larcfm::Route Class Reference

#include <Route.h>

Public Member Functions
	Route (const Route &gsp)
	Route (const Plan &lpc, int start, int end)
	Route (const Plan &lpc)
int	size () const
Position	position (int i) const
Position	positionFromDistance (double dist, bool linear) const
Position	positionFromDistance (int i, double dist, bool linear) const
std::string	name (int i) const
std::string	info (int i) const
double	radius (int i) const
void	add (const Position &pos, const std::string &label, const std::string &data)
void	add (const Position &pos, const std::string &label, const std::string &data, double rad)
void	add (int ix, const Position &pos, const std::string &label, const std::string &data, double rad)
void	add (const Route &p, int ix)
void	addAll (const Route &p)
void	set (int ix, const Position &pos, const std::string &label, const std::string &data, double)
void	remove (int i)
void	removeFirst ()
void	removeLast ()
Route	append (const Route &p2)
void	updateWithDefaultRadius (double default_radius)
int	findName (const std::string &nm, int startIx) const
int	findName (const std::string &nm) const
void	setName (int i, const std::string &name)
int	findInfo (const std::string &nm, int startIx) const
int	findInfo (const std::string &nm) const
void	setInfo (int i, const std::string &data)
void	setPosition (int i, const Position &pos)
void	setRadius (int i, double rad)
Route	copy () const
double	pathDistance (int i, int j, bool linear) const
double	pathDistance (bool linear) const
double	pathDistance () const
Position	positionFromDistance (double dist, double gs, double defaultBank, bool linear) const
Velocity	velocityFromDistance (double dist, double gs, double defaultBank, bool linear) const
Plan	linearPlan (double startTime, double gs) const
bool	equals (const Route &fp) const
std::string	toString () const
std::string	toString (double startTime, double gs) const

Static Public Member Functions
static Route	mkRoute (const Plan &fp, int start, int end, double radius)
static Route	mkRouteNamedOnly (const Plan &fp)
static Route	mkRoute (const Plan &fp, double radius)
static Route	mkRouteBankAngle (const Plan &fp, double bankAngle)
static Route	mkRouteCut (const Route &fp, int start, int end)

Static Public Attributes
static const std::string	virtualName = "$virtual"

Private Attributes
std::vector< std::string >	names
std::vector< std::string >	infos
std::vector< Position >	positions
std::vector< double >	radius_v

Detailed Description

A class (and tools) for creating a Route, that is, a sequence of 3D positions. Routes can be converted into Plans and vice versa.

Constructor & Destructor Documentation

Route() [1/2]

larcfm::Route::Route	(	const Plan &	lpc,
		int	start,
		int	end
	)

Creates a route from a linear plan, all points have radius 0.0

Parameters

lpc	linear plan
start	starting index
end	ending index

Route() [2/2]

larcfm::Route::Route

(

const Plan &

lpc

)

Create a route from a linear plan, all points have radius 0.0

Parameters

lpc	linear plan

Member Function Documentation

add() [1/3]

void larcfm::Route::add	(	const Position &	pos,
		const std::string &	label,
		const std::string &	data
	)

Add a position

Parameters

pos	position
label	label for point – if this equals Route.virtualName, then this will become a virtual point when make into a linear plan
data	data field for a point

add() [2/3]

void larcfm::Route::add	(	const Position &	pos,
		const std::string &	label,
		const std::string &	data,
		double	rad
	)

Parameters

pos	position
label	label for point – if this equals Route.virtualName, then this will become a virtual point when make into a linear plan

add() [3/3]

void larcfm::Route::add	(	int	ix,
		const Position &	pos,
		const std::string &	label,
		const std::string &	data,
		double	rad
	)

Add a position

Parameters

ix	index
pos	position
label	label for point – if this equals Route.virtualName, then this will become a virtual point when make into a linear plan
data	data field for a point
rad	radius

equals()

bool larcfm::Route::equals

(

const Route &

fp

)

const

test equality of GsPlans

Parameters

fp	another route

Returns

true, if equal

findName() [1/2]

int larcfm::Route::findName

(

const std::string &

nm

)

const

Return the index of first point that has a label equal to the given string -1 if there are no matches.

