struct mrpt::kinematics::CVehicleVelCmd::TVelCmdParams

Parameters that may be used by cmdVel_limits() in any derived classes.

#include <mrpt/kinematics/CVehicleVelCmd.h>

struct TVelCmdParams
{
    //
fields

    double robotMax_V_mps {-1.};
    double robotMax_W_radps {-1.};
    double robotMinCurvRadius {-1.};

    // construction

    TVelCmdParams();

    //
methods

    void loadConfigFile(const mrpt::config::CConfigFileBase& cfg, const std::string& section);

    void saveToConfigFile(
        mrpt::config::CConfigFileBase& c,
        const std::string& s
        ) const;
};

Fields

double robotMax_V_mps {-1.}

Max.

linear speed (m/s) [Default=-1 (not set), will raise exception if needed and not set]

double robotMax_W_radps {-1.}

Max.

angular speed (rad/s) [Default=-1 (not set), will raise exception if needed and not set]

double robotMinCurvRadius {-1.}

Min.

radius of curvature of paths (m) [Default=-1 (not set), will raise exception if needed and not set]

Methods

void loadConfigFile(const mrpt::config::CConfigFileBase& cfg, const std::string& section)

Load any parameter required by a CVehicleVelCmd derived class.