update doxygen

docs/env__base_8h_source.html

@@ -102,7 +102,7 @@
 <div class="ttc" id="classMPL_1_1env__base_html_aebab080034ebcf8d64009b7a53e7f2c4"><div class="ttname"><a href="classMPL_1_1env__base.html#aebab080034ebcf8d64009b7a53e7f2c4">MPL::env_base::get_valid_region</a></div><div class="ttdeci">std::vector&lt; bool &gt; get_valid_region() const </div><div class="ttdoc">Get the valid region. </div><div class="ttdef"><b>Definition:</b> env_base.h:393</div></div>
 <div class="ttc" id="classMPL_1_1env__base_html_ae01a34b11afd9c21168d04a009f12248"><div class="ttname"><a href="classMPL_1_1env__base.html#ae01a34b11afd9c21168d04a009f12248">MPL::env_base::set_potential_weight</a></div><div class="ttdeci">virtual void set_potential_weight(decimal_t w)</div><div class="ttdoc">set weight for cost in time, usually no need to change </div><div class="ttdef"><b>Definition:</b> env_base.h:302</div></div>
 <div class="ttc" id="classMPL_1_1env__base_html_a9de2452cdd3961c9218f74c9553f101b"><div class="ttname"><a href="classMPL_1_1env__base.html#a9de2452cdd3961c9218f74c9553f101b">MPL::env_base::get_heur</a></div><div class="ttdeci">virtual decimal_t get_heur(const Waypoint&lt; Dim &gt; &amp;state) const </div><div class="ttdoc">Heuristic function. </div><div class="ttdef"><b>Definition:</b> env_base.h:41</div></div>
-<div class="ttc" id="structWaypoint_html_ad5c2f2b8f6dba96bb93faccde844e9a8"><div class="ttname"><a href="structWaypoint.html#ad5c2f2b8f6dba96bb93faccde844e9a8">Waypoint::yaw</a></div><div class="ttdeci">decimal_t yaw</div><div class="ttdoc">yaw </div><div class="ttdef"><b>Definition:</b> waypoint.h:34</div></div>
+<div class="ttc" id="structWaypoint_html_ad5c2f2b8f6dba96bb93faccde844e9a8"><div class="ttname"><a href="structWaypoint.html#ad5c2f2b8f6dba96bb93faccde844e9a8">Waypoint::yaw</a></div><div class="ttdeci">decimal_t yaw</div><div class="ttdoc">yaw </div><div class="ttdef"><b>Definition:</b> waypoint.h:35</div></div>
 <div class="ttc" id="classMPL_1_1env__base_html_a868d8d096eff02ddc71dc7163271e671"><div class="ttname"><a href="classMPL_1_1env__base.html#a868d8d096eff02ddc71dc7163271e671">MPL::env_base::set_tol_vel</a></div><div class="ttdeci">void set_tol_vel(decimal_t vel)</div><div class="ttdoc">Set velocity tolerance for goal region. </div><div class="ttdef"><b>Definition:</b> env_base.h:277</div></div>
 <div class="ttc" id="classMPL_1_1env__base_html_aaff1cc4715bc47e32ef95d82a68d47d1"><div class="ttname"><a href="classMPL_1_1env__base.html#aaff1cc4715bc47e32ef95d82a68d47d1">MPL::env_base::set_yaw_max</a></div><div class="ttdeci">void set_yaw_max(decimal_t yaw)</div><div class="ttdoc">Set max acc in each axis. </div><div class="ttdef"><b>Definition:</b> env_base.h:252</div></div>
 <div class="ttc" id="structWaypoint_html"><div class="ttname"><a href="structWaypoint.html">Waypoint</a></div><div class="ttdoc">Waypoint base class. </div><div class="ttdef"><b>Definition:</b> waypoint.h:22</div></div>
@@ -120,14 +120,14 @@
