The time on the path to start checking from

Returns

true if it hits an obstacle, otherwise false

Implemented in Planning::AngleFunctionPath, Planning::InterpolatedPath, Planning::CompositePath, and Planning::TrapezoidalPath.

subPath()

virtual std::unique_ptr<Path> Planning::Path::subPath ( RJ::Seconds  startTime = 0ms, RJ::Seconds  endTime = RJ::Seconds::max()  ) const

pure virtual

Returns a subPath.

Parameters

startTime	The startTime for from which the subPath should be taken.
endTime	The endTime from which the subPath should be taken. If it is greater than the duration fo the path, it should go to the end of the path.

Returns

A unique_ptr to the new subPath

Implemented in Planning::AngleFunctionPath, Planning::InterpolatedPath, Planning::CompositePath, and Planning::TrapezoidalPath.

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

• soccer/planning/Path.hpp
• soccer/planning/Path.cpp