A simple path class that holds a sequence of waypoints. Each waypoint is e.g. a coordinate (e.g., x,y,z) that the robot should follow. The path can be used for navigation, motion planning, or trajectory execution. It provides methods to add waypoints. More...

#include <Path.h>

Public Member Functions
	Path ()=default
	Default constructor.

template<typename... Args>
	Path (const Args &... args)
	Construct a path from a variable number of waypoints.

	Path (const std::vector< CoordinateT > &waypoints)
	Construct a path from a vector of waypoints.

void	addWaypoint (const CoordinateT &waypoint)
	Add a single waypoint to the path.

void	addWaypoints (const std::vector< CoordinateT > &new_waypoints)
	Add multiple waypoints from a vector.

void	addWaypoints ()
	Helper for variadic addWaypoints (base case)

template<typename First , typename... Rest>
void	addWaypoints (const First &first, const Rest &... rest)
	Helper for variadic addWaypoints (recursive case)

void	setWaypoints (const std::vector< CoordinateT > &new_waypoints)
	Replace all waypoints with a new vector.

bool	setWaypoint (int pos, const CoordinateT &waypoint)
	Set a waypoint at a specific position.

std::vector< CoordinateT, AllocatorT >	getWaypoints () const
	Get all waypoints as a vector.

std::optional< CoordinateT >	getWaypoint (size_t index) const
	Get a waypoint by index (returns std::nullopt if out of bounds)

std::optional< CoordinateT >	getLastWaypoint () const
	Get the last waypoint (returns std::nullopt if empty)

bool	removeHead ()
	Remove the first waypoint in the path (e.g., after reaching it). Returns true if a waypoint was removed, false if the path was already empty.

CoordinateT &	operator[] (size_t index)
	Non-const index operator.

const CoordinateT &	operator[] (size_t index) const
	Const index operator.

size_t	size () const
	Get the number of waypoints.

bool	isEmpty () const
	Check if the path is empty.

void	reverse ()
	Reverse the order of waypoints.

void	clear ()
	Remove all waypoints.

float	distance () const
	Calculate the total distance.

Protected Attributes
std::vector< CoordinateT, AllocatorT >	waypoints

Detailed Description

template<typename CoordinateT = Coordinate<DistanceM>, typename AllocatorT = AllocatorPSRAM<CoordinateT>>
class tinyrobotics::Path< CoordinateT, AllocatorT >

A simple path class that holds a sequence of waypoints. Each waypoint is e.g. a coordinate (e.g., x,y,z) that the robot should follow. The path can be used for navigation, motion planning, or trajectory execution. It provides methods to add waypoints.

Template Parameters

T	Coordinate e.g. GPSCoordinate, Coordinate, ScheduledWayPoint, WayPointAndSpeed etc.

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

src/TinyRobotics/planning/Path.h

Public Member Functions

Protected Attributes

Detailed Description