DynamicObstacle Class Reference

Public Member Functions
Construction
	DynamicObstacle (Robot *const _robot, std::vector< Cfg > _path)
	DynamicObstacle (XMLNode &_node, MPProblem *const _problem)
	~DynamicObstacle ()
Accessors
Robot *	GetRobot () const noexcept
const std::vector< Cfg >	GetPath () const noexcept
const size_t	GetStartTime () const noexcept
void	SetStartTime (size_t _start)
	Set the obstacle start time.

Detailed Description

A model of a dynamic obstacle with a known trajectory.

The obstacle body and motion properties are modeled as a robot. The trajectory is interpreted as a sequence of configurations which the obstacle will assume starting from a specified start time and continuing at a rate of one Cfg per time step.

Constructor & Destructor Documentation

DynamicObstacle() [1/2]

DynamicObstacle::DynamicObstacle	(	Robot *const	_robot,
		std::vector< Cfg >	_path
	)

Construct a dynamic obstacle.

Parameters

_robot	The robot model for the obstacle.
_path	The obstacle's known trajectory.

DynamicObstacle() [2/2]

DynamicObstacle::DynamicObstacle	(	XMLNode &	_node,
		MPProblem *const	_problem
	)

Construct a dynamic obstacle from an XML node.

Parameters

_node	The XML node to parse.
_problem	The owning problem.

Member Function Documentation

GetRobot()

Robot * DynamicObstacle::GetRobot ( ) const

noexcept

Get the obstacle's robot model.

Returns

The robot model

GetPath()

const std::vector< Cfg > DynamicObstacle::GetPath ( ) const

noexcept

Get the obstacle's path.

Returns

The obstacle's path

GetStartTime()

const size_t DynamicObstacle::GetStartTime ( ) const

noexcept

Get the obstacle start time.

Returns

The obstacle's start time

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

• DynamicObstacle.h
• DynamicObstacle.cpp