Represents a motion path as a series of {pos, vel} pairs. More...

Classes
struct	Entry
	Each entry in InterpolatedPath is a MotionInstant and the time that the robot should be at that position and velocity. More...

Public Member Functions
	InterpolatedPath ()
	default path is empty

	InterpolatedPath (Geometry2d::Point p0)
	constructor with a single point

	InterpolatedPath (Geometry2d::Point p0, Geometry2d::Point p1)
	constructor from two points

void	addInstant (RJ::Seconds time, MotionInstant instant)
	Adds an instant at the end of the path for the given time. More...

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

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

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

virtual void	draw (DebugDrawer *constdebug_drawer, const QColor &color, const QString &layer) 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 >	clone () const override
	Returns a deep copy of the Path.

bool	empty () const

void	clear ()
	Erase all path contents.

float	length (unsigned int start=0) const
	Calulates the length of the path. More...

float	length (unsigned int start, unsigned int end) const
	Calulates the length of the path. More...

float	length (Geometry2d::Point pt) const
	Returns the length of the path from the closet point found to pt.

size_t	size () const
	Returns number of waypoints.

int	nearestIndex (Geometry2d::Point pt) const

Geometry2d::Segment	nearestSegment (Geometry2d::Point pt) const
	returns the nearest segement of pt to the path

float	distanceTo (Geometry2d::Point pt) const

RJ::Seconds	getTime (int index) const
	Estimates how long it would take for the robot to get to a certain point in the path using Trapezoidal motion. More...

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 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())

Static Public Member Functions
static std::unique_ptr< Path >	emptyPath (Geometry2d::Point pos)

Public Attributes
std::vector< Entry >	waypoints

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

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

RJ::Time	_startTime

std::optional< QString >	_debugText

Detailed Description

Represents a motion path as a series of {pos, vel} pairs.

The path represents a function of position given time that the robot should follow. A line-segment-based path comes from the planner, then we use cubic bezier curves to interpolate and smooth it out. This is done via the evaulate() method.

Inheritance diagram for Planning::InterpolatedPath:

Collaboration diagram for Planning::InterpolatedPath:

Member Function Documentation

◆ addInstant()

void Planning::InterpolatedPath::addInstant	(	RJ::Seconds	time,
		MotionInstant	instant
	)

inline

Adds an instant at the end of the path for the given time.

Time should not bet less than the last time.

◆ draw()

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

overridevirtual

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.

◆ getDuration()

RJ::Seconds Planning::InterpolatedPath::getDuration ( ) const

overridevirtual

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.

◆ getTime()

RJ::Seconds Planning::InterpolatedPath::getTime ( int index ) const

Estimates how long it would take for the robot to get to a certain point in the path using Trapezoidal motion.

Parameters

index Index of the point on the path

Returns: The estimated time it would take for the robot to a point on the path starting from the start of the path

◆ hit()

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

overridevirtual

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.

◆ length() [1/2]

float Planning::InterpolatedPath::length ( unsigned int start = 0 ) const

Calulates the length of the path.

Parameters

[in] start Index of point in path to use at start point.

Returns: the length of the path starting at point (start).

◆ length() [2/2]

float Planning::InterpolatedPath::length	(	unsigned int	start,
		unsigned int	end
	)		const

Calulates the length of the path.

Parameters

[in]	start	Index of point in path to use at start point.
[in]	end	Index of point in path to use at end point.

Returns: the length of the path starting at point (start) and ending at point [end].

◆ subPath()

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

overridevirtual

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 files:

soccer/planning/InterpolatedPath.hpp
soccer/planning/InterpolatedPath.cpp

Classes

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ addInstant()

◆ draw()

◆ getDuration()

◆ getTime()

◆ hit()

◆ length() [1/2]

◆ length() [2/2]

◆ subPath()