Template Class WaypointTrajectory¶

Defined in File waypoint_trajectory.h

Class Documentation¶

template<typename LinkType> class WaypointTrajectory¶

A container that represents a collection of way points linked together via a LinkType The LinkType defines how smooth the trajectory will look like.

Public Types

typedef LinkType link_type¶

typedef link_type::w_point_type w_point_type¶

typedef std::vector<link_type>::iterator link_iterator¶: point iteration

typedef std::vector<link_type>::const_iterator const_link_iterator¶

Public Functions

WaypointTrajectory()¶: Constructor.

explicit WaypointTrajectory(uint_t n)¶: Constructor.

std::pair<real_t, link_type> distance(const w_point_type &p) const¶: Computes the minimum distance of the given point from the trajectory.

inline uint_t size() const¶: How many waypoints the pah has.

inline void reserve(uint_t n)¶: Reserve space for waypoints.

inline void clear()¶: clear the memory allocated for points and edges

inline bool empty() const¶: Returns true if the trajectory is empty.

inline void push(const link_type &link)¶: Push a new link.

inline link_type &operator[](uint_t i)¶: Returns a read/write reference of the i-th link.

inline const link_type &operator[](uint_t i) const¶: Returns a read reference of the i-th link.

inline void resize(uint_t n)¶: Resize the underlying links.

inline link_iterator begin()¶: Raw node iteration.

inline link_iterator end()¶

inline const_link_iterator begin() const¶: Raw node iteration.

inline const_link_iterator end() const¶