Struct Path

Defined in File Path.h

Struct Documentation

struct Path

Public Functions

PathState &getState(size_t i)

const PathState &getState(size_t i) const

void setState(size_t i, const PathState &ps)

void addState(const PathState &ps)

void addState(const Point &p, double ang, double len, PathDirection dir = PathDirection::FORWARD, PathSectionType type = PathSectionType::SWATH, double vel = 1.0)

std::vector<PathState> &getStates()

const std::vector<PathState> &getStates() const

void setStates(const std::vector<PathState> &v_ps)

double getTaskTime() const

std::vector<PathState>::const_iterator cbegin() const

std::vector<PathState>::const_iterator cend() const

std::vector<PathState>::const_iterator begin() const

std::vector<PathState>::const_iterator end() const

std::vector<PathState>::iterator begin()

std::vector<PathState>::iterator end()

const PathState &operator[](size_t idx) const

PathState &operator[](size_t idx)

const PathState &back() const

PathState &back()

Path &operator+=(const Path &path)

size_t size() const

double getDimMinX() const

double getDimMinY() const

double getDimMaxX() const

double getDimMaxY() const

void moveTo(const Point&)

void rotateFromPoint(const Point&, double ang)

void mirrorX()

void mirrorY()

void setBackwardDir()

void setBackwardDir(int i)

void setForwardDir()

void setForwardDir(int i)

void setSwathType()

void setSwathType(int i)

void setTurnType()

void setTurnType(int i)

double length(void) const

void appendSwath(const Swath &swath, double cruise_speed)

void appendSwath(const Swath &swath, double cruise_speed, PathSectionType type)

void appendStraight(const Point &start, const Point &end, double cruise_speed, PathSectionType type)

Append a straight leg from one point to another as a single state.

Legs shorter than 1e-6 are skipped, as they carry no direction.

double maxDistanceTo(const LineString &line) const: Furthest any state of this path lies from the given line.

PathState at(double t) const

Point atStart() const

Point atEnd() const

LineString toLineString() const

std::string serializePath(size_t digit_precision = 6) const

void saveToFile(const std::string &file, size_t precision = 6) const

void loadFile(const std::string &file)

Path discretizeSwath(double step_size) const

Path &discretize(double step_size)

Path &populate(int number_points = 100)

Path &reduce(double min_dist_equal = 0.1)