nav_line.h File Reference

#include "modules/guidance/trajectories/gvf_traj.h"
#include "math/pprz_algebra_float.h"

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Data Structures
struct	gvf_li_par
struct	gvf_seg_par

Functions
bool	nav_gvf_line_XY_heading (float x, float y, float heading)
bool	nav_gvf_line_wp_heading (uint8_t wp, float heading)
bool	nav_gvf_line_XY1_XY2 (float x1, float y1, float x2, float y2)
bool	nav_gvf_line_wp1_wp2 (uint8_t wp1, uint8_t wp2)
bool	nav_gvf_segment_loop_XY1_XY2 (float x1, float y1, float x2, float y2, float d1, float d2)
bool	nav_gvf_segment_loop_wp1_wp2 (uint8_t wp1, uint8_t wp2, float d1, float d2)
bool	nav_gvf_segment_XY1_XY2 (float x1, float y1, float x2, float y2)
bool	nav_gvf_segment_wp1_wp2 (uint8_t wp1, uint8_t wp2)
bool	nav_gvf_segment_points (struct FloatVect2 start, struct FloatVect2 end)

Variables
gvf_li_par	gvf_line_par
gvf_seg_par	gvf_segment_par

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Data Structure Documentation

gvf_li_par

struct gvf_li_par

Definition at line 41 of file nav_line.h.

Data Fields
float	heading
float	ke
float	kn

gvf_seg_par

struct gvf_seg_par

Definition at line 52 of file nav_line.h.

Data Fields
float	d1
float	d2

Function Documentation

nav_gvf_line_wp1_wp2()

bool nav_gvf_line_wp1_wp2 ( uint8_t  wp1, uint8_t  wp2  )

extern

Definition at line 161 of file nav_line.c.

References foo, gvf_p_len_wps, gvf_trajectory, nav_gvf_line_XY1_XY2(), gvf_tra::p, WaypointX, and WaypointY.

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nav_gvf_line_wp_heading()

bool nav_gvf_line_wp_heading ( uint8_t  wp, float  heading  )

extern

Definition at line 127 of file nav_line.c.

References b, foo, heading, nav_gvf_line_XY_heading(), WaypointX, and WaypointY.

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nav_gvf_line_XY1_XY2()

bool nav_gvf_line_XY1_XY2 ( float  x1, float  y1, float  x2, float  y2  )

extern

Definition at line 137 of file nav_line.c.

References foo, gvf_p_len_wps, gvf_segment, gvf_trajectory, nav_gvf_line_XY_heading(), gvf_tra::p, gvf_seg::seg, gvf_seg::x1, gvf_seg::x2, gvf_seg::y1, and gvf_seg::y2.

Referenced by nav_gvf_line_wp1_wp2(), and nav_gvf_segment_XY1_XY2().

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nav_gvf_line_XY_heading()

bool nav_gvf_line_XY_heading ( float  a, float  b, float  heading  )

extern

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Definition at line 120 of file nav_line.c.

References b, gvf_line(), gvf_set_direction(), and heading.

Referenced by nav_gvf_line_wp_heading(), and nav_gvf_line_XY1_XY2().

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nav_gvf_segment_loop_wp1_wp2()

bool nav_gvf_segment_loop_wp1_wp2 ( uint8_t  wp1, uint8_t  wp2, float  d1, float  d2  )

extern

Definition at line 201 of file nav_line.c.

References d1, d2, foo, gvf_p_len_wps, gvf_trajectory, nav_gvf_segment_loop_XY1_XY2(), gvf_tra::p, WaypointX, and WaypointY.

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nav_gvf_segment_loop_XY1_XY2()

bool nav_gvf_segment_loop_XY1_XY2 ( float  x1, float  y1, float  x2, float  y2, float  d1, float  d2  )

extern

Definition at line 177 of file nav_line.c.

References alpha, d1, d2, foo, gvf_line(), gvf_segment, gvf_set_direction(), out_of_segment_area(), s, gvf_seg::seg, gvf_seg::x1, gvf_seg::x2, gvf_seg::y1, and gvf_seg::y2.

Referenced by nav_gvf_segment_loop_wp1_wp2().

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nav_gvf_segment_points()

bool nav_gvf_segment_points ( struct FloatVect2  start, struct FloatVect2  end  )

extern

Definition at line 253 of file nav_line.c.

References nav_gvf_segment_XY1_XY2(), FloatVect2::x, and FloatVect2::y.

Referenced by nav_gvf_survey_polygon_run().

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nav_gvf_segment_wp1_wp2()

bool nav_gvf_segment_wp1_wp2 ( uint8_t  wp1, uint8_t  wp2  )

extern

Definition at line 239 of file nav_line.c.

References foo, gvf_p_len_wps, gvf_trajectory, nav_gvf_segment_XY1_XY2(), gvf_tra::p, WaypointX, and WaypointY.

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nav_gvf_segment_XY1_XY2()

bool nav_gvf_segment_XY1_XY2 ( float  x1, float  y1, float  x2, float  y2  )

extern

Definition at line 217 of file nav_line.c.

References foo, nav_gvf_line_XY1_XY2(), p, and stateGetPositionEnu_f().

Referenced by nav_gvf_segment_points(), and nav_gvf_segment_wp1_wp2().

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Variable Documentation

gvf_line_par

gvf_li_par gvf_line_par

extern

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Definition at line 53 of file nav_line.c.

Referenced by gvf_line().

gvf_segment_par

gvf_seg_par gvf_segment_par

extern

Definition at line 54 of file nav_line.c.