Parameters

nm	String to match

Returns

index of matching label

findName() [2/2]

int larcfm::Route::findName	(	const std::string &	nm,
		int	startIx
	)		const

Return the index of first point that has a label equal to the given string -1 if there are no matches.

Parameters

nm	String to match
startIx	index to begin searching

Returns

index of matching label

linearPlan()

Plan larcfm::Route::linearPlan	(	double	startTime,
		double	gs
	)		const

Create a linear plan from this route using a constant ground speed "gs". It will copy the radius information into the plan.

Parameters

startTime	The time that will be assigned to point 0
gs	ground speed to use

Returns

linear plan with a constant ground speed

mkRoute() [1/2]

Route larcfm::Route::mkRoute ( const Plan &  fp, double  radius  )

static

Create a route from a linear plan and make all radii have the value "radius"

Parameters

fp	source plan
radius	radius to be used at every vertex (for path distance calculations)

Returns

new route

mkRoute() [2/2]

Route larcfm::Route::mkRoute ( const Plan &  fp, int  start, int  end, double  radius  )

static

Create a route from a linear plan and calculate radii using "radius"

Parameters

fp	linear plan
start	starting index
end	ending index
radius	this radius value is inserted at all vertex points (used in path distance calculations)

Returns

route generated from linear plan

mkRouteBankAngle()

Route larcfm::Route::mkRouteBankAngle ( const Plan &  fp, double  bankAngle  )

static

Create a route from a linear plan and calculate radii using "bankAngle" NOTE: If a radius is already stored in the source plan, this will not overwrite it

Parameters

fp	source plan
bankAngle	bank angle used to calculate radii values (used in path distance calculations)

Returns

Route generated from a linear plan fp, radii added to vertexs

mkRouteCut()

Route larcfm::Route::mkRouteCut ( const Route &  fp, int  start, int  end  )

static

Create a route which is a subset of the given route (from the starting index, to the ending index)

Parameters

fp	source route
start	starting index
end	ending index

Returns

new route

mkRouteNamedOnly()

Route larcfm::Route::mkRouteNamedOnly ( const Plan &  fp )

static

Create a route from a plan fp using only the named points. All other points are discarded

Parameters

fp	source plan

Returns

route constructed from named points in plan "fp"

pathDistance()

double larcfm::Route::pathDistance	(	int	i,
		int	j,
		bool	linear
	)		const

Find the path distance between the given starting and ending indexes

Parameters

i	starting index
j	ending index
linear	if true, use linear distance

Returns

distance from i to j; returns -1 if the Route is ill-formed

Note: the distance is from MOT to MOT if linear = false and indices are vertices

positionFromDistance()

Position larcfm::Route::positionFromDistance	(	double	dist,
		double	gs,
		double	defaultBank,
		bool	linear
	)		const

Position along the route

Parameters

dist	distance to query
gs	ground speed (must be greater than zero, but otherwise only used for turn generation)
defaultBank	default bank angle for turns (overridden by radius info)
linear	true to remain linear, false to generate turns.

Returns

Position at distance (does not incorporate vertical or ground speed accelerations)

velocityFromDistance()

Velocity larcfm::Route::velocityFromDistance	(	double	dist,
		double	gs,
		double	defaultBank,
		bool	linear
	)		const

Velocity along the route (primarily track)

Parameters

dist	distance to query
gs	ground speed (must be greater than zero, but otherwise only used for turn generation)
defaultBank	default bank angle for turns (overridden by radius info)
linear	true to remain linear, false to generate turns.

Returns

Velocity at distance (does not incorporate vertical or ground speed accelerations)

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

• Modules/ACCoRD/inc/Route.h
• Modules/ACCoRD/src/Route.cpp