motion::planning::recordreplay_planner::RecordReplayPlanner Class Reference

A class for recording trajectories and replaying them as plans. More...

#include <recordreplay_planner.hpp>

Public Member Functions
	RecordReplayPlanner ()
bool8_t	is_recording () const noexcept
bool8_t	is_replaying () const noexcept
void	start_recording () noexcept
void	stop_recording () noexcept
void	start_replaying () noexcept
void	stop_replaying () noexcept
void	clear_record () noexcept
bool	record_state (const State &state_to_record)
	Add a new state to the record buffer. More...
const Trajectory &	plan (const State &current_state)
	Generates a trajectory from the recorded path. More...
std::size_t	get_record_length () const noexcept
void	set_heading_weight (float64_t heading_weight)
float64_t	get_heading_weight ()
void	set_min_record_distance (float64_t min_record_distance)
float64_t	get_min_record_distance () const
void	set_skip_first_velocity (const bool8_t skip_first_velocity)
void	writeTrajectoryBufferToFile (const std::string &record_path)
void	readTrajectoryBufferFromFile (const std::string &replay_path)
void	set_loop (const bool8_t loop)
bool8_t	get_loop () const
bool8_t	reached_goal (const State &current_state, const float64_t &distance_thresh, const float64_t &angle_thresh) const
	Judges whether current_state has reached the last point in record buffer. More...
bool8_t	is_loop (const float64_t &distance_thresh) const
	Judges whether the trajectory is a loop. More...
auto	get_record_buffer ()

Detailed Description

A class for recording trajectories and replaying them as plans.

Constructor & Destructor Documentation

RecordReplayPlanner()

motion::planning::recordreplay_planner::RecordReplayPlanner::RecordReplayPlanner

(

)

Member Function Documentation

clear_record()

void motion::planning::recordreplay_planner::RecordReplayPlanner::clear_record ( )

noexcept

get_heading_weight()

float64_t motion::planning::recordreplay_planner::RecordReplayPlanner::get_heading_weight

(

)

get_loop()

bool8_t motion::planning::recordreplay_planner::RecordReplayPlanner::get_loop

(

)

const

get_min_record_distance()

float64_t motion::planning::recordreplay_planner::RecordReplayPlanner::get_min_record_distance

(

)

const

get_record_buffer()

auto motion::planning::recordreplay_planner::RecordReplayPlanner::get_record_buffer ( )

inline

get_record_length()

std::size_t motion::planning::recordreplay_planner::RecordReplayPlanner::get_record_length ( ) const

noexcept

is_loop()

bool8_t motion::planning::recordreplay_planner::RecordReplayPlanner::is_loop

(

const float64_t &

distance_thresh

)

const

Judges whether the trajectory is a loop.

Parameters

distance_thresh

threshold of euclidean state between the first and last points in meters

Returns

true if the distance threshold is met

is_recording()

bool8_t motion::planning::recordreplay_planner::RecordReplayPlanner::is_recording ( ) const

noexcept

is_replaying()

bool8_t motion::planning::recordreplay_planner::RecordReplayPlanner::is_replaying ( ) const

noexcept

plan()

const Trajectory & motion::planning::recordreplay_planner::RecordReplayPlanner::plan

(

const State &

current_state

)

Generates a trajectory from the recorded path.

Parameters

current_state

current state of the vehicle

Returns

a trajectory that replays the stored path from the current point

reached_goal()

bool8_t motion::planning::recordreplay_planner::RecordReplayPlanner::reached_goal	(	const State &	current_state,
		const float64_t &	distance_thresh,
		const float64_t &	angle_thresh
	)		const

Judges whether current_state has reached the last point in record buffer.

Parameters

current_state	current state of the vehicle
distance_thresh	threshold of euclidean distance between the current state the and the last point in meters
angle_thresh	threshold of difference in the headings of the current_state and the last point in radians

Returns

true if both distance and angle conditions are satisfied

readTrajectoryBufferFromFile()

void motion::planning::recordreplay_planner::RecordReplayPlanner::readTrajectoryBufferFromFile

(

const std::string &

replay_path

)

record_state()

bool motion::planning::recordreplay_planner::RecordReplayPlanner::record_state

(

const State &

state_to_record

)

Add a new state to the record buffer.

Parameters

[in]

state_to_record

A state to attempt to add to the recording buffer

Returns

True if state was added to record buffer, False otherwise

set_heading_weight()

void motion::planning::recordreplay_planner::RecordReplayPlanner::set_heading_weight

(

float64_t

heading_weight

)

set_loop()

void motion::planning::recordreplay_planner::RecordReplayPlanner::set_loop

(

const bool8_t

loop

)

set_min_record_distance()

void motion::planning::recordreplay_planner::RecordReplayPlanner::set_min_record_distance

(

float64_t

min_record_distance

)

set_skip_first_velocity()

void motion::planning::recordreplay_planner::RecordReplayPlanner::set_skip_first_velocity

(

const bool8_t

skip_first_velocity

)

start_recording()

void motion::planning::recordreplay_planner::RecordReplayPlanner::start_recording ( )

noexcept

start_replaying()

void motion::planning::recordreplay_planner::RecordReplayPlanner::start_replaying ( )

noexcept

stop_recording()

void motion::planning::recordreplay_planner::RecordReplayPlanner::stop_recording ( )

noexcept

stop_replaying()

void motion::planning::recordreplay_planner::RecordReplayPlanner::stop_replaying ( )

noexcept

writeTrajectoryBufferToFile()

void motion::planning::recordreplay_planner::RecordReplayPlanner::writeTrajectoryBufferToFile

(

const std::string &

record_path

)

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

• recordreplay_planner.hpp
• recordreplay_planner.cpp