 <div class="ttc" id="classMPL_1_1env__base_html_a78ffc9bb089726cf9813d57cfef43d03"><div class="ttname"><a href="classMPL_1_1env__base.html#a78ffc9bb089726cf9813d57cfef43d03">MPL::env_base::set_w</a></div><div class="ttdeci">void set_w(decimal_t w)</div><div class="ttdoc">set weight for cost in time, usually no need to change </div><div class="ttdef"><b>Definition:</b> env_base.h:292</div></div>
 <div class="ttc" id="classMPL_1_1env__base_html_a6d1787397e20de82495fb9c381c14980"><div class="ttname"><a href="classMPL_1_1env__base.html#a6d1787397e20de82495fb9c381c14980">MPL::env_base::yaw_max_</a></div><div class="ttdeci">decimal_t yaw_max_</div><div class="ttdoc">max yaw </div><div class="ttdef"><b>Definition:</b> env_base.h:416</div></div>
 <div class="ttc" id="classMPL_1_1env__base_html_a54694a0b8d96b0d6d76a94fd07196c13"><div class="ttname"><a href="classMPL_1_1env__base.html#a54694a0b8d96b0d6d76a94fd07196c13">MPL::env_base::set_valid_region</a></div><div class="ttdeci">void set_valid_region(const std::vector&lt; bool &gt; &amp;valid_region)</div><div class="ttdoc">Set valid region. </div><div class="ttdef"><b>Definition:</b> env_base.h:330</div></div>
-<div class="ttc" id="structWaypoint_html_a648217ed387d4e226bec8ecb05bfefe8"><div class="ttname"><a href="structWaypoint.html#a648217ed387d4e226bec8ecb05bfefe8">Waypoint::acc</a></div><div class="ttdeci">Vecf&lt; Dim &gt; acc</div><div class="ttdoc">acceleration in  </div><div class="ttdef"><b>Definition:</b> waypoint.h:32</div></div>
+<div class="ttc" id="structWaypoint_html_a648217ed387d4e226bec8ecb05bfefe8"><div class="ttname"><a href="structWaypoint.html#a648217ed387d4e226bec8ecb05bfefe8">Waypoint::acc</a></div><div class="ttdeci">Vecf&lt; Dim &gt; acc</div><div class="ttdoc">acceleration in  </div><div class="ttdef"><b>Definition:</b> waypoint.h:33</div></div>
 <div class="ttc" id="classMPL_1_1env__base_html_adcd1fa1f64b3b836228d9a79f91dff0e"><div class="ttname"><a href="classMPL_1_1env__base.html#adcd1fa1f64b3b836228d9a79f91dff0e">MPL::env_base::v_max_</a></div><div class="ttdeci">decimal_t v_max_</div><div class="ttdoc">max velocity </div><div class="ttdef"><b>Definition:</b> env_base.h:410</div></div>
-<div class="ttc" id="structWaypoint_html_a32d4053f0b72324f20f1d1804fe37755"><div class="ttname"><a href="structWaypoint.html#a32d4053f0b72324f20f1d1804fe37755">Waypoint::control</a></div><div class="ttdeci">Control::Control control</div><div class="ttdoc">Control value. </div><div class="ttdef"><b>Definition:</b> waypoint.h:52</div></div>
-<div class="ttc" id="structWaypoint_html_a91393e0d8d73afb9df512710e56f02a5"><div class="ttname"><a href="structWaypoint.html#a91393e0d8d73afb9df512710e56f02a5">Waypoint::vel</a></div><div class="ttdeci">Vecf&lt; Dim &gt; vel</div><div class="ttdoc">velocity in  </div><div class="ttdef"><b>Definition:</b> waypoint.h:31</div></div>
+<div class="ttc" id="structWaypoint_html_a32d4053f0b72324f20f1d1804fe37755"><div class="ttname"><a href="structWaypoint.html#a32d4053f0b72324f20f1d1804fe37755">Waypoint::control</a></div><div class="ttdeci">Control::Control control</div><div class="ttdoc">Control value. </div><div class="ttdef"><b>Definition:</b> waypoint.h:53</div></div>
