#include <umanline.h>

Inheritance diagram for UManLine:

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

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)

virtual 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)

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)

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

void	setDistance (double value)

	UManLine ()

virtual	~UManLine ()

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 ()

double	getVel ()

void	setAcc (double value)

void	setVel (double value)

	UManoeuvre ()

virtual	~UManoeuvre ()

Protected Attributes
double	dist

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

Straingt line manoeuvre

Author: Christian Andersen

Constructor & Destructor Documentation

UManLine::UManLine ( )

Constructor

References UManoeuvre::MAN_LINE, and UManoeuvre::manType.

UManLine::~UManLine ( )

virtual

Destructor

Member Function Documentation

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

virtual

Print status for this manoeuvre

Reimplemented from UManoeuvre.

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

Referenced by setDistance(), testManDistance(), and testManLineToSeg().

double UManLine::getDistance ( )

inlinevirtual

Get distance traveled

Reimplemented from UManoeuvre.

References dist.

Referenced by getSMRCLcmd2().

double UManLine::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.

Reimplemented from UManoeuvre.

References dist, UPose::set(), signofd(), sqr(), UPosition::x, UPosition::y, and UPosition::z.

Referenced by setDistance(), and testManDistance().

UPose UManLine::getEndPose ( )

virtual

Time to complete manoeuver with this start velocity. Should be overwritten by a real manoeuvere. Return 1e10 if start velocity 'startVel' = 0.0. Get relative pose at end of manoeuvre

Reimplemented from UManoeuvre.

References dist.

Referenced by getEndPoseV().

UPoseV UManLine::getEndPoseV ( UPoseV startPoseV )

virtual

Get end pose from this start pose

Reimplemented from UManoeuvre.

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

Referenced by getSMRCLcmd2().

bool UManLine::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 extreme point.
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.

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 from extreme points.
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(), UPolygon::clear(), dist, and UPose::getPoseToMap().

Referenced by setDistance().

double UManLine::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 dist, U2Dlined::getCrossing(), ULineSegment::getOtherEnd(), ULine::getPositionOnLine(), mind(), ULine::pos, UPose::set(), UPosition::set(), U2Dlined::set2P(), UPosition::x, UPose::x, and UPosition::y.

Referenced by setDistance(), and testManLineToSeg().

UPoseV UManLine::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, UPoseV::getVel(), UPose::set(), sqr(), and tv.

bool UManLine::getSMRCLcmd	(	char *	buf,
		int	bufCnt
	)

virtual

Code this manoeuvre into a SMRCL command string. Returns false if command is not codeable.

Reimplemented from UManoeuvre.

References UManoeuvre::acc, dist, UManoeuvre::getMinAcc(), maxd(), and UManoeuvre::vel.

Referenced by setDistance().

bool UManLine::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. Returns new start position for next manoeuvre in 'startPose', and as well as new 'lineCnt' and distance travelled in 'distSum'. 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 false if buffer is too short or command is not codeable.

Reimplemented from UManoeuvre.

References UManoeuvre::acc, buf, UPose::clear(), dist, getDistance(), getEndPoseV(), UTime::getMicrosec(), UTime::getSec(), UPose::h, UPoseV::set(), UPoseV::vel, UManoeuvre::vel, UPose::x, and UPose::y.