Class Trace

Nested Relationships

Nested Types

Class Documentation

class Trace

Represents a trace, i.e. an edge path in the tree search. It is implemented using shared_ptr, this way we can clone an object and append an Edge with O(1) time (and also efficient in tree search). This is a chain of Connections, where the last Connection points to the one before. Therefore there are some limitations to it.

Public Functions

Trace()

Construct a new Trace object.

Trace(const Edge &edge, const double &heur, const Trace &previous = Trace())

Construct a new Trace object with a possible previous Trace.

Parameters:

  • edge – [in]

  • heur – [in]

  • previous – [in] represents the previous Trace, this new will extend

void addEdge(const Edge &edge, const double &heur)

Appends an Edge as a Connection with the following data.

Parameters:

  • edge – [in]

  • heur – [in]

bool empty() const

Consults if the Trace is empty.

size_t size() const

Returns the size of the Trace, i.e. how long (num midpooints) is the Connection chain. Complexity: O(1).

double length() const

Returns the length of the Trace in meters, i.e. how long (meters) is the Connection chain. Complexity: O(1).

size_t sizeAheadOfCar() const

Returns the number of midpoints ahead of the car, until end of Trace. Does not take loop closure into account.

Trace before(const uint64_t &num = 1) const

Returns a Trace containing the Connection chain of the Connection before. Complexity: O(1).

Parameters:

num – [in] is the number of elements to iterate back

Trace first() const

Returns a Trace containing the first (initial) Connection. Complexity: O(n), being n the number of Connections in the chain.

Trace second() const

Returns a Trace containing the second Connection. Complexity: O(n), being n the number of Connections in the chain.

const Edge &edge() const

Returns the last Edge. Complexity: O(1).

const Edge &beforeBack() const

Returns the penultimate Edge.

const double &heur() const

Returns the last Connection heuristic. Complexity: O(1).

double avgTrackWidth() const

Returns the last Connection’s average track width. If empty, returns 0. Complexity: O(1).

bool isLoopClosed() const

Returns whether of not the loop is closed from last Connection or before. Complexity: O(1).

double sumHeur() const

Returns the sum of heuristics of the Connection chain. If empty, returns infinity. Complexity: O(1).

bool containsEdge(const Edge &edge) const

Checks if there is any Connection with Edge edge. Complexity: O(n), being n the number of Connections in the chain.

Parameters:

edge – [in]

bool closesLoopWith(const Edge &e) const

Checks if the Trace closes loop when e is appended.

Parameters:

e – [in]

uint32_t connectionsSinceLoopClosed() const

Returns the number of Connections in the chain since the loop was first closed. Complexity: O(1).

void trimByLocal(const Eigen::Vector3d &carPosition)

Trims the Trace so that all Edge(s) coming after the closest to the car are removed. Note: distance to car is known by dist to (0,0).

Trace trimLoopClosure() const

Returns the same Trace but trims the ‘extra’ Edges after the loop has been closed.

Trace restructureClosure() const

Makes a copy making sure that:

  • Possible spare points are removed. (e.g. when the loop closes with the second point).

  • First and last Edge(s) coincide (EXACTLY equals). WARNING: The resultant Trace has not correct Connection parameters and shall only be used for publish purposes.

bool intersectsWith(const Edge &e) const

Checks if Edge e creates an intersection (a loop) on the path. O(n), n=this->size().

Parameters:

e – [in]

void clear()

Clears the Connection chain. O(1).

void updateLocal(const Eigen::Affine3d &tf) const

Updates the local position of all Edge(s) in the Connection chain.

Parameters:

tf – [in]

bool operator<(const Trace &t) const

Comparison operator used to see if the implicit object is a “better” Trace compared to parameter. The method of choosing the best trace is as follows:

  1. The longest trace wins.

  2. If the size is equal, then the trace with smallest accum heuristic wins.

bool operator==(const Trace &t) const

Comparison operator. Two Trace(s) will be equal if both contain the same Edge(s) in the Connection chain. Note that the midpoints (and track limits) positions may not be equal.

Parameters:

t – [in]

bool operator!=(const Trace &t) const

Negation of the comparison operator.

Parameters:

t – [in]

bool vitalMidpointsChanged(const Trace &t) const

Checks if the vital_num_midpoints (the n midpoints after car’s position) are equal in both *this and t.

Parameters:

t – [in]

std::vector<Point> getPath() const

Returns a vector with all the midpoints in global coordinates.

Tracklimits getTracklimits() const

Returns the track limits. First element is left track limit and second is right.

Public Static Functions

static void init(const Params::WayComputer::Trace &params)

Method to initialize the Class.

Parameters:

params – [in]

Friends

friend std::ostream &operator<<(std::ostream &os, const Trace &trace)

Cout operator.

Parameters:

  • os – [inout]

  • trace – [in]