Detailed Description

Kinematic model for.

Definition at line 19 of file CVehicleVelCmd_Holo.h.

#include <mrpt/kinematics/CVehicleVelCmd_Holo.h>

Inheritance diagram for mrpt::kinematics::CVehicleVelCmd_Holo:

Public Member Functions
	CVehicleVelCmd_Holo ()

	CVehicleVelCmd_Holo (double vel, double dir_local, double ramp_time, double rot_speed)

	~CVehicleVelCmd_Holo () override

size_t	getVelCmdLength () const override
	Get number of components in each velocity command. More...

std::string	getVelCmdDescription (const int index) const override
	Get textual, human-readable description of each velocity command component. More...

double	getVelCmdElement (const int index) const override
	Get each velocity command component. More...

void	setVelCmdElement (const int index, const double val) override
	Set each velocity command component. More...

bool	isStopCmd () const override
	Returns true if the command means "do not move" / "stop". More...

void	setToStop () override
	Set to a command that means "do not move" / "stop". More...

void	cmdVel_scale (double vel_scale) override
	Scale the velocity command encoded in this object. More...

double	cmdVel_limits (const mrpt::kinematics::CVehicleVelCmd &prev_vel_cmd, const double beta, const TVelCmdParams &params) override
	Updates this command, computing a blended version of `beta` (within [0,1]) of `vel_cmd` and `1-beta` of `prev_vel_cmd`, simultaneously to honoring any user-side maximum velocities. More...

std::string	asString () const
	Returns a human readable description of the cmd. More...

virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a `mxArray` Matlab object, typically a MATLAB `struct` whose contents are documented in each derived class. More...

RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr	duplicateGetSmartPtr () const
	Makes a deep copy of the object and returns a smart pointer to it. More...

Public Attributes
double	vel {.0}
	speed(m / s) More...

double	dir_local {.0}
	: direction, relative to the current robot heading (radians). More...

double	ramp_time {.0}
	: Blending time between current and target time. More...

double	rot_speed {.0}
	: (rad/s) rotational speed for rotating such as the robot slowly faces forward. More...

Protected Member Functions
CSerializable virtual methods
uint8_t	serializeGetVersion () const override
	Must return the current versioning number of the object. More...

void	serializeTo (mrpt::serialization::CArchive &out) const override
	Pure virtual method for writing (serializing) to an abstract archive. More...

void	serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
	Pure virtual method for reading (deserializing) from an abstract archive. More...

CSerializable virtual methods
virtual void	serializeTo (CSchemeArchiveBase &out) const
	Virtual method for writing (serializing) to an abstract schema based archive. More...

virtual void	serializeFrom (CSchemeArchiveBase &in)
	Virtual method for reading (deserializing) from an abstract schema based archive. More...

RTTI stuff
using	Ptr = std::shared_ptr< mrpt::kinematics ::CVehicleVelCmd_Holo >

using	ConstPtr = std::shared_ptr< const mrpt::kinematics ::CVehicleVelCmd_Holo >

using	UniquePtr = std::unique_ptr< mrpt::kinematics ::CVehicleVelCmd_Holo >

using	ConstUniquePtr = std::unique_ptr< const mrpt::kinematics ::CVehicleVelCmd_Holo >

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "mrpt::kinematics" "::" "CVehicleVelCmd_Holo"

static const mrpt::rtti::TRuntimeClassId *	_GetBaseClass ()

static constexpr auto	getClassName ()

static const mrpt::rtti::TRuntimeClassId &	GetRuntimeClassIdStatic ()

static std::shared_ptr< CObject >	CreateObject ()

template<typename... Args>
static Ptr	Create (Args &&... args)

template<typename Alloc , typename... Args>
static Ptr	CreateAlloc (const Alloc &alloc, Args &&... args)

template<typename... Args>
static UniquePtr	CreateUnique (Args &&... args)

virtual const mrpt::rtti::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

virtual mrpt::rtti::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Member Typedef Documentation

◆ ConstPtr

using mrpt::kinematics::CVehicleVelCmd_Holo::ConstPtr = std::shared_ptr<const mrpt::kinematics :: CVehicleVelCmd_Holo >

Definition at line 21 of file CVehicleVelCmd_Holo.h.

◆ ConstUniquePtr

using mrpt::kinematics::CVehicleVelCmd_Holo::ConstUniquePtr = std::unique_ptr<const mrpt::kinematics :: CVehicleVelCmd_Holo >

Definition at line 21 of file CVehicleVelCmd_Holo.h.

◆ Ptr

using mrpt::kinematics::CVehicleVelCmd_Holo::Ptr = std::shared_ptr< mrpt::kinematics :: CVehicleVelCmd_Holo >

A type for the associated smart pointer

Definition at line 21 of file CVehicleVelCmd_Holo.h.

