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Public Types |
| | POSTYPE_EGOCENTRIC |
| | x and y are relative to current heading - so x is forward and y is strafe
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| | POSTYPE_OFFSET |
| | x and y are oriented with the coordinates, but relative to current location (delta x and delta y)
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| | POSTYPE_ABSOLUTE |
| | x and y are a specific coordinate location
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| enum | posType_t { POSTYPE_EGOCENTRIC,
POSTYPE_OFFSET,
POSTYPE_ABSOLUTE
} |
| | defines different ways to interpret the position values More...
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Public Member Functions |
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| Waypoint () |
| | constructor
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| Waypoint (float xc, float yc, Waypoint::posType_t pos_rel, float ac, bool ang_rel, float spd, bool track, float turn) |
| | constructor
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Public Attributes |
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float | x |
| | the displacement along x (meters), subject to posType
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float | y |
| | the displacement along y (meters), subject to posType
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float | angle |
| | either the angle relative to path to maintain, or the heading to maintain, see angleIsRelative
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float | arc |
| | angle of sector of arc to use to get to waypoint (0 means straight line)
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float | speed |
| | speed (in meters per second)
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float | turnSpeed |
| | maximum speed to correct heading (in radians per second)
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posType_t | posType |
| | lets us know how to interpret the x and y values
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bool | angleIsRelative |
| | if true, angle is interpreted as relative to the path; otherwise, interpreted as an absolute heading to maintain
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bool | trackPath |
| | if true, if off course, will attempt to get back on path at the ideal location; if false, simply heads directly for waypoint from whereever it is
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