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java.lang.Object lejos.robotics.navigation.ArcAlgorithms
public class ArcAlgorithms
The static methods in this class can be used to to calculate theoretical routes and for displaying graphical representations of the path of a robot. The methods getAvailablePaths() and getBestPath() are useful for this.
Method Summary | |
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static float |
distBetweenPoints(Point a,
Point b)
Calculates the distance between any two points. |
static Point |
findCircleCenter(Point p1,
float radius,
float heading)
Calculates the center of a circle that rests on the tangent of the vehicle's starting heading. |
static Point |
findP2(Point c,
Point p3,
float radius)
This method finds P2 if the vehicle is traveling to a point (with no heading). |
static Point |
findPointOnHeading(Point original,
float heading,
float distance)
Given a starting point and heading, this method will calculate another Point that is distance away from the first point. |
static float |
getArc(Point p1,
Point p2,
float radius,
float heading,
boolean forward)
If p1 is the starting point of the robot, and p2 is the point at which the robot is pointing directly at the target point, this method calculates the angle to travel along the circle (an arc) to get from p1 to p2. |
static float |
getArcBackward(float forwardArc)
Quick calculation of reverse arc instead of going through getArcLength() math again. |
static double |
getArcOld(Point p1,
Point p2,
double radius)
Deprecated. This method is no longer used because it can't calculate >180 angles. Delete any time. |
static Move[][] |
getAvailablePaths(Pose start,
float turnRadius1,
Pose destination,
float turnRadius2)
This method gets all the available paths given a start Pose and destination Post. |
static Move[][] |
getAvailablePaths(Pose start,
Point destination,
float turnRadius)
This method calculates the moves needed to drive from a starting Pose to a final Point. |
static Move[] |
getBestPath(Move[][] paths)
This helper method accepts a number of paths (an array of Move) and selects the shortest path. |
static Move[] |
getBestPath(Pose start,
float turnRadius1,
Pose destination,
float turnRadius2)
Find the shortest path for a steering vehicle between two points. |
static Move[] |
getBestPath(Pose start,
Point destination,
float radius)
This method generates the shortest path from a starting Pose to a final Point. |
static float |
getHeading(float oldHeading,
float changeInHeading)
Given the former heading and the change in heading, this method will calculate a new heading. |
static float |
getHeading(Point from,
Point to)
Calculates the heading designated by two points. |
static float |
getTriangleAngle(Point p1,
Point p2,
Point pa)
This method calculates the angle generated by three points. |
Methods inherited from class java.lang.Object |
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clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Method Detail |
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public static Move[] getBestPath(Pose start, float turnRadius1, Pose destination, float turnRadius2)
start
- The starting PoseturnRadius1
- The turning radius for the first arc.destination
- The destination PoseturnRadius2
- The turning radius for the final arc
public static Move[][] getAvailablePaths(Pose start, float turnRadius1, Pose destination, float turnRadius2)
start
- The starting PoseturnRadius1
- The turning radius for the first arcdestination
- The destination PoseturnRadius2
- The turning radius for the final arc
public static Move[][] getAvailablePaths(Pose start, Point destination, float turnRadius)
start
- The starting Posedestination
- The destination PointturnRadius
- The turn radius
public static Move[] getBestPath(Pose start, Point destination, float radius)
start
- The starting Posedestination
- The destination Pointradius
- The turn radius
public static Move[] getBestPath(Move[][] paths)
paths
- Any number of paths.
public static Point findPointOnHeading(Point original, float heading, float distance)
original
- The starting pointheading
- The heading of the pointdistance
- The distance away from this point to calculate a new point
public static float getTriangleAngle(Point p1, Point p2, Point pa)
p1
- An outer point, connects only with pa.p2
- An outer point, connects only with pa.pa
- The central point, connects with both p1 and p2.
public static float getHeading(float oldHeading, float changeInHeading)
oldHeading
- The old heading (original heading of robot) in degreeschangeInHeading
- The change in angle, in degrees.
public static float getArc(Point p1, Point p2, float radius, float heading, boolean forward)
p1
- Start positionp2
- Take-off point on the circleradius
- Radius of circle AKA the turnRadiusheading
- Start heading vehicle is pointed, in degrees.forward
- Will the vehicle be moving forward along the circle arc?
public static float getArcBackward(float forwardArc)
forwardArc
-
@Deprecated public static double getArcOld(Point p1, Point p2, double radius)
p1
- Start positionp2
- Take-off point on circleradius
- Radius of circle
public static float distBetweenPoints(Point a, Point b)
a
- The first pointb
- The second point
public static float getHeading(Point from, Point to)
from
- Starting point.to
- Final point.
public static Point findP2(Point c, Point p3, float radius)
c
- The center point of the turning circle.p3
- The final target pointradius
- The turn radius.
public static Point findCircleCenter(Point p1, float radius, float heading)
p1
- the starting point of the vehicle.radius
- Turning radius of vehicle. A negative value produces a circle to the right of the heading.heading
- Start heading of vehicle, in degrees (not radians).
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