Struct AnyAnglePath

• Defined in File rrt.hpp

Struct Documentation

struct AnyAnglePath

Public Types

using Ptr = std::unique_ptr<AnyAnglePath>

Public Functions

inline size_t pts_size() const

Get the number of points in the path.

Warning

Use sgms_size() instead to get the number of points in the path.

inline size_t sgms_size() const

Get the number of segments in the path.

Warning

Use pts_size() instead to get the number of points in the path.

inline AnyAnglePath(const std::vector<geos_t> &x, const std::vector<geos_t> &y, const std::vector<geos_t> &segment_length, const std::vector<float> &yaw, const float &initial_yaw, const float &final_yaw)

Public Members

std::vector<geos_t> x

std::vector<geos_t> y

std::vector<geos_t> segment_length

std::vector<float> yaw

float initial_yaw

float final_yaw

Public Static Functions

static inline AnyAnglePath::Ptr create(const std::vector<geos_t> &x, const std::vector<geos_t> &y, const std::vector<geos_t> &segment_length, const std::vector<float> &yaw, const float &initial_yaw, const float &final_yaw)

static inline AnyAnglePath::Ptr process_theta_star_output(const std::list<std::tuple<int, int>> &path, const float &initial_yaw, const float &final_yaw)

static inline AnyAnglePath::Ptr process_theta_star_output(const std::list<std::tuple<float, float>> &path, const float &initial_yaw, const float &final_yaw)

Friends

inline friend std::ostream &operator<<(std::ostream &os, const AnyAnglePath &path)