+<div class="ttc" id="structWaypoint_html_a91393e0d8d73afb9df512710e56f02a5"><div class="ttname"><a href="structWaypoint.html#a91393e0d8d73afb9df512710e56f02a5">Waypoint::vel</a></div><div class="ttdeci">Vecf&lt; Dim &gt; vel</div><div class="ttdoc">velocity in  </div><div class="ttdef"><b>Definition:</b> waypoint.h:32</div></div>
 <div class="ttc" id="classTrajectory_html_a19f73df804bc4ee3f889e97c8ec9ba33"><div class="ttname"><a href="classTrajectory.html#a19f73df804bc4ee3f889e97c8ec9ba33">Trajectory::evaluate</a></div><div class="ttdeci">Waypoint&lt; Dim &gt; evaluate(decimal_t time) const </div><div class="ttdoc">Evaluate Waypoint at time . </div><div class="ttdef"><b>Definition:</b> trajectory.h:60</div></div>
 <div class="ttc" id="classMPL_1_1env__base_html_ad9969a3dc1e5f2d243d83caffb1ce2db"><div class="ttname"><a href="classMPL_1_1env__base.html#ad9969a3dc1e5f2d243d83caffb1ce2db">MPL::env_base::is_free</a></div><div class="ttdeci">virtual bool is_free(const Vecf&lt; Dim &gt; &amp;pt) const </div><div class="ttdoc">Check if a point is in free space. </div><div class="ttdef"><b>Definition:</b> env_base.h:362</div></div>
 <div class="ttc" id="classMPL_1_1env__base_html_a17295278edfcd6cbc265d01371aac43f"><div class="ttname"><a href="classMPL_1_1env__base.html#a17295278edfcd6cbc265d01371aac43f">MPL::env_base::set_a_max</a></div><div class="ttdeci">void set_a_max(decimal_t a)</div><div class="ttdoc">Set max acc in each axis. </div><div class="ttdef"><b>Definition:</b> env_base.h:242</div></div>
-<div class="ttc" id="structWaypoint_html_a9661067e17763fffb65d99cabaff802a"><div class="ttname"><a href="structWaypoint.html#a9661067e17763fffb65d99cabaff802a">Waypoint::t</a></div><div class="ttdeci">decimal_t t</div><div class="ttdoc">time when reaching this waypoint in graph search </div><div class="ttdef"><b>Definition:</b> waypoint.h:35</div></div>
+<div class="ttc" id="structWaypoint_html_a9661067e17763fffb65d99cabaff802a"><div class="ttname"><a href="structWaypoint.html#a9661067e17763fffb65d99cabaff802a">Waypoint::t</a></div><div class="ttdeci">decimal_t t</div><div class="ttdoc">time when reaching this waypoint in graph search </div><div class="ttdef"><b>Definition:</b> waypoint.h:36</div></div>
 <div class="ttc" id="classMPL_1_1env__base_html_a5fe3e7b63d589bbf1ccec75cb28e6626"><div class="ttname"><a href="classMPL_1_1env__base.html#a5fe3e7b63d589bbf1ccec75cb28e6626">MPL::env_base::set_u</a></div><div class="ttdeci">void set_u(const vec_E&lt; VecDf &gt; &amp;U)</div><div class="ttdoc">Set control input. </div><div class="ttdef"><b>Definition:</b> env_base.h:232</div></div>
 <div class="ttc" id="classMPL_1_1env__base_html_aa13c72f52adb7710f0c5b3a3b1ca44cc"><div class="ttname"><a href="classMPL_1_1env__base.html#aa13c72f52adb7710f0c5b3a3b1ca44cc">MPL::env_base::is_free</a></div><div class="ttdeci">virtual bool is_free(const Primitive&lt; Dim &gt; &amp;pr) const </div><div class="ttdoc">Check if a primitive is in free space. </div><div class="ttdef"><b>Definition:</b> env_base.h:368</div></div>
 <div class="ttc" id="classMPL_1_1env__base_html_ad592f0117a0ef0ac15225855ae62c4cc"><div class="ttname"><a href="classMPL_1_1env__base.html#ad592f0117a0ef0ac15225855ae62c4cc">MPL::env_base::t_max_</a></div><div class="ttdeci">decimal_t t_max_</div><div class="ttdoc">max time </div><div class="ttdef"><b>Definition:</b> env_base.h:418</div></div>
