CVehicleVelCmd_Holo.cpp

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#include "kinematics-precomp.h"  // Precompiled header
#include <mrpt/kinematics/CVehicleVelCmd_Holo.h>
#include <mrpt/utils/CStream.h>

using namespace mrpt::kinematics;
using namespace mrpt::utils;

IMPLEMENTS_SERIALIZABLE(CVehicleVelCmd_Holo, CVehicleVelCmd, mrpt::kinematics)

CVehicleVelCmd_Holo::CVehicleVelCmd_Holo()
        : vel(.0), dir_local(.0), ramp_time(.0), rot_speed(.0)
{
}

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

CVehicleVelCmd_Holo::~CVehicleVelCmd_Holo() {}
size_t CVehicleVelCmd_Holo::getVelCmdLength() const { return 4; }
std::string CVehicleVelCmd_Holo::getVelCmdDescription(const int index) const
{
        switch (index)
        {
                case 0:
                        return "vel";
                        break;
                case 1:
                        return "dir_local";
                        break;
                case 2:
                        return "ramp_time";
                        break;
                case 3:
                        return "rot_speed";
                        break;
                default:
                        THROW_EXCEPTION_FMT("index out of bounds: %i", index);
        };
}

double CVehicleVelCmd_Holo::getVelCmdElement(const int index) const
{
        switch (index)
        {
                case 0:
                        return vel;
                        break;
                case 1:
                        return dir_local;
                        break;
                case 2:
                        return ramp_time;
                        break;
                case 3:
                        return rot_speed;
                        break;
                default:
                        THROW_EXCEPTION_FMT("index out of bounds: %i", index);
        };
}

void CVehicleVelCmd_Holo::setVelCmdElement(const int index, const double val)
{
        switch (index)
        {
                case 0:
                        vel = val;
                        break;
                case 1:
                        dir_local = val;
                        break;
                case 2:
                        ramp_time = val;
                        break;
                case 3:
                        rot_speed = val;
                        break;
                default:
                        THROW_EXCEPTION_FMT("index out of bounds: %i", index);
        };
}

bool CVehicleVelCmd_Holo::isStopCmd() const
{
        return vel == 0 && rot_speed == 0;
}

void CVehicleVelCmd_Holo::setToStop()
{
        vel = dir_local = ramp_time = rot_speed = .0;
}
void CVehicleVelCmd_Holo::readFromStream(mrpt::utils::CStream& in, int version)
{
        switch (version)
        {
                case 0:
                        in >> vel >> dir_local >> ramp_time >> rot_speed;
                        break;
                default:
                        MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
}

void CVehicleVelCmd_Holo::writeToStream(
        mrpt::utils::CStream& out, int* version) const
{
        if (version)
        {
                *version = 0;
                return;
        }
        out << vel << dir_local << ramp_time << rot_speed;
}

void CVehicleVelCmd_Holo::cmdVel_scale(double vel_scale)
{
        vel *= vel_scale;  // |(vx,vy)|
        // rot_speed *= vel_scale; // rot_speed
        // Note: No need to scale "rot_speed" since a holonomic robot's path will be
        // invariant
        // ramp_time: leave unchanged
}

double CVehicleVelCmd_Holo::cmdVel_limits(
        const mrpt::kinematics::CVehicleVelCmd& prev_vel_cmd, const double beta,
        const TVelCmdParams& params)
{
        ASSERTMSG_(
                params.robotMax_V_mps >= .0,
                "[CVehicleVelCmd_Holo] `robotMax_V_mps` must be set to valid values: "
                "either assign values programmatically or call loadConfigFile()");

        double f = 1.0;
        if (vel > params.robotMax_V_mps) f = params.robotMax_V_mps / vel;

        vel *= f;  // |(vx,vy)|
        rot_speed *= f;  // rot_speed
        // ramp_time: leave unchanged
        // Blending with "beta" not required, since the ramp_time already blends
        // cmds for holo robots.

        return f;
}