Structure containing position and yaw along with their derivatives and some metadata. More...

#include <waypoint.hpp>

Inheritance diagram for snav_fci::Waypoint:

Public Types
enum	Status { COMPLETE, ENROUTE, INACTIVE }

enum	Constraint { FIX_POS =1, FIX_VEL =2, FIX_ACC =4, FIX_JERK =8 }

Public Member Functions
	Waypoint ()
	Construct a waypoint with default state (set to zeros) and options.

	Waypoint (Eigen::Vector3f position)
	Construct a waypoint from a position vector. More...

	Waypoint (Eigen::Vector3f position, WaypointConfig conf)
	Construct a waypoint from a position vector and configuration. More...

	Waypoint (StateVector state)
	Construct a waypoint from a full state vector. More...

	Waypoint (StateVector state, WaypointConfig conf)
	Construct a waypoint from a full state vector and configuration.

	Waypoint (const snav_traj_gen::Waypoint &waypoint)

void	set_deriv_constraints (int mask)

void	fix_all ()
	Set all constraints to be fixed.

void	fix_none ()
	Set all constraints to be free.

void	set_config (WaypointConfig config)
	Set the waypoint configuration. More...

bool	is_configured () const
	Verify whether or not an instance of Waypoint has had its configuration changed from the default. More...

WaypointConfig	get_config () const
	Get the waypoint configuration.

snav_traj_gen::Waypoint	get_traj_gen_waypoint () const

Public Member Functions inherited from snav_fci::StateVector
	StateVector ()
	Construct a StateVector initialized to all zeros.

	StateVector (Eigen::Vector3f position)

	StateVector (Eigen::Vector3f position, float yaw)

StateVector &	operator= (const snav_traj_gen::StateVector &sv)

Public Member Functions inherited from snav_fci::DisplacementDerivs
	DisplacementDerivs ()
	Construct a DisplacementDerivs object initialized to all zeros.

Static Public Member Functions
static std::string	get_status_string (const Status &status)

Public Attributes
Eigen::Matrix< bool, 4, 1 >	constrained

Status	status

float	time

Public Attributes inherited from snav_fci::StateVector
float	yaw

float	yaw_rate

float	yaw_acceleration

Public Attributes inherited from snav_fci::DisplacementDerivs
Eigen::Vector3f	position

Eigen::Vector3f	velocity

Eigen::Vector3f	acceleration

Eigen::Vector3f	jerk

Friends
std::ostream &	operator<< (std::ostream &strm, const Waypoint &wp)

Detailed Description

Structure containing position and yaw along with their derivatives and some metadata.

Constructor & Destructor Documentation

snav_fci::Waypoint::Waypoint ( Eigen::Vector3f position )

Construct a waypoint from a position vector.

Higher derivatives are set to zero and default options are used.

Construct a waypoint from a position vector and configuration.

Higher derivatives are set to zero.

snav_fci::Waypoint::Waypoint ( StateVector state )

Construct a waypoint from a full state vector.

Default options are used.

bool snav_fci::Waypoint::is_configured ( ) const

inline

Verify whether or not an instance of Waypoint has had its configuration changed from the default.

Returns

void snav_fci::Waypoint::set_config ( WaypointConfig config )

Set the waypoint configuration.

Parameters

[in] config Desired configuration

Eigen::Matrix<bool,4,1> snav_fci::Waypoint::constrained

Boolean vector specifying whether the derivative is fixed

float snav_fci::Waypoint::time

Waypoint time in s relative to start of trajectory

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