CVehicleVelCmd_DiffDriven.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/kinematics/CVehicleVelCmd.h>

namespace mrpt::kinematics
{
/** Kinematic model for Ackermann-like or differential-driven vehicles.
 *
 * \ingroup mrpt_kinematics_grp
 */
class CVehicleVelCmd_DiffDriven : public CVehicleVelCmd
{
    DEFINE_SERIALIZABLE(CVehicleVelCmd_DiffDriven, mrpt::kinematics)
   public:
    /** Linear velocity (m/s) */
    double lin_vel{.0};
    /** Angular velocity (rad/s) */
    double ang_vel{.0};

    ~CVehicleVelCmd_DiffDriven() override;
    size_t getVelCmdLength() const override;
    std::string getVelCmdDescription(const int index) const override;
    double getVelCmdElement(const int index) const override;
    void setVelCmdElement(const int index, const double val) override;
    bool isStopCmd() const override;
    void setToStop() override;

    /** See docs of method in base class. The implementation for
     * differential-driven robots of this method
     * just multiplies all the components of vel_cmd times vel_scale, which is
     * appropriate
     *  for differential-driven kinematic models (v,w).
     */
    void cmdVel_scale(double vel_scale) override;

    /** See base class docs.
     * Tecognizes these parameters: `robotMax_V_mps`, `robotMax_W_degps` */
    double cmdVel_limits(
        const mrpt::kinematics::CVehicleVelCmd& prev_vel_cmd, const double beta,
        const TVelCmdParams& params) override;

   private:
    double filter_max_vw(double& v, double& w, const TVelCmdParams& p);
};

}  // namespace mrpt::kinematics