Path point with two boundary cones, provides cone classification into left/right boundaries. More...

#include <colorpoint.hpp>

Collaboration diagram for Colorpoint:

Public Member Functions
	Colorpoint ()=default
	Default constructor.

	Colorpoint (const Point &pt, Cone c1, Cone c2)
	Constructs a Colorpoint with a Point and two boundary cones.

Static Public Member Functions
static void	extract_cones (std::vector< Colorpoint > &colorpoints, std::vector< PathPoint > &yellow_cones, std::vector< PathPoint > &blue_cones)
	Extracts and classifies all cones from a sequence of colorpoints.

Public Attributes
Point	point
	The path point (midpoint between cones).

Cone	cone1
	First cone associated with this path point.

Cone	cone2
	Second cone associated with this path point.

Static Private Member Functions
static void	color_cones (Colorpoint &colorpoint, const Colorpoint &next_colorpoint, std::vector< PathPoint > &yellow_cones, std::vector< PathPoint > &blue_cones)
	Classifies the cones of a single colorpoint using the direction to the next point.

static void	color_last_point (std::vector< Colorpoint > &colorpoints, std::vector< PathPoint > &yellow_cones, std::vector< PathPoint > &blue_cones)
	Classifies the cones of the last colorpoint using a shared cone from the previous one.

static void	add_cones_by_reference (const Cone &reference_cone, Cone &matching_cone, Cone &other_cone, std::vector< PathPoint > &yellow_cones, std::vector< PathPoint > &blue_cones)
	Classifies a cone pair using a reference cone whose color is already known.

static void	color_pair_of_cones (Cone &yellow_cone, Cone &blue_cone, std::vector< PathPoint > &yellow_cones, std::vector< PathPoint > &blue_cones)
	Assigns colors to a cone pair and appends them to the output vectors.

Detailed Description

Path point with two boundary cones, provides cone classification into left/right boundaries.

Definition at line 25 of file colorpoint.hpp.

Constructor & Destructor Documentation

◆ Colorpoint() [1/2]

Colorpoint::Colorpoint ( )

default

Default constructor.

◆ Colorpoint() [2/2]

Colorpoint::Colorpoint	(	const Point &	pt,
		Cone	c1,
		Cone	c2
	)

inline

Constructs a Colorpoint with a Point and two boundary cones.

Parameters

pt	The Point
c1	The first boundary cone.
c2	The second boundary cone.

Definition at line 38 of file colorpoint.hpp.

Member Function Documentation

◆ add_cones_by_reference()

void Colorpoint::add_cones_by_reference	(	const Cone &	reference_cone,
		Cone &	matching_cone,
		Cone &	other_cone,
		std::vector< PathPoint > &	yellow_cones,
		std::vector< PathPoint > &	blue_cones
	)

staticprivate

Classifies a cone pair using a reference cone whose color is already known.

Parameters

reference_cone	A cone whose color is already determined, used as the classification anchor.
matching_cone	The cone in the last point that corresponds to the reference cone.
other_cone	The remaining cone in the last point, assigned the opposite color.
yellow_cones	Output vector for the right-side (yellow) cones.
blue_cones	Output vector for the left-side (blue) cones.

Definition at line 46 of file colorpoint.cpp.

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◆ color_cones()

void Colorpoint::color_cones	(	Colorpoint &	colorpoint,
		const Colorpoint &	next_colorpoint,
		std::vector< PathPoint > &	yellow_cones,
		std::vector< PathPoint > &	blue_cones
	)

staticprivate

Classifies the cones of a single colorpoint using the direction to the next point.

Parameters

colorpoint	The current colorpoint whose cones are to be classified.
next_colorpoint	The following colorpoint, used to determine path direction.
yellow_cones	Output vector for the right-side (yellow) cones.
blue_cones	Output vector for the left-side (blue) cones.

Definition at line 19 of file colorpoint.cpp.

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◆ color_last_point()

void Colorpoint::color_last_point	(	std::vector< Colorpoint > &	colorpoints,
		std::vector< PathPoint > &	yellow_cones,
		std::vector< PathPoint > &	blue_cones
	)

staticprivate

Classifies the cones of the last colorpoint using a shared cone from the previous one.

Parameters

colorpoints	The full sequence of colorpoints. Must contain at least 2 elements.
yellow_cones	Output vector for the right-side (yellow) cones.
blue_cones	Output vector for the left-side (blue) cones.

Definition at line 57 of file colorpoint.cpp.

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◆ color_pair_of_cones()

void Colorpoint::color_pair_of_cones	(	Cone &	yellow_cone,
		Cone &	blue_cone,
		std::vector< PathPoint > &	yellow_cones,
		std::vector< PathPoint > &	blue_cones
	)

staticprivate

Assigns colors to a cone pair and appends them to the output vectors.

Parameters

yellow_cone	The cone to be marked as yellow (right boundary).
blue_cone	The cone to be marked as blue (left boundary).
yellow_cones	Output vector for the right-side (yellow) cones.
blue_cones	Output vector for the left-side (blue) cones.

Definition at line 78 of file colorpoint.cpp.

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◆ extract_cones()

void Colorpoint::extract_cones	(	std::vector< Colorpoint > &	colorpoints,
		std::vector< PathPoint > &	yellow_cones,
		std::vector< PathPoint > &	blue_cones
	)

static

Extracts and classifies all cones from a sequence of colorpoints.

This method processes a vector of colorpoints representing the racing path and classifies each cone as either left (blue) or right (yellow) based on the path direction using cross product calculations.

Parameters

colorpoints	Vector of colorpoints defining the path.
yellow_cones	Output vector for right-side (yellow) cones.
blue_cones	Output vector for left-side (blue) cones.

Definition at line 3 of file colorpoint.cpp.

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Member Data Documentation

◆ cone1

Cone Colorpoint::cone1

First cone associated with this path point.

Definition at line 56 of file colorpoint.hpp.

◆ cone2

Cone Colorpoint::cone2

Second cone associated with this path point.

Definition at line 57 of file colorpoint.hpp.

◆ point

Point Colorpoint::point

The path point (midpoint between cones).

Definition at line 55 of file colorpoint.hpp.

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

src/planning/include/planning/colorpoint.hpp
src/planning/src/planning/colorpoint.cpp

Public Member Functions

Static Public Member Functions

Public Attributes

Static Private Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Colorpoint() [1/2]

◆ Colorpoint() [2/2]

Member Function Documentation

◆ add_cones_by_reference()

◆ color_cones()

◆ color_last_point()

◆ color_pair_of_cones()

◆ extract_cones()

Member Data Documentation

◆ cone1

◆ cone2

◆ point