nav2_route::CornerArc Class Reference

A class used to smooth corners defined by the edges and nodes of the route graph. Used with path converter to output a corner smoothed plan. More...

#include <nav2_route/include/nav2_route/corner_smoothing.hpp>

Public Member Functions
	CornerArc (const Coordinates &start, const Coordinates &corner, const Coordinates &end, float minimum_radius)
	A constructor for nav2_route::CornerArc. More...
	~CornerArc ()=default
	A destructor for nav2_route::CornerArc.
void	interpolateArc (const float &max_angle_resolution, std::vector< geometry_msgs::msg::PoseStamped > &poses)
	interpolates the arc for a path of certain density More...
bool	isCornerValid () const
	return if a valid corner arc (one that doesn't overrun the edge lengths) is generated More...
Coordinates	getCornerStart () const
	return the start coordinate of the corner arc More...
Coordinates	getCornerEnd () const
	return the end coordinate of the corner arc More...

Protected Member Functions
float	getAngleBetweenEdges (const Coordinates &start, const Coordinates &corner, const Coordinates &end)
	find the signed angle between a corner generated by 3 points More...

Detailed Description

A class used to smooth corners defined by the edges and nodes of the route graph. Used with path converter to output a corner smoothed plan.

Definition at line 32 of file corner_smoothing.hpp.

Constructor & Destructor Documentation

CornerArc()

nav2_route::CornerArc::CornerArc ( const Coordinates &  start, const Coordinates &  corner, const Coordinates &  end, float  minimum_radius  )

inline

A constructor for nav2_route::CornerArc.

Parameters

start	start coordinate of corner to be smoothed
corner	corner coordinate of corner to be smoothed
end	end coordinate of corner to be smoothed
minimum_radius	smoothing radius to fit to the corner

Definition at line 42 of file corner_smoothing.hpp.

References getAngleBetweenEdges().

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Member Function Documentation

getAngleBetweenEdges()

float nav2_route::CornerArc::getAngleBetweenEdges ( const Coordinates &  start, const Coordinates &  corner, const Coordinates &  end  )

inlineprotected

find the signed angle between a corner generated by 3 points

Parameters

start	start coordinate of corner to be smoothed
corner	corner coordinate of corner to be smoothed
end	end coordinate of corner to be smoothed

Returns

signed angle of the corner

Definition at line 149 of file corner_smoothing.hpp.

Referenced by CornerArc().

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getCornerEnd()

Coordinates nav2_route::CornerArc::getCornerEnd ( ) const

inline

return the end coordinate of the corner arc

Returns

end coordinate of the arc

Definition at line 139 of file corner_smoothing.hpp.

Referenced by nav2_route::PathConverter::densify().

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getCornerStart()

Coordinates nav2_route::CornerArc::getCornerStart ( ) const

inline

return the start coordinate of the corner arc

Returns

start coordinate of the arc

Definition at line 133 of file corner_smoothing.hpp.

Referenced by nav2_route::PathConverter::densify().

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interpolateArc()

void nav2_route::CornerArc::interpolateArc ( const float &  max_angle_resolution, std::vector< geometry_msgs::msg::PoseStamped > &  poses  )

inline

interpolates the arc for a path of certain density

Parameters

max_angle_resolution	Resolution to interpolate path to
poses	Pose output

Definition at line 97 of file corner_smoothing.hpp.

Referenced by nav2_route::PathConverter::densify().

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isCornerValid()

bool nav2_route::CornerArc::isCornerValid ( ) const

inline

return if a valid corner arc (one that doesn't overrun the edge lengths) is generated

Returns

if the a corner was able to be generated

Definition at line 127 of file corner_smoothing.hpp.

Referenced by nav2_route::PathConverter::densify().

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

• nav2_route/include/nav2_route/corner_smoothing.hpp