gen_vpath.C File Reference

#include <cstring>
#include <cmath>
#include <cassert>
#include <stdlib.h>
#include <vector>
#include <iostream>
#include <fstream>
#include "conf.H"

Classes
struct	xy_t
struct	pos_t
struct	s_curve_seg_t
struct	curve_t
Defines
#define	D2R   (M_PI / 180.0)
Typedefs
typedef vector< s_curve_seg_t >	s_curve_t
Functions
void	push_path (vector< xy_t > &path_, const xy_t &xy_)
void	push_line_segment (vector< xy_t > &path_, int dx, int dy, int sx, int sy, float orient_)
void	gen_path_line (vector< xy_t > &path_, double cell_size_, double distance_, double angle_)
void	push_seg (xy_t &xy_, xy_t &prev_xy_, vector< xy_t > &path_, double cell_size_, double orient_)
bool	path_match (vector< xy_t > const &p1_, vector< xy_t > const &p2_)
void	output_vpath (vector< xy_t > const &path_)
bool	segment_okay (vector< xy_t > &path_, unsigned s, unsigned e)
void	set_publish_flag (vector< xy_t > &path_)
bool	read_s_curve (ifstream &infile_)
bool	read_3p_curve (ifstream &infile_, vector< curve_t > &curve_set_)
bool	read_vpath_conf (std::string const &filename)
void	get_s_curve_seg (vector< xy_t > &path_, double cell_size_, s_curve_t &s_curve_)
void	gen_s_curves (double cell_size_)
void	get_curve_seg (vector< xy_t > &path_, double steering_pos_, double start_ang_, double distance_, double cell_size_)
void	gen_curves (double cell_size_, double distance_)
void	gen_lines (double cell_size_, double distance_)
int	main (int argc, char **argv)
Variables
double	axle_dis = 2
double	st_rate = M_PI / 4
vector< s_curve_t >	g_s_curves
vector< curve_t >	g_line_sets
vector< curve_t >	g_curve_sets

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Define Documentation

#define D2R   (M_PI / 180.0)

Referenced by cajun::route_t::read_RDDF(), and cajun::route_t::read_relative().

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Typedef Documentation

typedef vector<s_curve_seg_t> s_curve_t

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Function Documentation

void gen_curves	(	double	cell_size_,
		double	distance_
	)

References g_curve_sets, get_curve_seg(), curve_t::max_angle, curve_t::min_angle, output_vpath(), path_match(), set_publish_flag(), and curve_t::steps.

Referenced by main().

void gen_lines	(	double	cell_size_,
		double	distance_
	)

References g_line_sets, gen_path_line(), curve_t::max_angle, curve_t::min_angle, output_vpath(), path_match(), and curve_t::steps.

Referenced by main().

void gen_path_line	(	vector< xy_t > &	path_,
		double	cell_size_,
		double	distance_,
		double	angle_
	)

References dx, dy, and push_line_segment().

Referenced by gen_lines().

void gen_s_curves

(

double

cell_size_

)

References g_s_curves, get_s_curve_seg(), output_vpath(), and set_publish_flag().

Referenced by main().

void get_curve_seg	(	vector< xy_t > &	path_,
		double	steering_pos_,
		double	start_ang_,
		double	distance_,
		double	cell_size_
	)

References axle_dis, push_seg(), xy_t::x, and xy_t::y.

Referenced by gen_curves().

void get_s_curve_seg	(	vector< xy_t > &	path_,
		double	cell_size_,
		s_curve_t &	s_curve_
	)

References axle_dis, push_seg(), st_rate, xy_t::x, pos_t::x, xy_t::y, and pos_t::y.

Referenced by gen_s_curves().

int main	(	int	argc,
		char **	argv
	)

References gen_curves(), gen_lines(), gen_s_curves(), cajun::make_bot_config_filename(), and read_vpath_conf().

void output_vpath

(

vector< xy_t > const &

path_

)

References dx, and dy.

Referenced by gen_curves(), gen_lines(), and gen_s_curves().

bool path_match	(	vector< xy_t > const &	p1_,
		vector< xy_t > const &	p2_
	)

Referenced by gen_curves(), and gen_lines().

void push_line_segment	(	vector< xy_t > &	path_,
		int	dx,
		int	dy,
		int	sx,
		int	sy,
		float	orient_
	)

References push_path().

Referenced by gen_path_line(), and push_seg().

void push_path	(	vector< xy_t > &	path_,
		const xy_t &	xy_
	)

References xy_t::x, and xy_t::y.

Referenced by push_line_segment().

void push_seg	(	xy_t &	xy_,
		xy_t &	prev_xy_,
		vector< xy_t > &	path_,
		double	cell_size_,
		double	orient_
	)

References dx, dy, push_line_segment(), xy_t::x, and xy_t::y.

Referenced by get_curve_seg(), and get_s_curve_seg().

bool read_3p_curve	(	ifstream &	infile_,
		vector< curve_t > &	curve_set_
	)

References curve_t::max_angle, curve_t::min_angle, and curve_t::steps.

Referenced by read_vpath_conf().

bool read_s_curve

(

ifstream &

infile_

)

References s_curve_seg_t::angle, g_s_curves, and s_curve_seg_t::period.

Referenced by read_vpath_conf().

bool read_vpath_conf

(

std::string const &

filename

)

References axle_dis, g_curve_sets, g_line_sets, read_3p_curve(), read_s_curve(), and st_rate.

Referenced by main().

bool segment_okay	(	vector< xy_t > &	path_,
		unsigned	s,
		unsigned	e
	)

Referenced by set_publish_flag().

void set_publish_flag

(

vector< xy_t > &

path_

)

References segment_okay().

Referenced by gen_curves(), and gen_s_curves().

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Variable Documentation

double axle_dis = 2

Referenced by get_curve_seg(), get_s_curve_seg(), and read_vpath_conf().

vector<curve_t> g_curve_sets

Referenced by gen_curves(), and read_vpath_conf().

vector<curve_t> g_line_sets

Referenced by gen_lines(), and read_vpath_conf().

vector<s_curve_t> g_s_curves

Referenced by gen_s_curves(), and read_s_curve().

double st_rate = M_PI / 4

Referenced by get_s_curve_seg(), and read_vpath_conf().