squiggles Namespace Reference

Copyright 2020 Jonathan Bayless. More...

Classes
struct	Constraints
class	ControlVector
class	PassthroughModel
class	PhysicalModel
class	Pose
struct	ProfilePoint
class	QuinticPolynomial
class	SplineGenerator
class	TankModel

Functions
int	serialize_path (std::ostream &out, std::vector< ProfilePoint > path)
	Writes the path data to a CSV file.
std::optional< std::vector< ProfilePoint > >	deserialize_path (std::istream &in)
	Converts CSV data into a path.
std::optional< std::vector< ProfilePoint > >	deserialize_pathfinder_path (std::istream &left, std::istream &right)
	Converts CSV data from the Pathfinder library's format to a Squiggles path.
template<class T >
int	sgn (T v)
	Returns the sign value of the given value.
bool	nearly_equal (const double &a, const double &b, double epsilon=1e-5)

Detailed Description

Copyright 2020 Jonathan Bayless.

Use of this source code is governed by an MIT-style license that can be found in the LICENSE file or at https://opensource.org/licenses/MIT.

Function Documentation

deserialize_path()

std::optional< std::vector< ProfilePoint > > squiggles::deserialize_path

(

std::istream &

in

)

Converts CSV data into a path.

Parameters

in	The input stream containing the CSV data. This is usually a file.

Returns

The path specified by the CSV data or std::nullopt if de-serializing the path was unsuccessful.

deserialize_pathfinder_path()

std::optional< std::vector< ProfilePoint > > squiggles::deserialize_pathfinder_path	(	std::istream &	left,
		std::istream &	right
	)

Converts CSV data from the Pathfinder library's format to a Squiggles path.

NOTE: this code translates data from Jaci Brunning's Pathfinder library. The source for that library can be found at: https://github.com/JaciBrunning/Pathfinder/

Parameters

left	The input stream containing the left wheels' CSV data. This is usually a file.
right	The input stream containing the right wheels' CSV data. This is usually a file.

Returns

The path specified by the CSV data or std::nullopt if de-serializing the path was unsuccessful.

nearly_equal()

bool squiggles::nearly_equal ( const double &  a, const double &  b, double  epsilon = 1e-5  )

inline

Definition at line 25 of file utils.hpp.

serialize_path()

int squiggles::serialize_path	(	std::ostream &	out,
		std::vector< ProfilePoint >	path
	)

Writes the path data to a CSV file.

Parameters

out	The output stream to write the CSV data to. This is usually a file.
path	The path to serialized

Returns

0 if the path was serialized succesfully or -1 if an error occurred.

sgn()

template<class T >

int squiggles::sgn ( T  v )

inline

Returns the sign value of the given value.

Returns

1 if the value is positive, -1 if the value is negative, and 0 if the value is 0.

Definition at line 20 of file utils.hpp.