WaypointList Class Reference

Stores and manages a list of 3D waypoints for trajectory following or mission execution. More...

#include <waypoint_list.h>

Public Member Functions
	WaypointList ()
	WaypointList (const std::vector< easy3d::vec3 > &waypoints)
	Constructor to initialize the waypoint list.
const easy3d::vec3 &	currentWaypoint () const
	Returns the currently active waypoint.
void	advanceToNext ()
	Advances the pointer to the next waypoint. If already at the last waypoint, it will stay there.
bool	missionComplete () const
	Checks whether all waypoints have been processed.
void	draw (easy3d::Viewer &viewer) const
	Renders the waypoints in the provided Easy3D viewer.
const std::vector< easy3d::vec3 > &	getWaypoints () const

Private Attributes
std::vector< easy3d::vec3 >	waypoints_
	List of waypoints in 3D space.
size_t	current_index_
	Index of the current active waypoint.

Detailed Description

Stores and manages a list of 3D waypoints for trajectory following or mission execution.

This class is responsible for holding a sequence of spatial waypoints (easy3d::vec3) and tracking progress through them. It allows you to:

• Retrieve the current waypoint
• Move to the next waypoint
• Check if all waypoints are completed
• Visualize them in an Easy3D viewer

Constructor & Destructor Documentation

WaypointList() [1/2]

WaypointList::WaypointList

(

)

WaypointList() [2/2]

WaypointList::WaypointList

(

const std::vector< easy3d::vec3 > &

waypoints

)

Constructor to initialize the waypoint list.

Constructs a WaypointList with the provided set of waypoints.

Parameters

waypoints	A vector of 3D coordinates representing waypoints in space.
waypoints	A vector of 3D points representing the mission trajectory.

Member Function Documentation

advanceToNext()

void WaypointList::advanceToNext

(

)

Advances the pointer to the next waypoint. If already at the last waypoint, it will stay there.

Advances the mission to the next waypoint, if available. If the current waypoint is the last one, no change occurs.

currentWaypoint()

const easy3d::vec3 & WaypointList::currentWaypoint

(

)

const

Returns the currently active waypoint.

Retrieves the current active waypoint in the mission.

Returns

A constant reference to the current waypoint.

A reference to the current waypoint (as a 3D vector).

draw()

void WaypointList::draw

(

easy3d::Viewer &

viewer

)

const

Renders the waypoints in the provided Easy3D viewer.

Visualizes all waypoints in the viewer as yellow points.

Parameters

viewer

Reference to the Easy3D viewer for rendering the points.

This function adds a PointsDrawable to the viewer to render all mission waypoints. Each point appears with a fixed size and color.

Parameters

viewer

Reference to the Easy3D viewer for rendering.

getWaypoints()

const std::vector< easy3d::vec3 > & WaypointList::getWaypoints ( ) const

inline

missionComplete()

bool WaypointList::missionComplete

(

)

const

Checks whether all waypoints have been processed.

Checks whether the mission has reached or passed the final waypoint.

Returns

True if the mission is complete (i.e., no more waypoints left).

True if the current waypoint is the last in the list; otherwise, false.

Member Data Documentation

current_index_

size_t WaypointList::current_index_

private

Index of the current active waypoint.

waypoints_

std::vector<easy3d::vec3> WaypointList::waypoints_

private

List of waypoints in 3D space.

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The documentation for this class was generated from the following files:

• include/gnc/waypoint_list.h
• src/gnc/waypoint_list.cpp