Package trclib.pathdrive

Class TrcWaypoint

java.lang.Object
trclib.pathdrive.TrcWaypoint
public class TrcWaypoint extends Object
This class implements a waypoint. A waypoint specifies a point on a path that consists of a relative time step relative to the previous point, the x and y components of its position relative to a reference point, the encoder position, velocity and acceleration at this point.

  • Field Details

    • index

      public int index

    • timeStep

      public double timeStep

    • pose

      public TrcPose2D pose

    • encoderPosition

      public double encoderPosition

    • velocity

      public double velocity

    • acceleration

      public double acceleration

    • jerk

      public double jerk

    • simpleWaypoint

      private boolean simpleWaypoint

  • Constructor Details

    • TrcWaypoint

      public TrcWaypoint(double timeStep, TrcPose2D pose, double position, double velocity, double acceleration, double jerk)
      Constructor: Create an instance of the object.
      Parameters:
      timeStep - specifies the speed denomination in seconds.
      pose - specifies the pose in the path reference frame.
      position - specifies the encoder position at this points. (arc length)
      velocity - specifies the tangential velocity of the wheel at this point.
      acceleration - specifies the tangential acceleration at this point.
      jerk - specifies the tangential jerk at this point.

    • TrcWaypoint

      public TrcWaypoint(double timeStep, double x, double y, double heading, double position, double velocity, double acceleration, double jerk)
      Constructor: Create an instance of the object.
      Parameters:
      timeStep - specifies the speed denomination in seconds.
      x - specifies the x position in the path reference frame.
      y - specifies the y position in the path reference frame.
      heading - specifies the heading of the robot at this point.
      position - specifies the encoder position at this points. (arc length)
      velocity - specifies the tangential velocity of the wheel at this point.
      acceleration - specifies the tangential acceleration at this point.
      jerk - specifies the tangential jerk at this point.

    • TrcWaypoint

      public TrcWaypoint(double[] data)
      Constructor: Create an instance of the object.
      Parameters:
      data - specifies an array with 8 elements: timeStep, x, y, heading pos, vel, accel and jerk.
      Throws:
      ArrayIndexOutOfBoundsException - if array size is less than 8.

    • TrcWaypoint

      public TrcWaypoint(TrcWaypoint other)
      Copy constructor: Create a copy of the given object.
      Parameters:
      other - specifies the other object to be copied.

    • TrcWaypoint

      public TrcWaypoint(TrcPose2D pose, TrcPose2D velocity)
      Constructor: Create an instance of the object from a given 2D pose.
      Parameters:
      pose - specifies the position of the way point.
      velocity - specifies the velocity of the way point.

  • Method Details

    • toString

      public String toString()
      This method returns the string containing the information of the waypoint.
      Overrides:
      toString in class Object
      Returns:
      waypoint string.

    • clone

      public TrcWaypoint clone()
      Overrides:
      clone in class Object

    • loadPointsFromCsv

      public static TrcWaypoint[] loadPointsFromCsv(String path, boolean loadFromResources)
      This method loads waypoint data from a CSV file either on the external file system or attached resources.
      Parameters:
      path - specifies the file system path or resource name.
      loadFromResources - specifies true if the data is from attached resources, false if from file system.
      Returns:
      an array of waypoints.

    • getPositionPose

      public TrcPose2D getPositionPose()

    • distanceTo

      public double distanceTo(TrcWaypoint point)
      This method calculates the distance between this waypoint and the other waypoint.
      Parameters:
      point - specifies the other waypoint.
      Returns:
      distance to the other waypoint.