89 const TVelCmdParams&
params) = 0;
std::string asString() const
Returns a human readable description of the cmd.
virtual size_t getVelCmdLength() const =0
Get number of components in each velocity command.
void saveToConfigFile(mrpt::config::CConfigFileBase &c, const std::string &s) const
virtual void cmdVel_scale(double vel_scale)=0
Scale the velocity command encoded in this object.
virtual void setVelCmdElement(const int index, const double val)=0
Set each velocity command component.
virtual double cmdVel_limits(const mrpt::kinematics::CVehicleVelCmd &prev_vel_cmd, const double beta, const TVelCmdParams ¶ms)=0
Updates this command, computing a blended version of beta (within [0,1]) of vel_cmd and 1-beta of pre...
#define DEFINE_VIRTUAL_SERIALIZABLE(class_name)
This declaration must be inserted in virtual CSerializable classes definition:
Virtual base for velocity commands of different kinematic models of planar mobile robot...
This class allows loading and storing values and vectors of different types from a configuration text...
double robotMax_W_radps
Max.
void loadConfigFile(const mrpt::config::CConfigFileBase &cfg, const std::string §ion)
Load any parameter required by a CVehicleVelCmd derived class.
virtual void setToStop()=0
Set to a command that means "do not move" / "stop".
GLsizei const GLchar ** string
double robotMinCurvRadius
Min.
virtual bool isStopCmd() const =0
Returns true if the command means "do not move" / "stop".
~CVehicleVelCmd() override
The virtual base class which provides a unified interface for all persistent objects in MRPT...
CVehicleVelCmd & operator=(const CVehicleVelCmd &other)
double robotMax_V_mps
Max.
virtual std::string getVelCmdDescription(const int index) const =0
Get textual, human-readable description of each velocity command component.
Parameters that may be used by cmdVel_limits() in any derived classes.
GLenum const GLfloat * params
virtual double getVelCmdElement(const int index) const =0
Get each velocity command component.