Planning::TrapezoidalPath Class Reference

Represents a straight-line path with a trapezoidal velocity profile. More...

Public Member Functions
	TrapezoidalPath (Geometry2d::Point startPos, double startSpeed, Geometry2d::Point endPos, double endSpeed, const MotionConstraints constraints)
virtual bool	hit (const Geometry2d::ShapeSet &obstacles, RJ::Seconds initialTime, RJ::Seconds *hitTime) const override
	Returns true if the path hits an obstacle. More...
virtual RJ::Seconds	getDuration () const override
	Returns how long it would take for the entire path to be traversed. More...
double	maxSpeed () const
virtual std::unique_ptr< Path >	subPath (RJ::Seconds startTime, RJ::Seconds endTime) const override
	Returns a subPath. More...
virtual RobotInstant	end () const override
	Destination instant of the path.
virtual RobotInstant	start () const override
	Start instant of the path.
virtual std::unique_ptr< Path >	clone () const override
	Returns a deep copy of the Path.
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...
virtual void	draw (DebugDrawer *const debug_drawer, const QColor &color=Qt::black, const QString &layer="Motion") const
	Draws the path. 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())

Protected Member Functions
virtual std::optional< RobotInstant >	eval (RJ::Seconds time) 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 straight-line path with a trapezoidal velocity profile.

The path represents a function of position given time that the robot should follow. The path is made up of other Paths and can be made up of CompositePaths.

Inheritance diagram for Planning::TrapezoidalPath:

Collaboration diagram for Planning::TrapezoidalPath:

Member Function Documentation

getDuration()

virtual RJ::Seconds Planning::TrapezoidalPath::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()

bool Planning::TrapezoidalPath::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.

subPath()

std::unique_ptr< Path > Planning::TrapezoidalPath::subPath ( RJ::Seconds  startTime, RJ::Seconds  endTime  ) 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.

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

• soccer/planning/TrapezoidalPath.hpp
• soccer/planning/TrapezoidalPath.cpp