@@ -162,7 +162,7 @@
 <div class="ttc" id="classMPL_1_1env__base_html_a2b401fb26c98e874b926795e0d15ab2b"><div class="ttname"><a href="classMPL_1_1env__base.html#a2b401fb26c98e874b926795e0d15ab2b">MPL::env_base::set_heur_ignore_dynamics</a></div><div class="ttdeci">void set_heur_ignore_dynamics(bool ignore)</div><div class="ttdoc">Set heur_ignore_dynamics. </div><div class="ttdef"><b>Definition:</b> env_base.h:335</div></div>
 <div class="ttc" id="classMPL_1_1env__base_html_a71279da308c3215d1fb8b98cda425fc3"><div class="ttname"><a href="classMPL_1_1env__base.html#a71279da308c3215d1fb8b98cda425fc3">MPL::env_base::info</a></div><div class="ttdeci">virtual void info()</div><div class="ttdoc">Print out params. </div><div class="ttdef"><b>Definition:</b> env_base.h:340</div></div>
 <div class="ttc" id="classMPL_1_1env__base_html_a3429ff774859e5d3021a7ebb79d4e14d"><div class="ttname"><a href="classMPL_1_1env__base.html#a3429ff774859e5d3021a7ebb79d4e14d">MPL::env_base::tol_dis_</a></div><div class="ttdeci">decimal_t tol_dis_</div><div class="ttdoc">tolerance of position for goal region, 0.5 is the default </div><div class="ttdef"><b>Definition:</b> env_base.h:402</div></div>
-<div class="ttc" id="structWaypoint_html_af63de420a521f105eea4ce098a51ad7e"><div class="ttname"><a href="structWaypoint.html#af63de420a521f105eea4ce098a51ad7e">Waypoint::pos</a></div><div class="ttdeci">Vecf&lt; Dim &gt; pos</div><div class="ttdoc">position in  </div><div class="ttdef"><b>Definition:</b> waypoint.h:30</div></div>
+<div class="ttc" id="structWaypoint_html_af63de420a521f105eea4ce098a51ad7e"><div class="ttname"><a href="structWaypoint.html#af63de420a521f105eea4ce098a51ad7e">Waypoint::pos</a></div><div class="ttdeci">Vecf&lt; Dim &gt; pos</div><div class="ttdoc">position in  </div><div class="ttdef"><b>Definition:</b> waypoint.h:31</div></div>
 <div class="ttc" id="classMPL_1_1env__base_html_a70b6fa02c57c146aa26eb85abc085d2a"><div class="ttname"><a href="classMPL_1_1env__base.html#a70b6fa02c57c146aa26eb85abc085d2a">MPL::env_base::set_j_max</a></div><div class="ttdeci">void set_j_max(decimal_t j)</div><div class="ttdoc">Set max acc in each axis. </div><div class="ttdef"><b>Definition:</b> env_base.h:247</div></div>
 <div class="ttc" id="classMPL_1_1env__base_html_ab2b77b8f234481dc74d0223a87dcff3c"><div class="ttname"><a href="classMPL_1_1env__base.html#ab2b77b8f234481dc74d0223a87dcff3c">MPL::env_base::set_v_max</a></div><div class="ttdeci">void set_v_max(decimal_t v)</div><div class="ttdoc">Set max vel in each axis. </div><div class="ttdef"><b>Definition:</b> env_base.h:237</div></div>
 <div class="ttc" id="classMPL_1_1env__base_html_a9d1c12973cfed2b1ceea81664008ed55"><div class="ttname"><a href="classMPL_1_1env__base.html#a9d1c12973cfed2b1ceea81664008ed55">MPL::env_base::set_tol_acc</a></div><div class="ttdeci">void set_tol_acc(decimal_t acc)</div><div class="ttdoc">Set acceleration tolerance for goal region. </div><div class="ttdef"><b>Definition:</b> env_base.h:282</div></div>