| Created: | 2015-07-31 오후 4:10:08 |
| Modified: | 2015-07-31 오후 4:10:08 |
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Public CPosture _c |
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Public int _curIndex |
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Private CMobilityProfile* _mp |
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Public int _noObstacles |
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Public CPosture _obstacles |
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Public double _rin |
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Public double _rout |
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Private double _safetyMarginFront |
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Private double _safetyMarginSide |
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Public sWayPoint _wp |
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Public int _wpSize |
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Private cartesian_regulation( v: double&,
w: double&,
robot: CPosture&,
follow: CPosture&,
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Sequential
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Private cartesian_regulation2( v: double&,
w: double&,
robot: CPosture&,
follow: CPosture&,
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Sequential
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Public CPathFollowing( mp: CMobilityProfile*,
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Sequential
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Public ~CPathFollowing(): |
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Sequential
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Private DetectCurveObstacle( robotPos: CPosture&,
curve: double,
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Sequential
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Private DetectFrontObstacle( robotPos: CPosture&,
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Sequential
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Private DetectObstacle( robotPos: CPosture&,
linearVel: double,
steerAngle: double,
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Sequential
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Private feedback_controller( v: double&,
w: double&,
robot: CPosture&,
follow: CPosture&,
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Sequential
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Public FollowPath( robotPos: CPosture&,
linearVel: double*,
steerAngle: double*,
obstacleDist: double*,
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Sequential
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Private MaxVelocityByCurvature( robotPos: CPosture&,
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Sequential
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Private MaxVelocityBySteeringAngle( angle: double,
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Sequential
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Private PassNearWaypoint( robotPos: CPosture&,
foreDist: double,
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Sequential
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Private posture_regulation( v: double&,
w: double&,
robot: CPosture&,
follow: CPosture&,
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Sequential
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Public Reset():void |
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Sequential
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Public SetPath( path: vector<vaWayPoint>&,
robotPos: CPosture&,
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Sequential
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| Element | Source Role | Target Role |
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CPosture Class |
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Name: _c |
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CMobilityProfile Class |
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Name: _mp |
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CPosture Class |
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Name: _obstacles |
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«struct» sWayPoint Class |
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Name: _wp |
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| Element | Source Role | Target Role |
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CNavigation Class |
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Name: _pathFollow |
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