Clothoid2 Class Reference
[Trajectory]

Implements a clotoide path. More...

#include <Path.h>

Inheritance diagram for Clothoid2:

List of all members.

Public Member Functions
	Clothoid2 (Clothoid2Param param)
	Parametric constructor.
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.
void	setParam (Clothoid2Param param)
	Sets _param parameter.
void	setRibalta ()
	Sets _ribalta flag.
void	unsetRibalta ()
	unSets _ribalta flag
void	setX0 (Decimal value)
	Sets _X0 parameter.
void	setXc (Decimal value)
	Sets _Xc parameter.
void	setYc (Decimal value)
	Sets _Yc parameter.
void	setKc (Decimal value)
	Sets _Kc parameter.
void	setE (Decimal value)
	Sets _e parameter.
void	setAlfa (Angle value)
	Sets _alfa parameter.
void	setThetac (Angle value)
	Sets _thetac parameter.
void	setStart (Position value)
	Sets _start parameter.
void	setEnd (Position value)
	Sets _end parameter.
void	setRiferimento (Pose value)
	Sets _ref parameter.
Clothoid2Param	param ()
	Gets _param parameter.
bool	ribalta ()
	Gets _ribalta flag.
Decimal	X0 ()
	Gets _X0 parameter.
Decimal	Xc ()
	Gets _Xc parameter.
Decimal	Yc ()
	Gets _Yc parameter.
Decimal	Kc ()
	Gets _Kc parameter.
Decimal	e ()
	Gets _e parameter.
Angle	alfa ()
	Gets _alfa parameter.
Angle	thetac ()
	Gets _thetac parameter.
Position	start ()
	Gets _start parameter.
Position	end ()
	Gets _end parameter.
Pose	riferimento ()
	Gets _ref parameter.

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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

---

Constructor & Destructor Documentation

Clothoid2::Clothoid2

(

Clothoid2Param

param

)

Parametric constructor.

---

Member Function Documentation

Position Clothoid2::evalCentredPos

(

Decimal

s

)

[virtual]

Implementation of coresponding pure virtual function.

Implements Path.

Position Clothoid2::evalCentredPosp

(

Decimal

s

)

[virtual]

Implementation of coresponding pure virtual function.

Implements Path.

Position Clothoid2::evalCentredPospp

(

Decimal

s

)

[virtual]

Implementation of coresponding pure virtual function.

Implements Path.

Angle Clothoid2::evalTheta

(

Decimal

s

)

[inline, virtual]

Implementation of coresponding pure virtual function.

Implements Path.

Angle Clothoid2::evalThetap	(	Decimal	s,
		Decimal	sp
	)			[inline, virtual]

Implementation of coresponding pure virtual function.

Implements Path.

Angle Clothoid2::evalThetapp	(	Decimal	s,
		Decimal	sp,
		Decimal	spp
	)			[inline, virtual]

Implementation of coresponding pure virtual function.

Implements Path.

void Clothoid2::setParam

(

Clothoid2Param

param

)

[inline]

Sets _param parameter.

void Clothoid2::setRibalta

(

)

[inline]

Sets _ribalta flag.

void Clothoid2::unsetRibalta

(

)

[inline]

unSets _ribalta flag

void Clothoid2::setX0

(

Decimal

value

)

[inline]

Sets _X0 parameter.

void Clothoid2::setXc

(

Decimal

value

)

[inline]

Sets _Xc parameter.

void Clothoid2::setYc

(

Decimal

value

)

[inline]

Sets _Yc parameter.

void Clothoid2::setKc

(

Decimal

value

)

[inline]

Sets _Kc parameter.

void Clothoid2::setE

(

Decimal

value

)

[inline]

Sets _e parameter.

void Clothoid2::setAlfa

(

Angle

value

)

[inline]

Sets _alfa parameter.

void Clothoid2::setThetac

(

Angle

value

)

[inline]

Sets _thetac parameter.

void Clothoid2::setStart

(

Position

value

)

[inline]

Sets _start parameter.

void Clothoid2::setEnd

(

Position

value

)

[inline]

Sets _end parameter.

void Clothoid2::setRiferimento

(

Pose

value

)

[inline]

Sets _ref parameter.

Clothoid2Param Clothoid2::param

(

)

[inline]

Gets _param parameter.

bool Clothoid2::ribalta

(

)

[inline]

Gets _ribalta flag.

Decimal Clothoid2::X0

(

)

[inline]

Gets _X0 parameter.

Decimal Clothoid2::Xc

(

)

[inline]

Gets _Xc parameter.

Decimal Clothoid2::Yc

(

)

[inline]

Gets _Yc parameter.

Decimal Clothoid2::Kc

(

)

[inline]

Gets _Kc parameter.

Decimal Clothoid2::e

(

)

[inline]

Gets _e parameter.

Angle Clothoid2::alfa

(

)

[inline]

Gets _alfa parameter.

Angle Clothoid2::thetac

(

)

[inline]

Gets _thetac parameter.

Position Clothoid2::start

(

void

)

[inline]

Gets _start parameter.

Position Clothoid2::end

(

)

[inline]

Gets _end parameter.

Pose Clothoid2::riferimento

(

)

[inline]

Gets _ref parameter.

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

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