Class which represents a Path with an angle Function attached. More...

Public Member Functions
	AngleFunctionPath (std::unique_ptr< Path > path=nullptr, std::optional< std::function< AngleInstant(MotionInstant)>> angleFunction=std::nullopt)

virtual bool	hit (const Geometry2d::ShapeSet &obstacles, RJ::Seconds startTimeIntoPath, RJ::Seconds *hitTime) const override
	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 override
	Draws the path. More...

virtual RJ::Seconds	getDuration () const override
	Returns how long it would take for the entire path to be traversed. More...

virtual std::unique_ptr< Path >	subPath (RJ::Seconds startTime=RJ::Seconds::zero(), RJ::Seconds endTime=RJ::Seconds::max()) const override
	Returns a subPath. More...

virtual RobotInstant	start () const override
	Start instant of the path.

virtual RobotInstant	end () const override
	Destination instant of the path.

virtual std::unique_ptr< Path >	clone () const override
	Returns a deep copy of the Path.

virtual RJ::Time	startTime () const override
	The time the path starts at.

virtual void	setStartTime (RJ::Time t) override

virtual void	setDebugText (QString string) override

virtual void	drawDebugText (DebugDrawer *debug_drawer, const QColor &color=Qt::darkCyan, const QString &layer="PathDebugText") const override

Public Member Functions inherited from Planning::Path
	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...

RJ::Seconds	getSlowedDuration () const

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())

Public Attributes
std::unique_ptr< Path >	path

std::optional< std::function< AngleInstant(MotionInstant)> >	angleFunction

Protected Member Functions
virtual std::optional< RobotInstant >	eval (RJ::Seconds t) const override
	This method evaluates the path at a given time and returns the target position and velocity of the robot. More...

Additional Inherited Members
Protected Attributes inherited from Planning::Path
double	evalRate = 1.0

RJ::Time	_startTime

std::optional< QString >	_debugText

Detailed Description

Class which represents a Path with an angle Function attached.

Inheritance diagram for Planning::AngleFunctionPath:

Collaboration diagram for Planning::AngleFunctionPath:

Member Function Documentation

◆ draw()

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

inlineoverridevirtual

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 from Planning::Path.

◆ eval()

virtual std::optional<RobotInstant> Planning::AngleFunctionPath::eval ( RJ::Seconds t ) const

inlineoverrideprotectedvirtual

This method evaluates the path at a given time and returns the target 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 MotionInstant containing the 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.

Implements Planning::Path.

◆ getDuration()

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

inlineoverridevirtual

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

Implements Planning::Path.

◆ hit()

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

inlineoverridevirtual

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

Implements Planning::Path.

◆ subPath()

virtual std::unique_ptr<Path> Planning::AngleFunctionPath::subPath	(	RJ::Seconds	startTime = `RJ::Seconds::zero()`,
		RJ::Seconds	endTime = `RJ::Seconds::max()`
	)		const

inlineoverridevirtual

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

Implements Planning::Path.

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

soccer/planning/Path.hpp

Public Member Functions

Public Attributes

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ draw()

◆ eval()

◆ getDuration()

◆ hit()

◆ subPath()