Clothoid Class Reference
[Trajectory]

Implements a clotoide path. More...

#include <Path.h>

Inheritance diagram for Clothoid:

List of all members.

Public Member Functions
	Clothoid ()
	Default constructor.
	Clothoid (Decimal A)
	Parametric constructor.
	Clothoid (Position center, Decimal A)
	Center+Parametric constructor.
	Clothoid (Position center, Angle rotation, Decimal A)
	Center+Rotation+Parametric constructor.
Decimal	evalTau (Decimal s)
void	evalAmin (Decimal r)
void	evalTauMax (Angle alfa)
Position	evalCentredPos (Decimal s)
	Implementation of coresponding pure virtual function.
Position	evalCentredPosp (Decimal s)
	Implementation of coresponding pure virtual function.
Position	evalCentredPospp (Decimal s)
	Implementation of coresponding pure virtual function.
Angle	evalTheta (Decimal s)
	Implementation of coresponding pure virtual function.
Angle	evalThetap (Decimal s, Decimal sp)
	Implementation of coresponding pure virtual function.
Angle	evalThetapp (Decimal s, Decimal sp, Decimal spp)
	Implementation of coresponding pure virtual function.
Public Attributes
Decimal	_A
Decimal	_tauPrev
Decimal	parsumX
Decimal	parsumY
Decimal	prevS
Decimal	r
Angle	_alfa
Decimal	_Amin
Decimal	_tauMax

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Detailed Description

Implements a clotoide path.

Author:

Antonio Franchi and Marco Barbalinardo - email:barba82@yahoo.it

Date:

2008/12/02

Todo:

descrizione parametri

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Constructor & Destructor Documentation

Clothoid::Clothoid

(

)

[inline]

Default constructor.

Clothoid::Clothoid

(

Decimal

A

)

[inline]

Parametric constructor.

Clothoid::Clothoid	(	Position	center,
		Decimal	A
	)			[inline]

Center+Parametric constructor.

Clothoid::Clothoid	(	Position	center,
		Angle	rotation,
		Decimal	A
	)			[inline]

Center+Rotation+Parametric constructor.

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Member Function Documentation

Decimal Clothoid::evalTau

(

Decimal

s

)

[inline]

void Clothoid::evalAmin

(

Decimal

r

)

[inline]

void Clothoid::evalTauMax

(

Angle

alfa

)

[inline]

Position Clothoid::evalCentredPos

(

Decimal

s

)

[virtual]

Implementation of coresponding pure virtual function.

Implements Path.

Position Clothoid::evalCentredPosp

(

Decimal

s

)

[virtual]

Implementation of coresponding pure virtual function.

Implements Path.

Position Clothoid::evalCentredPospp

(

Decimal

s

)

[virtual]

Implementation of coresponding pure virtual function.

Implements Path.

Angle Clothoid::evalTheta

(

Decimal

s

)

[inline, virtual]

Implementation of coresponding pure virtual function.

Implements Path.

Angle Clothoid::evalThetap	(	Decimal	s,
		Decimal	sp
	)			[inline, virtual]

Implementation of coresponding pure virtual function.

Implements Path.

Angle Clothoid::evalThetapp	(	Decimal	s,
		Decimal	sp,
		Decimal	spp
	)			[inline, virtual]

Implementation of coresponding pure virtual function.

Implements Path.

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Member Data Documentation

Decimal Clothoid::_A

Decimal Clothoid::_tauPrev

Decimal Clothoid::parsumX

Decimal Clothoid::parsumY

Decimal Clothoid::prevS

Decimal Clothoid::r

Angle Clothoid::_alfa

Decimal Clothoid::_Amin

Decimal Clothoid::_tauMax

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

• baselib/Trajectory/Path.h
• baselib/Trajectory/Path.cpp