This module contains robotic classes, which can be (for the moment) configurations (giving the robot's state) or path (giving the robot's motion). More...

This module contains robotic classes, which can be (for the moment) configurations (giving the robot's state) or path (giving the robot's motion).

Other classes' type will be added in later versions (robots, defining the robot itself, dynamic configurations and trajectories, adding time to geometry in configurations and paths, etc.).

Class iSeeML::rob::Object is inherited by all other robotic classes of ISeeML.
- A iSeeML::rob::OrPtConfig is a classical configuration for mobile robot, giving a position and an orientation.
  - A iSeeML::rob::CurvConfig is similar to previous configuration, with the addition of a curvature field for continuous-curvature planning.
- Class iSeeML::rob::Path is inherited by all path classes of ISeeML. It defines several virtual methods and a comparison method, common to all paths. As for geometric objects, paths can be separated in two sets:
  1. iSeeML::rob::BasicPath defines basic paths, from which more complex paths are made.
    - A iSeeML::rob::LinCurvPath is (in this version) the only basic path. Its curvature derivative (with respect to the arc length) is constant.
  2. A iSeeML::rob::CompoundPath is a compound path, represented by several basic paths.
    - A iSeeML::rob::DubinsLikePath is a path computed using Dubins' method. It is composed of iSeeML::rob::LinCurvPath.
      - A iSeeML::rob::DubinsPath is a Dubins' path, with a discontinuous curvature profile.
      - A iSeeML::rob::FscPath is very similar to a Dubins' path, except that its curvature profile is continuous.