tpspace

Apr 12, 2024

Changes in this version

+ func NewNonMatchingInputError(val1, val2 float64) error

+ type PTGCourseCorrection interface

+ CorrectionSolverIdx func() int

Feb 1, 2024

Changes in this version

type TrajNode

+ AngVel float64

+ LinVel float64

Jan 4, 2024

Changes in this version

+ func PTGIKSeed(ptg PTGSolver) []referenceframe.Input

Oct 30, 2023

Changes in this version

+ func PTGSegmentMetric(segment *ik.Segment) float64

Sep 14, 2023

Changes in this version

+ func NewPTGFrameFromKinematicOptions(name string, logger golog.Logger, ...) (referenceframe.Frame, error)

type PTG

+ func NewDiffDrivePTG(maxMMPS, maxRPS float64) PTG

+ Transform func([]referenceframe.Input) (spatialmath.Pose, error)

+ Velocities func(alpha, dist float64) (float64, float64, error)

type PTGProvider

+ PTGSolvers func() []PTGSolver

+ type PTGSolver interface

+ MaxDistance func() float64

+ Trajectory func(alpha, dist float64) ([]*TrajNode, error)

Sep 5, 2023

Changes in this version

+ func NewPTGFrameFromPTGFrame(frame referenceframe.Frame, refDist float64) (referenceframe.Frame, error)

+ func NewPTGFrameFromTurningRadius(name string, logger golog.Logger, velocityMMps, turnRadMeters, refDist float64, ...) (referenceframe.Frame, error)

type PTG

+ func NewPTGIK(simPTG PrecomputePTG, logger golog.Logger, refDist float64, randSeed int) (PTG, error)

+ MaxDistance func() float64

type PrecomputePTG

+ func NewSideSOverturnPTG(maxMMPS, maxRPS float64) PrecomputePTG

+ func NewSideSPTG(maxMMPS, maxRPS float64) PrecomputePTG

+ Transform func([]referenceframe.Input) (spatialmath.Pose, error)

type TrajNode

+ Alpha float64

+ func ComputePTG(simPTG PrecomputePTG, alpha, dist, diffT float64) ([]*TrajNode, error)

Jul 6, 2023

Changes in this version

type TrajNode

+ AngVelRPS float64

+ LinVelMMPS float64

Jun 22, 2023

Changes in this version

+ type PTG interface

+ CToTP func(x, y float64) []*TrajNode

+ RefDistance func() float64

+ Trajectory func(uint) []*TrajNode

+ func NewPTGGridSim(simPTG PrecomputePTG, arcs uint, simDist float64) (PTG, error)

+ type PTGProvider interface

+ PTGs func() []PTG

+ type PrecomputePTG interface

+ PTGVelocities func(alpha, t, x, y, phi float64) (float64, float64, error)

+ func NewAlphaPTG(maxMps, maxDps, k float64) PrecomputePTG

+ func NewCCPTG(maxMps, maxDps, k float64) PrecomputePTG

+ func NewCCSPTG(maxMps, maxDps, k float64) PrecomputePTG

+ func NewCSPTG(maxMps, maxDps, k float64) PrecomputePTG

+ func NewCirclePTG(maxMps, maxDps, k float64) PrecomputePTG

+ type TrajNode struct

+ Dist float64

+ K uint

+ Pose spatialmath.Pose

+ Time float64

+ V float64

+ W float64