Reference Vector

Collection of coordinates

New Feature Explanation

Reference Vector is a coordinate data collection introduced after the implementation of ASTER::MoveTowards in ASTER Rev.0.9.37.

It is a structure that stores xY-Coordinates implemented with std::deque (double-ended queue) instead of the C++ STL sequence container std::vector.

Accessing two-dimensional array data via JSON is slow, so dedicated memory areas are set up and mainly used in ASTER::MoveTowards.

Double-Ended Queue (std::deque)

In Reference Vector, frequent operations on both ends are planned.

We adopted std::deque because it is less affected by dynamic reallocation and is more efficient than std::vector for operations on both ends.

By saving dynamically generated coordinates to Reference Vector and combining it with MoveTowards, various applications become possible.

The currently implemented MoveTowards supports uniform linear motion, but future updates will further expand the range of movements possible with MoveTowards, including pseudo-circular motion using Reference Vector.

Specifications

The number of coordinates (POINT structure) that can be stored in the Reference Vector is defined to be up to 255, consistent with the specifications of ASTER::Motion & Controller.