DART  6.10.1
dart::planning::Path Class Reference

#include <Path.hpp>

Public Member Functions

 Path (const std::list< Eigen::VectorXd > &path, double maxDeviation=0.0)
 
 Path (const Path &path)
 
 ~Path ()
 
double getLength () const
 
Eigen::VectorXd getConfig (double s) const
 
Eigen::VectorXd getTangent (double s) const
 
Eigen::VectorXd getCurvature (double s) const
 
double getNextSwitchingPoint (double s, bool &discontinuity) const
 
std::list< std::pair< double, bool > > getSwitchingPoints () const
 

Private Member Functions

PathSegmentgetPathSegment (double &s) const
 

Private Attributes

double length
 
std::list< std::pair< double, bool > > switchingPoints
 
std::list< PathSegment * > pathSegments
 

Constructor & Destructor Documentation

◆ Path() [1/2]

dart::planning::Path::Path ( const std::list< Eigen::VectorXd > &  path,
double  maxDeviation = 0.0 
)

◆ Path() [2/2]

dart::planning::Path::Path ( const Path path)

◆ ~Path()

dart::planning::Path::~Path ( )

Member Function Documentation

◆ getConfig()

VectorXd dart::planning::Path::getConfig ( double  s) const

◆ getCurvature()

VectorXd dart::planning::Path::getCurvature ( double  s) const

◆ getLength()

double dart::planning::Path::getLength ( ) const

◆ getNextSwitchingPoint()

double dart::planning::Path::getNextSwitchingPoint ( double  s,
bool &  discontinuity 
) const

◆ getPathSegment()

PathSegment * dart::planning::Path::getPathSegment ( double &  s) const
private

◆ getSwitchingPoints()

list< pair< double, bool > > dart::planning::Path::getSwitchingPoints ( ) const

◆ getTangent()

VectorXd dart::planning::Path::getTangent ( double  s) const

Member Data Documentation

◆ length

double dart::planning::Path::length
private

◆ pathSegments

std::list<PathSegment*> dart::planning::Path::pathSegments
private

◆ switchingPoints

std::list<std::pair<double, bool> > dart::planning::Path::switchingPoints
private