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Trajectories

In Move3D, the trajectory is described by a sequence of elementary curves (typically straight line segments in the configuration space, arcs of circle for trajectories of car-like robots,...).

The description of a trajectory always starts by the command p3d_beg_desc P3D_TRAJ traj, that checks checks again if the description of an environment has been started, if we are not describing another trajectory at the same time and calls the function void *p3d_beg_traj(char *name)   with the name traj. The function p3d_beg_traj allocates an object structure p3d_trj (cf Annex gif) of name traj, intializes it, stores it as the current trajectory of the environnemnt and returns it as an output.

The function int p3d_add_desc_courbe(p3d_courbe *cadd,int nmaill)   adds to the current trajectory the sequence of nmaill elementary curves of type p3d_courbe (cf Annex gif) contained in the list cadd (typically a local path) . and returns the current number of elementary curves of the current trajectory.

The function int p3d_end_traj(void)   stores the current trajectory in the array of trajectories of the current robot.



Nicola Simeon
Fri Oct 27 09:07:38 MET DST 2000