Class Interpolate¶
Defined in File Interpolate.hpp
Nested Relationships¶
Nested Types¶
Class Documentation¶
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class
rmf_traffic::agv
::
Interpolate
¶ Public Static Functions
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static Trajectory
positions
(const VehicleTraits &traits, Time start_time, const std::vector<Eigen::Vector3d> &input_positions, const Options &options = Options())¶
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class
Options
¶ Public Functions
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Options
(bool always_stop = false, double translation_thresh = 1e-3, double rotation_thresh = 1.0 * M_PI / 180.0, double corner_angle_thresh = 1.0 * M_PI / 180.0)¶
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Options &
set_always_stop
(bool choice)¶ The robot must always come to a complete stop at every position. When this is true, all other properties in the options will have no effect.
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bool
always_stop
() const¶
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Options &
set_translation_threshold
(double dist)¶ If a waypoint is closer than this distance to its prior or subsequent waypoint, then it is allowed to be skipped.
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double
get_translation_threshold
() const¶ Get the translation threshold.
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Options &
set_rotation_threshold
(double angle)¶ If a waypoint’s orientation is closer than this angle to the prior or subsequent waypoint, then it is allowed to be skipped.
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double
get_rotation_threshold
() const¶ Get the rotation threshold.
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Options &
set_corner_angle_threshold
(double angle)¶ If two line segments make a corner that is greater than this angle, then the waypoint must not be ignored.
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double
get_corner_angle_threshold
() const¶ Get the corner angle threshold.
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static Trajectory