Path Class Reference
[Trajectory]

Virtual class for paths implementation. More...

#include <Path.h>

Inheritance diagram for Path:

Asteroid Bezier Cardioid Clothoid Clothoid2 Eight Ellipse Segment

List of all members.

Public Member Functions

 Path ()
 Default constructor.
 Path (const Path &path)
 Copy constructor.
Path & operator= (const Path &path)
 Operator =.
bool operator!= (const Path &path)
 Operator !=.
virtual Position evalCentredPos (Decimal s)=0
 Pure virtual function for the evaluation of path's coordinates w.r.t. its center for a given value of s.
virtual Position evalCentredPosp (Decimal s)=0
 Pure virtual function for the evaluation of path's first derivative w.r.t. s for a given value of s.
virtual Position evalCentredPospp (Decimal s)=0
 Pure virtual function for the evaluation of path's second derivative w.r.t. s for a given value of s.
virtual Angle evalTheta (Decimal s)=0
 Pure virtual function for the evaluation of path's orientation w.r.t. the absolute x axes for a given value of s.
virtual Angle evalThetap (Decimal s, Decimal sp)=0
 Pure virtual function for the evaluation of path's angular speed for a given value of s.
virtual Angle evalThetapp (Decimal s, Decimal sp, Decimal spp)=0
 Pure virtual function for the evaluation of path's angular acceleration for a given value of s.
Position rotate (Position p, Angle theta)
void setCenter (Position value)
 Sets _center parameter.
void setCentredPos (Position value)
 Sets _centredPos parameter.
void setCentredPosp (Position value)
 Sets _centredPosp parameter.
void setCentredPospp (Position value)
 Sets _centredPospp parameter.
void setPos (Position value)
 Sets _pos parameter.
void setPosp (Position value)
 Sets _posp parameter.
void setPospp (Position value)
 Sets _pospp parameter.
void setTheta (Angle value)
 Sets _theta parameter.
void setThetap (Angle value)
 Sets _thetap parameter.
void setThetapp (Angle value)
 Sets _thetapp parameter.
void evalPos (Decimal s)
 Sets _pos parameter.
void evalPosp (Decimal s, Decimal sp)
 Sets _posp parameter.
void evalPospp (Decimal s, Decimal sp, Decimal spp)
 Sets _pospp parameter.
void setRotation (Angle value)
 Sets _rotation parameter.
void setClockwise ()
 Sets _clockwise flag.
void unsetClockwise ()
 unSets _clockwise flag.
void setPathType (PathType value)
 Sets _pathType parameter.
Position center ()
 Gets _center parameter.
Position centredPos ()
 Gets _centredPos parameter.
Position centredPosp ()
 Gets _centredPosp parameter.
Position centredPospp ()
 Gets _centredPospp parameter.
Position pos ()
 Gets _pos parameter.
Position posp ()
 Gets _posp parameter.
Position pospp ()
 Gets _pospp parameter.
Angle theta ()
 Gets _theta parameter.
Angle thetap ()
 Gets _thetap parameter.
Angle thetapp ()
 Gets _thetapp parameter.
Angle rotation ()
 Gets _rotation parameter.
bool clockwise ()
 Gets _clockwise flag.
PathType pathType ()
 Gets _pathType parameter.
string print ()
 Prints on a string all class parametes.

Detailed Description

Virtual class for paths implementation.

Author:
Antonio Franchi and Marco Barbalinardo - email:barba82@yahoo.it
Date:
2008/12/02
Todo:
verify;constructor; custom path

Constructor & Destructor Documentation

Path::Path (  )  [inline]

Default constructor.

Path::Path ( const Path &  path  )  [inline]

Copy constructor.

Member Function Documentation

Path& Path::operator= ( const Path &  path  )  [inline]

Operator =.

bool Path::operator!= ( const Path &  path  )  [inline]

Operator !=.

virtual Position Path::evalCentredPos ( Decimal  s  )  [pure virtual]

Pure virtual function for the evaluation of path's coordinates w.r.t. its center for a given value of s.

Parameters:
[in] s curvilinear abscissa
Returns:
path's coordinates w.r.t. its center

Implemented in Asteroid, Cardioid, Clothoid, Ellipse, Eight, Segment, Clothoid2, and Bezier.

virtual Position Path::evalCentredPosp ( Decimal  s  )  [pure virtual]

Pure virtual function for the evaluation of path's first derivative w.r.t. s for a given value of s.

