Class WayComputer

• Defined in File WayComputer.hpp

Class Documentation

class WayComputer

A class that has all tools and functions to compute the Way. It takes the Delaunay set and the car position to do so.

Public Functions

WayComputer(const Params::WayComputer &params)

Construct a new Way Computer object.

Parameters:

params – [in]

void update(TriangleSet &triangulation, const ubm_interfaces::msg::CustomHeader &header)

Takes the Delaunay triangle set and computes the Way.

Parameters:

• triangulation – [inout]

• header – [in]

const bool &isLoopClosed() const

Returns if the loop has been closed.

void writeWayToFile(const std::string &file_path) const

Writes the Way to the file path specified.

Parameters:

file_path – [in]

const bool &isLocalTfValid() const

Returns if the attribute localTf is valid.

const Eigen::Affine3d &getLocalTf() const

Returns the transformation from global to local.

std::vector<Point> getPath() const

Returns the centerline vector in global coordinates.

const Trace &getWay() const

Returns the centerline vector in global coordinates.

Tracklimits getTracklimits() const

Returns the track limits in global coordinates.

ubm_interfaces::msg::PathLimits getPathLimits() const

Returns the centerline and track limits in custom_msgs format in global coordinates.

Public Members

Eigen::Affine3d localTf_

The transform between global and local frame.

bool localTfValid_ = false

Whether or not localTf_ is valid.