UAvoidLnkSeq Class Reference

#include <uavoidlink.h>

Public Member Functions
void	clear ()
double	getDistance (double entryAngle, double exitAngle, double *turnAngleSum)
UPosition	getOtherEnd ()
UPosition	getThisEnd ()
bool	pathCrossing (ULineSegment seg)
	UAvoidLnkSeq ()

Public Attributes
double	costAngle
double	costDist
double	costF
double	costG
	tentative score so far (from start pose to this point) More...
double	costH
	cost from this point to destination More...
UAvoidLnkSeq *	next
UAvoidLnkSeq *	prev
int	serial
	debug serial number More...
int	tangIdx
UAvoidLink *	tangLine

Detailed Description

Class to hold the references to the tangent lines that in sequence forms a possible path from current position to destination position.

Constructor & Destructor Documentation

UAvoidLnkSeq::UAvoidLnkSeq ( )

inline

Constructor

References UAvoidLink::clear().

Member Function Documentation

void UAvoidLnkSeq::clear ( void  )

inline

Clear any data in the object (except recycle link).

References UAvoidLink::next, and UAvoidLink::serial.

Referenced by UAvoidPath2::getEmptyLnkSeq().

double UAvoidLnkSeq::getDistance	(	double	entryAngle,
		double	exitAngle,
		double *	turnAngleSum
	)

Get the distance and angle sum for this tangent sequence

References a, UAvoidLink::aobIdx, dist, UPolygon::getPoint(), UPolygon::getPointsCnt(), UAvoidLink::getTangentLine(), UAvoidLink::idx, ULineSegment::length, limitToPi(), next, UAvoidObst::obst, tangIdx, tangLine, UAvoidLink::tob, ULine::vec, UPosition::x, and UPosition::y.

Referenced by UAvoidPath2::addToLnkSeqs().

UPosition UAvoidLnkSeq::getOtherEnd ( )

inline

Get the position of this element in the tangent sequence

Referenced by UAvoidLink::getTangentLine().

UPosition UAvoidLnkSeq::getThisEnd ( )

inline

Get the position of this element in the tangent sequence

Referenced by UAvoidLink::getTangentLine().

bool UAvoidLnkSeq::pathCrossing

(

ULineSegment

seg

)

Is this line segment crossing any of the tangent lines in this sequence. Returns true if a crossing is detected

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Copyright (C) 2010 by DTU (Christian Andersen) jca@o.nosp@m.erst.nosp@m.ed.dt.nosp@m.u.dk

• This program is free software; you can redistribute it and/or modify * it under the terms of the GNU Library General Public License as * published by the Free Software Foundation; either version 2 of the * License, or (at your option) any later version. *
• This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. *
• You should have received a copy of the GNU Library General Public * License along with this program; if not, write to the * Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.

References ULineSegment::getSegmentCrossingXY(), UAvoidLink::getTangentLine(), ULineSegment::length, next, tangIdx, and tangLine.

Referenced by UAvoidPath2::findRouteToDest().

Member Data Documentation

double UAvoidLnkSeq::costAngle

Cost of this link in terms of angle

Referenced by UAvoidPath2::addLnksToOpenSet(), UAvoidPath2::addToLnkSeqs(), UAvoidPath2::findRoutes(), UAvoidPath2::findRoutesA(), UAvoidPath2::findRouteToDest(), and UAvoidPath2::logPathSequences().

double UAvoidLnkSeq::costDist

Cost of this link in terms of distance

Referenced by UAvoidPath2::addLnksToOpenSet(), UAvoidPath2::addToLnkSeqs(), UAvoidPath2::findRoutes(), UAvoidPath2::findRoutesA(), UAvoidPath2::findRouteToDest(), and UAvoidPath2::logPathSequences().

double UAvoidLnkSeq::costF

Minimum cost from this point to the end pose.

Referenced by UAvoidPath2::addLnksToOpenSet(), UAvoidPath2::addToOpenSet(), and UAvoidPath2::findRoutesA().

double UAvoidLnkSeq::costG

tentative score so far (from start pose to this point)

Referenced by UAvoidPath2::addLnksToOpenSet(), UAvoidPath2::findRoutesA(), and UAvoidPath2::terminateWorseCandidatesInOpenSet().

double UAvoidLnkSeq::costH

cost from this point to destination

Referenced by UAvoidPath2::addLnksToOpenSet(), and UAvoidPath2::findRoutesA().

UAvoidLnkSeq* UAvoidLnkSeq::next

Link to the next tangent line in a candidate path

Referenced by UAvoidPath2::addLnksToOpenSet(), UAvoidPath2::addToClosedSet(), UAvoidPath2::addToOpenSet(), UAvoidPath2::copyAvoidLnkSeq(), UAvoidPath2::createPointList(), UAvoidPath2::findRouteInALoop(), UAvoidPath2::findRoutesA(), UAvoidPath2::findRouteToDest(), getDistance(), UAvoidPath2::getEmptyLnkSeq(), UAvoidPath2::isInClosedSet(), UAvoidPath2::logPathSequences(), pathCrossing(), UAvoidPath2::recycleLnkSeq(), UFunctionAvoid::sendCurrentAvoidPath(), UAvoidPath2::terminateWorseCandidatesInOpenSet(), and UAvoidPath2::~UAvoidPath2().

UAvoidLnkSeq* UAvoidLnkSeq::prev

Link to the previous tangent line in a candidate path

Referenced by UAvoidPath2::addLnksToOpenSet(), UAvoidPath2::findRoutesA(), and UAvoidPath2::recycleLnkSeq().

int UAvoidLnkSeq::serial

debug serial number

Referenced by UAvoidPath2::getEmptyLnkSeq().

int UAvoidLnkSeq::tangIdx

Index to the tangent line used (out of maximum 4 tangent lines).

Referenced by UAvoidPath2::addLnksToOpenSet(), UAvoidPath2::createPointList(), UAvoidPath2::findRouteInALoop(), UAvoidPath2::findRoutes(), UAvoidPath2::findRoutesA(), UAvoidPath2::findRouteToDest(), getDistance(), UAvoidPath2::isInClosedSet(), UAvoidPath2::logPathSequences(), pathCrossing(), UFunctionAvoid::sendCurrentAvoidPath(), and UAvoidPath2::terminateWorseCandidatesInOpenSet().

UAvoidLink* UAvoidLnkSeq::tangLine

Link to the tangent line

Referenced by UAvoidPath2::addLnksToOpenSet(), UAvoidPath2::createPointList(), UAvoidPath2::findRouteInALoop(), UAvoidPath2::findRoutes(), UAvoidPath2::findRoutesA(), UAvoidPath2::findRouteToDest(), getDistance(), UAvoidPath2::isInClosedSet(), UAvoidPath2::logPathSequences(), pathCrossing(), UFunctionAvoid::sendCurrentAvoidPath(), and UAvoidPath2::terminateWorseCandidatesInOpenSet().

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

• uavoidlink.h
• uavoidlink.cpp