#include "nav_parametric_2d_bezier_splines.h"
#include "modules/guidance/gvf_parametric/gvf_parametric.h"

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Macros
#define	GVF_PARAMETRIC_2D_BEZIER_SPLINES_KX 2.0

#define	GVF_PARAMETRIC_2D_BEZIER_SPLINES_KY 2.0

Functions
static void	create_bezier_spline (bezier_t bezier, float px, float *py)

bool	nav_gvf_parametric_2D_bezier_run (void)

bool	nav_gvf_parametric_2D_bezier_wp (uint8_t first_wp)

Variables
gvf_par_2d_bezier_par	gvf_parametric_2d_bezier_par

bezier_t	gvf_bezier_2D [GVF_PARAMETRIC_2D_BEZIER_N_SEG]

Macro Definition Documentation

◆ GVF_PARAMETRIC_2D_BEZIER_SPLINES_KX

#define GVF_PARAMETRIC_2D_BEZIER_SPLINES_KX 2.0

Definition at line 25 of file nav_parametric_2d_bezier_splines.c.

◆ GVF_PARAMETRIC_2D_BEZIER_SPLINES_KY

#define GVF_PARAMETRIC_2D_BEZIER_SPLINES_KY 2.0

Definition at line 29 of file nav_parametric_2d_bezier_splines.c.

Function Documentation

◆ create_bezier_spline()

static void create_bezier_spline	(	bezier_t *	bezier,
		float *	px,
		float *	py
	)

static

Definition at line 41 of file nav_parametric_2d_bezier_splines.c.

References foo, GVF_PARAMETRIC_2D_BEZIER_N_SEG, and bezier_t::p0.

Referenced by nav_gvf_parametric_2D_bezier_wp().

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◆ nav_gvf_parametric_2D_bezier_run()

bool nav_gvf_parametric_2D_bezier_run ( void )

Definition at line 64 of file nav_parametric_2d_bezier_splines.c.

References BEZIER_2D, foo, gvf_bezier_2D, gvf_parametric_2d_bezier_par, gvf_parametric_2d_bezier_splines_info(), gvf_parametric_control, gvf_parametric_control_2D(), gvf_parametric_trajectory, gvf_par_2d_bezier_par::kx, gvf_par_2d_bezier_par::ky, gvf_parametric_tra::type, and gvf_parametric_con::w.

Referenced by nav_gvf_parametric_2D_bezier_wp().

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◆ nav_gvf_parametric_2D_bezier_wp()

bool nav_gvf_parametric_2D_bezier_wp ( uint8_t first_wp )

Definition at line 77 of file nav_parametric_2d_bezier_splines.c.

References gvf_parametric_con::beta, create_bezier_spline(), foo, gvf_bezier_2D, GVF_PARAMETRIC_2D_BEZIER_N_SEG, gvf_parametric_2d_bezier_par, gvf_parametric_control, gvf_parametric_telemetry, gvf_parametric_trajectory, gvf_par_2d_bezier_par::kx, gvf_par_2d_bezier_par::ky, nav_gvf_parametric_2D_bezier_run(), gvf_parametric_tra::p_len, gvf_parametric_tra::p_parametric, gvf_parametric_tel::splines_ctr, gvf_parametric_con::w, WaypointX, and WaypointY.

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Variable Documentation

◆ gvf_bezier_2D

bezier_t gvf_bezier_2D[GVF_PARAMETRIC_2D_BEZIER_N_SEG]

Definition at line 36 of file nav_parametric_2d_bezier_splines.c.

Referenced by nav_gvf_parametric_2D_bezier_run(), and nav_gvf_parametric_2D_bezier_wp().

◆ gvf_parametric_2d_bezier_par

gvf_par_2d_bezier_par gvf_parametric_2d_bezier_par

Initial value:

= {
  GVF_PARAMETRIC_2D_BEZIER_SPLINES_KX, GVF_PARAMETRIC_2D_BEZIER_SPLINES_KY
}

Definition at line 32 of file nav_parametric_2d_bezier_splines.c.