◆ UniquePtr

using mrpt::kinematics::CVehicleVelCmd_Holo::UniquePtr = std::unique_ptr< mrpt::kinematics :: CVehicleVelCmd_Holo >

Definition at line 21 of file CVehicleVelCmd_Holo.h.

Constructor & Destructor Documentation

◆ CVehicleVelCmd_Holo() [1/2]

CVehicleVelCmd_Holo::CVehicleVelCmd_Holo ( )

default

◆ CVehicleVelCmd_Holo() [2/2]

CVehicleVelCmd_Holo::CVehicleVelCmd_Holo	(	double	vel,
		double	dir_local,
		double	ramp_time,
		double	rot_speed
	)

Definition at line 21 of file CVehicleVelCmd_Holo.cpp.

◆ ~CVehicleVelCmd_Holo()

CVehicleVelCmd_Holo::~CVehicleVelCmd_Holo ( )

overridedefault

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::kinematics::CVehicleVelCmd_Holo::_GetBaseClass ( )

staticprotected

◆ asString()

std::string mrpt::kinematics::CVehicleVelCmd::asString ( ) const

inherited

Returns a human readable description of the cmd.

Definition at line 22 of file CVehicleVelCmd.cpp.

References mrpt::format().

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◆ clone()

virtual mrpt::rtti::CObject* mrpt::kinematics::CVehicleVelCmd_Holo::clone ( ) const

overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

◆ cmdVel_limits()

double CVehicleVelCmd_Holo::cmdVel_limits	(	const mrpt::kinematics::CVehicleVelCmd &	prev_vel_cmd,
		const double	beta,
		const TVelCmdParams &	params
	)

overridevirtual

Updates this command, computing a blended version of beta (within [0,1]) of vel_cmd and 1-beta of prev_vel_cmd, simultaneously to honoring any user-side maximum velocities.

Returns: The [0,1] ratio that the cmdvel had to be scaled down, or 1.0 if none.

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 132 of file CVehicleVelCmd_Holo.cpp.

References ASSERTMSG_, params, rot_speed, and vel.

◆ cmdVel_scale()

void CVehicleVelCmd_Holo::cmdVel_scale ( double vel_scale )

overridevirtual

Scale the velocity command encoded in this object.

Parameters

[in]	vel_scale	A scale within [0,1] reflecting how much should be the raw velocity command be lessen (e.g. for safety reasons,...).
[out]	out_vel_cmd	Users can directly inherit from existing implementations instead of manually redefining this method: mrpt::kinematics::CVehicleVelCmd_DiffDriven mrpt::kinematics::CVehicleVelCmd_Holo

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 123 of file CVehicleVelCmd_Holo.cpp.

References vel.

◆ Create()

template<typename... Args>

static Ptr mrpt::kinematics::CVehicleVelCmd_Holo::Create ( Args &&... args )

inlinestatic

Definition at line 21 of file CVehicleVelCmd_Holo.h.

Referenced by mrpt::nav::CNavigatorManualSequence::loadConfigFile().

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◆ CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::kinematics::CVehicleVelCmd_Holo::CreateAlloc	(	const Alloc &	alloc,
		Args &&...	args
	)

inlinestatic

Definition at line 21 of file CVehicleVelCmd_Holo.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::kinematics::CVehicleVelCmd_Holo::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::kinematics::CVehicleVelCmd_Holo::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 21 of file CVehicleVelCmd_Holo.h.

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 204 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::insert().

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◆ getClassName()

static constexpr auto mrpt::kinematics::CVehicleVelCmd_Holo::getClassName ( )

inlinestatic

Definition at line 21 of file CVehicleVelCmd_Holo.h.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::kinematics::CVehicleVelCmd_Holo::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::kinematics::CVehicleVelCmd.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::kinematics::CVehicleVelCmd_Holo::GetRuntimeClassIdStatic ( )

static

◆ getVelCmdDescription()

std::string CVehicleVelCmd_Holo::getVelCmdDescription ( const int index ) const

overridevirtual

Get textual, human-readable description of each velocity command component.

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 32 of file CVehicleVelCmd_Holo.cpp.

References THROW_EXCEPTION_FMT.

◆ getVelCmdElement()

double CVehicleVelCmd_Holo::getVelCmdElement ( const int index ) const

overridevirtual

Get each velocity command component.

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 53 of file CVehicleVelCmd_Holo.cpp.

References dir_local, ramp_time, rot_speed, THROW_EXCEPTION_FMT, and vel.

◆ getVelCmdLength()

size_t CVehicleVelCmd_Holo::getVelCmdLength ( ) const

overridevirtual

Get number of components in each velocity command.

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 31 of file CVehicleVelCmd_Holo.cpp.

◆ isStopCmd()

bool CVehicleVelCmd_Holo::isStopCmd ( ) const

overridevirtual

Returns true if the command means "do not move" / "stop".

See also: setToStop

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 95 of file CVehicleVelCmd_Holo.cpp.

