hpm_mcl_path_plan.h File Reference

#include "hpm_mcl_common.h"

Go to the source code of this file.

Data Structures
struct	path_plan_t_cure_cfg_t
	Trapezoidal Curve Configuration. More...
struct	mcl_path_plan_cfg_t
	Configuration of path planning. More...
struct	mcl_path_plan_t
	Running data for path planning. More...

Functions
hpm_mcl_stat_t	hpm_mcl_path_init (mcl_path_plan_t *path, mcl_path_plan_cfg_t *cfg, mcl_cfg_t *mcl)
	Initialising the data structure for path planning. More...
hpm_mcl_stat_t	hpm_mcl_path_update_t_cure (mcl_path_plan_t *path, path_plan_t_cure_cfg_t *cfg)
	Updating data for trapezoidal curves. More...
float	hpm_mcl_path_get_current_theta (mcl_path_plan_t *path)
	Get the angle value after path planning. More...
float	hpm_mcl_path_get_next_theta (mcl_path_plan_t *path)
	Get the next angle value after path planning. More...
float	hpm_mcl_path_get_last_theta (mcl_path_plan_t *path)
	Get the last angle value after path planning. More...
hpm_mcl_stat_t	hpm_mcl_path_t_cure_generate (mcl_path_plan_t *path)
	Generate trapezoidal curves, which need to be called periodically, at the same time as the loop_ts configuration. More...
bool	hpm_mcl_path_t_cure_complete (mcl_path_plan_t *path)
	Get whether the curve is complete or not. More...

Function Documentation

hpm_mcl_path_get_current_theta()

float hpm_mcl_path_get_current_theta

(

mcl_path_plan_t *

path

)

Get the angle value after path planning.

Parameters

path	mcl_path_plan_t

Returns

theta, rad

hpm_mcl_path_get_last_theta()

float hpm_mcl_path_get_last_theta

(

mcl_path_plan_t *

path

)

Get the last angle value after path planning.

Parameters

path	mcl_path_plan_t

Returns

theta, rad

hpm_mcl_path_get_next_theta()

float hpm_mcl_path_get_next_theta

(

mcl_path_plan_t *

path

)

Get the next angle value after path planning.

Parameters

path	mcl_path_plan_t

Returns

theta, rad

hpm_mcl_path_init()

hpm_mcl_stat_t hpm_mcl_path_init	(	mcl_path_plan_t *	path,
		mcl_path_plan_cfg_t *	cfg,
		mcl_cfg_t *	mcl
	)

Initialising the data structure for path planning.

Parameters

path	mcl_path_plan_t
cfg	mcl_path_plan_cfg_t
mcl	mcl_cfg_t

Returns

hpm_mcl_stat_t

hpm_mcl_path_t_cure_complete()

bool hpm_mcl_path_t_cure_complete

(

mcl_path_plan_t *

path

)

Get whether the curve is complete or not.

Parameters

path	mcl_path_plan_t

Returns

true The generation of the current curve has been completed

false Current curve generation in progress

hpm_mcl_path_t_cure_generate()

hpm_mcl_stat_t hpm_mcl_path_t_cure_generate

(

mcl_path_plan_t *

path

)

Generate trapezoidal curves, which need to be called periodically, at the same time as the loop_ts configuration.

Parameters

path	mcl_path_plan_t

Returns

hpm_mcl_stat_t

hpm_mcl_path_update_t_cure()

hpm_mcl_stat_t hpm_mcl_path_update_t_cure	(	mcl_path_plan_t *	path,
		path_plan_t_cure_cfg_t *	cfg
	)

Updating data for trapezoidal curves.

Parameters

path	mcl_path_plan_t
cfg	path_plan_t_cure_cfg_t

Returns

hpm_mcl_stat_t