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Paths

PathPlanner2D

Plans a path in two-dimensional space, using a coarse path consisting of at least a start waypoint and an end waypoint as a base.

Inputs

None.

Outputs

Port name Purpose Data
Path Most recent path created by the planner. Path2D

Path2D [#p355c063]

Member Type Description
time Time Time stamp.
waypoints sequence<Waypoint2D> The sequence of waypoints that make up the path.

Waypoint2D [#c5d1acb2]

Member Type Description
target Pose2D Location of the waypoint.
distanceTolerance double How far away from the waypoint is considered success.
headingTolerance double How much off the desired heading is considered success.
timeLimit Time When to arrive at the waypoint by.
maxSpeed Pose2D Maximum speed to travel at while heading to the waypoint.

Services

Port name Purpose Parameters Return data
SetTask Set the coarse path that should be followed (minimum of two waypoints: start and end). sequence<Waypoint2D> coarsePath None

PathPlanner3D

Plans a path in three-dimensional space, using a coarse path consisting of at least a start waypoint and an end waypoint as a base.

Inputs

None.

Outputs

Port name Purpose Data
Path Most recent path created by the planner. Path3D

Path3D

Member Type Description
time Time Time stamp.
waypoints sequence<Waypoint3D> The sequence of waypoints that make up the path.

Waypoint3D

Member Type Description
target Pose3D Location of the waypoint.
distanceTolerance double How far away from the waypoint is considered success.
angularTolerance double How much off the desired angles is considered success.
timeLimit Time When to arrive at the waypoint by.
maxSpeed Pose3D Maximum speed to travel at while heading to the waypoint.

Services

Port name Purpose Parameters Return data
SetTask Set the coarse path that should be followed (minimum of two waypoints: start and end). sequence<Waypoint3D> coarsePath None

PathFollower2D

Follows a provided 2D path, attempting to meet speed and time constraints as it travels between each waypoint.

Inputs

None.

Outputs

Port name Purpose Data
Path Current path being followed. Path2D
Complete Signals the final waypoint as been reached. TimedBoolean

Services

Port name Purpose Parameters Return data
SetPath Set the path that should be followed (minimum of two waypoints: start and end). sequence<Waypoint2D> path None
Enable Begin following the path. boolean enable None
GetCurrentWaypointIndex Get the index of the waypoint currently being targetted. None unsigned short
GetCurrentWaypoint Get the waypoint currently being targetted. None Waypoint2D

PathFollower3D

Follows a provided 3D path, attempting to meet speed and time constraints as it travels between each waypoint.

Inputs

None.

Outputs

Port name Purpose Data
Path Current path being followed. Path3D
Complete Signals the final waypoint as been reached. TimedBoolean

Services

Port name Purpose Parameters Return data
SetPath Set the path that should be followed (minimum of two waypoints: start and end). sequence<Waypoint3D> path None
Enable Begin following the path. boolean enable None
CurrentWaypointIndex Get the index of the waypoint currently being targetted. None unsigned short
CurrentWaypoint Get the waypoint currently being targetted. None Waypoint3D
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