#include <umanarc.h>

Inheritance diagram for UManArc:

Public Member Functions
virtual void	fprint (FILE fd, const char prestr, double *v=NULL)

virtual double	getDistance ()

virtual double	getDistanceXYSigned (UPosition pos, int where, bool posIsRight, bool centerOnly, UPose pHit, double *atT)

virtual UPose	getEndPose ()

virtual UPoseV	getEndPoseV (UPoseV startPoseV)

virtual bool	getFoodprintPolygon (UPolygon polyIncl, UPolygon polyExcl, double leftX, double leftY, double rightX, double rightY, double clearence, UPose *startPose, double allowedErr=0.03)

double	getMinDistanceXYSigned (ULineSegment seg, int whereOnSeg, UPosition posOnSeg, bool posIsRight, int whereOnMan, UPose *poseOnMan)

virtual UPoseV	getPoseV (double atManTime, UPoseV startPoseV, double endV)

virtual bool	getSMRCLcmd (char *buf, int bufCnt, double maxDist)

virtual bool	getSMRCLcmd2 (char buf, int bufCnt, UPoseV startPose, bool first, double firstDistance, int lineCnt, int lineCntMax, double distSum, double distSumMax, UTime t=NULL, FILE *logprim=NULL)

double	getTurnAngle ()

UPosition	getTurnCentre (UPose startPose)

double	getTurnRadius ()

virtual const char *	print (const char prestr, double v, char *buff, const int buffCnt)

void	setTurnAngle (double value)

void	setTurnRadius (double value)

	UManArc ()

	~UManArc ()

Public Member Functions inherited from UManoeuvre
double	getAcc ()

virtual double	getEndV (UPoseV startPoseV)

virtual double	getEndV (double startV)

virtual double	getManTime (double startVel)

int	getManType ()

virtual bool	getSMRCLcmd (char *, int)

double	getVel ()

void	setAcc (double value)

void	setVel (double value)

	UManoeuvre ()

virtual	~UManoeuvre ()

Protected Attributes
double	angle

double	radius

Protected Attributes inherited from UManoeuvre
double	acc

MAN_TYPE	manType

double	vel

Additional Inherited Members
Public Types inherited from UManoeuvre
enum	MAN_TYPE { MAN_NONE, MAN_LINE, MAN_ARC, MAN_STOP }

Static Public Member Functions inherited from UManoeuvre
static double	getMinAcc ()

Detailed Description

An arc turn manoeuvre

Author: Christian Andersen

Constructor & Destructor Documentation

UManArc::UManArc ( )

Constructor

References UManoeuvre::MAN_ARC, and UManoeuvre::manType.

UManArc::~UManArc ( )

Destructor

Member Function Documentation

void UManArc::fprint	(	FILE *	fd,
		const char *	prestr,
		double *	v = `NULL`
	)

virtual

Print status for this manoeuvre

Reimplemented from UManoeuvre.

References UManoeuvre::acc, angle, UManoeuvre::getEndV(), UManoeuvre::getManTime(), radius, and UManoeuvre::vel.

Referenced by setTurnAngle(), testManDistance(), and testManToSeg().

double UManArc::getDistance ( )

virtual

Get distance traveled (always positive)

Reimplemented from UManoeuvre.

References absd(), angle, and radius.

Referenced by getSMRCLcmd(), and getSMRCLcmd2().

double UManArc::getDistanceXYSigned	(	UPosition	pos,
		int *	where,
		bool	posIsRight,
		bool	centerOnly,
		UPose *	pHit,
		double *	atT
	)

virtual

Get distance to this position from the manoeuvre line Positive is to the right of segment - seen from first end in direction towards other end if 'posIsRight' is true. Returnes distance to either end or to a point on line whatever is closest. If 'where' is not NULL, then the closest part is returned here as: 0=point on line, 1= first point, 2= other end. Distance to ends are not calculated if 'centerOnly' is true. The closest position on route is returned in 'pHit' if closest on line (w==0). Distance into the line is returned in 'atT' (also only if w==0)

Reimplemented from UManoeuvre.

References absd(), angle, dist, getEndPose(), UPose::h, radius, UPose::set(), signofd(), sqr(), UPosition::x, UPose::x, UPosition::y, and UPose::y.

Referenced by setTurnAngle(), and testManDistance().

UPose UManArc::getEndPose ( )

virtual

Time to complete manoeuver with this start velocity. Should be overwritten by a real manoeuvere. NB! Invalid if spped changes sign in manoeuvre - returns time to zero speed. Return 1e10 if start velocity 'startVel' = 0.0. and acceleration = 0.0 too Get relative pose at end of manoeuvre

Reimplemented from UManoeuvre.

References absd(), angle, UPose::h, radius, UManoeuvre::vel, UPose::x, and UPose::y.

Referenced by getDistanceXYSigned(), getEndPoseV(), and getPoseV().

UPoseV UManArc::getEndPoseV ( UPoseV startPoseV )

virtual

Get end pose from this start pose

Reimplemented from UManoeuvre.