Parameters:
[in] s curvilinear abscissa
Returns:
path's first derivative

Implemented in Asteroid, Cardioid, Clothoid, Ellipse, Eight, Segment, Clothoid2, and Bezier.

virtual Position Path::evalCentredPospp ( Decimal  s  )  [pure virtual]

Pure virtual function for the evaluation of path's second derivative w.r.t. s for a given value of s.

Parameters:
[in] s curvilinear abscissa
Returns:
path's second derivative

Implemented in Asteroid, Cardioid, Clothoid, Ellipse, Eight, Segment, Clothoid2, and Bezier.

virtual Angle Path::evalTheta ( Decimal  s  )  [pure virtual]

Pure virtual function for the evaluation of path's orientation w.r.t. the absolute x axes for a given value of s.

Parameters:
[in] s Curvilinear abscissa.
Returns:
Path's orientation.

Implemented in Asteroid, Cardioid, Clothoid, Ellipse, Eight, Segment, Clothoid2, and Bezier.

virtual Angle Path::evalThetap ( Decimal  s,
Decimal  sp 
) [pure virtual]

Pure virtual function for the evaluation of path's angular speed for a given value of s.

Parameters:
[in] s Curvilinear abscissa.
Returns:
Path's orientation.

Implemented in Asteroid, Cardioid, Clothoid, Ellipse, Eight, Segment, Clothoid2, and Bezier.

virtual Angle Path::evalThetapp ( Decimal  s,
Decimal  sp,
Decimal  spp 
) [pure virtual]

Pure virtual function for the evaluation of path's angular acceleration for a given value of s.

Parameters:
[in] s Curvilinear abscissa.
Returns:
Path's orientation.

Implemented in Asteroid, Cardioid, Clothoid, Ellipse, Eight, Segment, Clothoid2, and Bezier.

Position Path::rotate ( Position  p,
Angle  theta 
) [inline]

void Path::setCenter ( Position  value  )  [inline]

Sets _center parameter.

void Path::setCentredPos ( Position  value  )  [inline]

Sets _centredPos parameter.

void Path::setCentredPosp ( Position  value  )  [inline]

Sets _centredPosp parameter.

void Path::setCentredPospp ( Position  value  )  [inline]

Sets _centredPospp parameter.

void Path::setPos ( Position  value  )  [inline]

Sets _pos parameter.

void Path::setPosp ( Position  value  )  [inline]

Sets _posp parameter.

void Path::setPospp ( Position  value  )  [inline]

Sets _pospp parameter.

void Path::setTheta ( Angle  value  )  [inline]

Sets _theta parameter.

void Path::setThetap ( Angle  value  )  [inline]

Sets _thetap parameter.

void Path::setThetapp ( Angle  value  )  [inline]

Sets _thetapp parameter.

void Path::evalPos ( Decimal  s  )  [inline]

Sets _pos parameter.

void Path::evalPosp ( Decimal  s,
Decimal  sp 
) [inline]

Sets _posp parameter.

void Path::evalPospp ( Decimal  s,
Decimal  sp,
Decimal  spp 
) [inline]

Sets _pospp parameter.

void Path::setRotation ( Angle  value  )  [inline]

Sets _rotation parameter.

void Path::setClockwise (  )  [inline]

Sets _clockwise flag.

void Path::unsetClockwise (  )  [inline]

unSets _clockwise flag.

void Path::setPathType ( PathType  value  )  [inline]

Sets _pathType parameter.

Position Path::center (  )  [inline]

Gets _center parameter.

Position Path::centredPos (  )  [inline]

Gets _centredPos parameter.

Position Path::centredPosp (  )  [inline]

Gets _centredPosp parameter.

Position Path::centredPospp (  )  [inline]

Gets _centredPospp parameter.

Position Path::pos (  )  [inline]

Gets _pos parameter.

Position Path::posp (  )  [inline]

Gets _posp parameter.

Position Path::pospp (  )  [inline]

Gets _pospp parameter.

Angle Path::theta (  )  [inline]

Gets _theta parameter.

Angle Path::thetap (  )  [inline]

Gets _thetap parameter.

Angle Path::thetapp (  )  [inline]

Gets _thetapp parameter.

Angle Path::rotation (  )  [inline]

Gets _rotation parameter.

bool Path::clockwise (  )  [inline]

Gets _clockwise flag.

PathType Path::pathType (  )  [inline]

Gets _pathType parameter.

string Path::print (  )  [inline]

Prints on a string all class parametes.

Reimplemented in Asteroid, Cardioid, Ellipse, Eight, and Segment.

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