orcapathplan Namespace Reference

Library useful for path planning applications. More...

Functions
void	convertAndAppend (const hydroogmap::OgMap &ogMap, const hydropathplan::Cell2DVector &input, orca::PathPlanner2dData &output, double firstHeading)
void	convertAndAppend (const hydroogmap::OgMap &ogMap, const hydropathplan::Cell2DVector &input, const std::vector< WaypointParameter > &wpPara, orca::PathPlanner2dData &output, double firstHeading=0.0)
	As above but also adds parameters.
void	setParameters (orca::PathPlanner2dData &pathData, const std::vector< WaypointParameter > &wpPara)
	Sets all parameters of pathData contained in vector wpPara.

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Detailed Description

Library useful for path planning applications.

This namespace is part of a library which contains classes and functions for ogmap based pathplanning.

See also:

libOrcaPathplan

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Function Documentation

void orcapathplan::convertAndAppend	(	const hydroogmap::OgMap &	ogMap,
		const hydropathplan::Cell2DVector &	input,
		orca::PathPlanner2dData &	output,
		double	firstHeading = 0.0
	)

Converts a path (cell vector in cell coordinate system) into the Slice-defined PathPlanner2dData (world coordinate system). Heading values are set in the direction of two connected waypoints. The first waypoint's heading can be specified optionally (0.0 by default). Will append input cells to the output path if output path already contains entries. Note that parameters are *not* set.