58 lines
1.7 KiB
C++
58 lines
1.7 KiB
C++
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/* Copyright 2020 The MathWorks, Inc. */
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#ifndef UAVDUBINSCODGEN_PATHSEGMENTS_HPP_
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#define UAVDUBINSCODGEN_PATHSEGMENTS_HPP_
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#include <vector>
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#include "uavdubinscodegen_util.hpp"
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namespace uav{
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class UavDubinsPathsegments{
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public:
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UavDubinsPathsegments()
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{
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FlightPathAngle = 0;
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AirSpeed = 10;
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MinTurningRadius = 18.6784;
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HelixRadius = 0;
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MotionTypes = 0;
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MotionLengths = {0 , 0 , 0 , 0};
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Length = 0;
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}
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void setMethod(std::vector<double> startPose, std::vector<double> goalPose,
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double flightPathAngle, double airSpeed, double minTurningRadius,
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double helixRadius, double motionTypes, std::vector<double> motionLengths)
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{
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StartPose = startPose;
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GoalPose = goalPose;
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FlightPathAngle = flightPathAngle;
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AirSpeed = airSpeed;
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MinTurningRadius = minTurningRadius;
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HelixRadius = helixRadius;
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MotionTypes = static_cast<int>(motionTypes);
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MotionLengths[0] = motionLengths[0];
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MotionLengths[1] = motionLengths[1];
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MotionLengths[2] = motionLengths[2];
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MotionLengths[3] = motionLengths[3];
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Length = 0;
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for(size_t i = 0 ; i < 4; i++)
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{
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Length += motionLengths[i];
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}
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}
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//Properties
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std::vector<double> StartPose;
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std::vector<double> GoalPose;
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double FlightPathAngle;
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double AirSpeed;
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double MinTurningRadius;
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double HelixRadius;
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double Length;
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int MotionTypes;
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std::vector<double> MotionLengths{0,0,0,0};
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};
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}
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#endif
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