References rot_speed, and vel.

◆ serializeFrom() [1/2]

void CVehicleVelCmd_Holo::serializeFrom	(	mrpt::serialization::CArchive &	in,
		uint8_t	serial_version
	)

overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

Parameters

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 104 of file CVehicleVelCmd_Holo.cpp.

References dir_local, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, ramp_time, rot_speed, and vel.

◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase & in )

inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeGetVersion()

uint8_t CVehicleVelCmd_Holo::serializeGetVersion ( ) const

overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 117 of file CVehicleVelCmd_Holo.cpp.

◆ serializeTo() [1/2]

void CVehicleVelCmd_Holo::serializeTo ( mrpt::serialization::CArchive & out ) const

overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 118 of file CVehicleVelCmd_Holo.cpp.

References dir_local, out, ramp_time, rot_speed, and vel.

◆ serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase & out ) const

inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ setToStop()

void CVehicleVelCmd_Holo::setToStop ( )

overridevirtual

Set to a command that means "do not move" / "stop".

See also: isStopCmd

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 100 of file CVehicleVelCmd_Holo.cpp.

References dir_local, ramp_time, rot_speed, and vel.

◆ setVelCmdElement()

void CVehicleVelCmd_Holo::setVelCmdElement	(	const int	index,
		const double	val
	)

overridevirtual

Set each velocity command component.

Implements mrpt::kinematics::CVehicleVelCmd.

Definition at line 74 of file CVehicleVelCmd_Holo.cpp.

References dir_local, ramp_time, rot_speed, THROW_EXCEPTION_FMT, val, and vel.

◆ writeToMatlab()

virtual mxArray* mrpt::serialization::CSerializable::writeToMatlab ( ) const

inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns: A new mxArray (caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.h.

Member Data Documentation

◆ className

constexpr const char* mrpt::kinematics::CVehicleVelCmd_Holo::className = "mrpt::kinematics" "::" "CVehicleVelCmd_Holo"

static

Definition at line 21 of file CVehicleVelCmd_Holo.h.

◆ dir_local

double mrpt::kinematics::CVehicleVelCmd_Holo::dir_local {.0}

: direction, relative to the current robot heading (radians).

0 means forward.

Definition at line 27 of file CVehicleVelCmd_Holo.h.

Referenced by getVelCmdElement(), serializeFrom(), serializeTo(), setToStop(), and setVelCmdElement().

◆ ramp_time

double mrpt::kinematics::CVehicleVelCmd_Holo::ramp_time {.0}

: Blending time between current and target time.

Definition at line 29 of file CVehicleVelCmd_Holo.h.

Referenced by getVelCmdElement(), serializeFrom(), serializeTo(), setToStop(), and setVelCmdElement().

◆ rot_speed

double mrpt::kinematics::CVehicleVelCmd_Holo::rot_speed {.0}

: (rad/s) rotational speed for rotating such as the robot slowly faces forward.

Definition at line 32 of file CVehicleVelCmd_Holo.h.

Referenced by cmdVel_limits(), getVelCmdElement(), isStopCmd(), serializeFrom(), serializeTo(), setToStop(), and setVelCmdElement().

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::kinematics::CVehicleVelCmd_Holo::runtimeClassId

staticprotected

Definition at line 21 of file CVehicleVelCmd_Holo.h.

◆ vel

double mrpt::kinematics::CVehicleVelCmd_Holo::vel {.0}

speed(m / s)

Definition at line 24 of file CVehicleVelCmd_Holo.h.

Referenced by cmdVel_limits(), cmdVel_scale(), getVelCmdElement(), isStopCmd(), serializeFrom(), serializeTo(), setToStop(), and setVelCmdElement().

Detailed Description

Public Member Functions

Public Attributes

Protected Member Functions

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

◆ Ptr

◆ UniquePtr

Constructor & Destructor Documentation

◆ CVehicleVelCmd_Holo() [1/2]

◆ CVehicleVelCmd_Holo() [2/2]

◆ ~CVehicleVelCmd_Holo()

Member Function Documentation

◆ _GetBaseClass()

◆ asString()

◆ clone()

◆ cmdVel_limits()

◆ cmdVel_scale()

◆ Create()

◆ CreateAlloc()

◆ CreateObject()

◆ CreateUnique()

◆ duplicateGetSmartPtr()

◆ getClassName()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ getVelCmdDescription()

◆ getVelCmdElement()

◆ getVelCmdLength()

◆ isStopCmd()

◆ serializeFrom() [1/2]

◆ serializeFrom() [2/2]

◆ serializeGetVersion()

◆ serializeTo() [1/2]

◆ serializeTo() [2/2]

◆ setToStop()

◆ setVelCmdElement()

◆ writeToMatlab()

Member Data Documentation

◆ className

◆ dir_local

◆ ramp_time

◆ rot_speed

◆ runtimeClassId

◆ vel