Skidpad Class Reference

class that defines the skidpad path algorithm More...

#include <skidpad.hpp>

Collaboration diagram for Skidpad:

Public Member Functions
	Skidpad ()=default
	Skidpad (SkidpadConfig config)
std::vector< PathPoint >	skidpad_path (const std::vector< Cone > &cone_array, common_lib::structures::Pose pose)
	Generate a path for skidpad course.

Private Member Functions
Eigen::Matrix4f	align_cones_with_icp (const std::vector< Cone > &cone_array)
	Aligns detected cones with reference cones using ICP.
size_t	find_closest_path_index (const std::vector< PathPoint > &path, const common_lib::structures::Pose &pose)
	Finds the closest point index in a path to a given pose.

Private Attributes
SkidpadConfig	config_
bool	skidpad_data_loaded_ = false
std::vector< std::pair< double, double > >	reference_cones_
std::vector< PathPoint >	hardcoded_path_
std::vector< PathPoint >	predefined_path_

Detailed Description

class that defines the skidpad path algorithm

Definition at line 23 of file skidpad.hpp.

Constructor & Destructor Documentation

Skidpad() [1/2]

Skidpad::Skidpad ( )

default

Skidpad() [2/2]

Skidpad::Skidpad ( SkidpadConfig  config )

inlineexplicit

Definition at line 28 of file skidpad.hpp.

Member Function Documentation

align_cones_with_icp()

Eigen::Matrix4f Skidpad::align_cones_with_icp ( const std::vector< Cone > &  cone_array )

private

Aligns detected cones with reference cones using ICP.

Parameters

cone_array

Detected cones

Returns

Eigen::Matrix4f Transformation matrix, or identity if ICP fails

Definition at line 18 of file skidpad.cpp.

Here is the caller graph for this function:

find_closest_path_index()

size_t Skidpad::find_closest_path_index ( const std::vector< PathPoint > &  path, const common_lib::structures::Pose &  pose  )

private

Finds the closest point index in a path to a given pose.

Parameters

path	Path to search
pose	Reference pose

Returns

size_t Index of closest point

Definition at line 60 of file skidpad.cpp.

Here is the caller graph for this function:

skidpad_path()

std::vector< PathPoint > Skidpad::skidpad_path	(	const std::vector< Cone > &	cone_array,
		common_lib::structures::Pose	pose
	)

Generate a path for skidpad course.

Parameters

cone_array	The array of cones representing the track
pose	The current pose of the vehicle

Returns

std::vector<PathPoint> The generated path

Definition at line 85 of file skidpad.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

Member Data Documentation

config_

SkidpadConfig Skidpad::config_

private

Definition at line 41 of file skidpad.hpp.

hardcoded_path_

std::vector<PathPoint> Skidpad::hardcoded_path_

private

Definition at line 45 of file skidpad.hpp.

predefined_path_

std::vector<PathPoint> Skidpad::predefined_path_

private

Definition at line 46 of file skidpad.hpp.

reference_cones_

std::vector<std::pair<double, double> > Skidpad::reference_cones_

private

Definition at line 44 of file skidpad.hpp.

skidpad_data_loaded_

bool Skidpad::skidpad_data_loaded_ = false

private

Definition at line 43 of file skidpad.hpp.

---

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

• src/planning/include/planning/skidpad.hpp
• src/planning/src/planning/skidpad.cpp