References getEndPose(), UPoseV::setVel(), and UManoeuvre::vel.

Referenced by getSMRCLcmd2(), and UPaintManoeuvre::makeManCloud().

bool UManArc::getFoodprintPolygon	(	UPolygon *	polyIncl,
		UPolygon *	polyExcl,
		double	leftX,
		double	leftY,
		double	rightX,
		double	rightY,
		double	clearence,
		UPose *	startPose,
		double	allowedErr = `0.03`
	)

virtual

Get this manoeuvre as a polygin covering the robot foodprint during the manoeuvre.

Parameters

polyIncl	is a polygon (convex) with sufficient corners for the manoeuvre.
polyExcl	is a polygon (convex) covering the concavity of the polyIncl that is not part of the manoeuvre footprint.
leftX	is the forward distance of the front-left-most extreme point of the robot (positive).
leftY	is the x-coordinate of the position of the front-left-most extreme point of the robot (should be positive).
rightX	is the forward distance of the front-right-most extreme point of the robot (positive).
rightY	is the y-coordinate of the position of the front-right-most extreme point of the robot (should be negative).
clearence	is the minimum clearence around vehicle
startPose	is the start pose of the manoeuvre, indicating the coordinate system used.
allowedErr	is the allowed deviation from true polygon in meters (must be > 0.0).

Returns: true if polygon is valid.

Reimplemented from UManoeuvre.

References UPolygon::add(), angle, UPolygon::clear(), U2Dlined::getCrossing(), UPolygon::getDistance(), UPose::getPoseToMap(), radius, U2Dlined::set2P(), UPosition::x, and UPosition::y.

Referenced by setTurnAngle(), and testManPoly().

double UManArc::getMinDistanceXYSigned	(	ULineSegment *	seg,
		int *	whereOnSeg,
		UPosition *	posOnSeg,
		bool	posIsRight,
		int *	whereOnMan,
		UPose *	poseOnMan
	)

virtual

Get shortest distance to this line segment 'seg'. If 'posIsRight', then the distance is positive to the right of the route. The closest point on the segnment is returned in 'posOnSeg'. If the closest point on the segment streach, then whereOnSeg = 0, if the ref end of segment, then whereOnSeg = 1, other end is 2. the closest point in the route is returned in 'poseOnSeg'. If the closest point on the manoeuvre is between endpoints, then whereOnMan = 0, if the first end of manoeuvre, then whereOnMan = 1, last end is 2.

Reimplemented from UManoeuvre.

References angle, dist, ULine::getCylinderCrossings(), ULineSegment::getDistanceXYSigned(), ULineSegment::getOtherEnd(), ULine::getPositionOnLine(), UPose::h, ULine::pos, radius, UPose::set(), UPosition::set(), signofd(), UPosition::x, UPose::x, UPosition::y, and UPose::y.

Referenced by setTurnAngle(), and testManToSeg().

UPoseV UManArc::getPoseV	(	double	atManTime,
		UPoseV	startPoseV,
		double	endV
	)

virtual

Get end pose from this start pose. Assumes that the 'atManTime' is within this manoeuvre, if not, the result is unpredictable (most likely just extended)

Reimplemented from UManoeuvre.

References UManoeuvre::acc, getEndPose(), UPoseV::getVel(), radius, setTurnAngle(), sqr(), and tv.

bool UManArc::getSMRCLcmd	(	char *	buf,
		int	bufCnt,
		double	maxDist
	)

virtual

Code this manoeuvre into a SMRCL command string. Returns false if command is not codeable. The driven distance shall not exceed 'maxDist'

References UManoeuvre::acc, angle, buf, dist, getDistance(), UManoeuvre::getMinAcc(), maxd(), maxi(), mind(), radius, roundi(), and UManoeuvre::vel.

Referenced by setTurnAngle().

bool UManArc::getSMRCLcmd2	(	char *	buf,
		int	bufCnt,
		UPoseV *	startPose,
		bool *	first,
		double	firstDistance,
		int *	lineCnt,
		int	lineCntMax,
		double *	distSum,
		double	distSumMax,
		UTime *	t = `NULL`,
		FILE *	logprim = `NULL`
	)

virtual

Code this manoeuvre into a SMRCL command string. Return in short form, so that no ore than 'lineCntMax' lines are coded, and no more than 'distSumMax' are covered. if *first is true, then (distSum + distabce of this manoeuvre) must be longet than 'firstDistance'. This is to avoid a target position behind the robot. If manoeuvre is used *first is set to false, if not then there is no command in 'buf'. Returns new start position for next manoeuvre in 'startPose', and as well as new 'lineCnt' and distance travelled in 'distSum'. Returns false if buffer is too short or command is not codeable.

Reimplemented from UManoeuvre.

References UManoeuvre::acc, angle, buf, dist, getDistance(), getEndPoseV(), UTime::getMicrosec(), UTime::getSec(), UPose::h, radius, roundi(), setTurnAngle(), setTurnRadius(), UPoseV::vel, UManoeuvre::vel, UPose::x, and UPose::y.