Detailed Description

Kinematic model for.

Definition at line 21 of file CVehicleVelCmd_Holo.h.

#include <mrpt/kinematics/CVehicleVelCmd_Holo.h>

Inheritance diagram for mrpt::kinematics::CVehicleVelCmd_Holo:

Public Member Functions
void *	operator new (size_t size)

void *	operator new[] (size_t size)

void	operator delete (void *ptr) noexcept

void	operator delete[] (void *ptr) noexcept

void	operator delete (void memory, void ptr) noexcept

void *	operator new (size_t size, const std::nothrow_t &) noexcept

void	operator delete (void *ptr, const std::nothrow_t &) noexcept

	CVehicleVelCmd_Holo ()

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

virtual	~CVehicleVelCmd_Holo ()

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
mrpt::utils::CObject::Ptr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...

Static Public Member Functions
static void *	operator new (size_t size, void *ptr)

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

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

double	ramp_time
	: Blending time between current and target time. More...

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

Protected Member Functions
CSerializable virtual methods
void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const override
	Introduces a pure virtual method responsible for writing to a CStream. More...

void	readFromStream (mrpt::utils::CStream &in, int version) override
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...

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

using	ConstPtr = std::shared_ptr< const CVehicleVelCmd_Holo >

static mrpt::utils::CLASSINIT	_init_CVehicleVelCmd_Holo

static const mrpt::utils::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CVehicleVelCmd_Holo"

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

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

static mrpt::utils::CObject *	CreateObject ()

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

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

virtual mrpt::utils::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 CVehicleVelCmd_Holo >

Definition at line 23 of file CVehicleVelCmd_Holo.h.

◆ Ptr

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

A typedef for the associated smart pointer

Definition at line 23 of file CVehicleVelCmd_Holo.h.

Constructor & Destructor Documentation

◆ CVehicleVelCmd_Holo() [1/2]

CVehicleVelCmd_Holo::CVehicleVelCmd_Holo ( )

Definition at line 19 of file CVehicleVelCmd_Holo.cpp.

◆ CVehicleVelCmd_Holo() [2/2]

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

Definition at line 24 of file CVehicleVelCmd_Holo.cpp.

◆ ~CVehicleVelCmd_Holo()

CVehicleVelCmd_Holo::~CVehicleVelCmd_Holo ( )

virtual

Definition at line 30 of file CVehicleVelCmd_Holo.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::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::mrpt::format().

Here is the call graph for this function:

◆ clone()

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

overridevirtual

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

Implements mrpt::utils::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 136 of file CVehicleVelCmd_Holo.cpp.

References ASSERTMSG_, 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 127 of file CVehicleVelCmd_Holo.cpp.

References vel.

◆ Create()

template<typename... Args>

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

inlinestatic

Definition at line 23 of file CVehicleVelCmd_Holo.h.

◆ CreateObject()

static mrpt::utils::CObject* mrpt::kinematics::CVehicleVelCmd_Holo::CreateObject ( )

static

◆ GetRuntimeClass()

virtual const mrpt::utils::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::utils::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.

◆ operator delete() [1/3]

void mrpt::kinematics::CVehicleVelCmd_Holo::operator delete ( void * ptr )

inlinenoexcept

Definition at line 23 of file CVehicleVelCmd_Holo.h.

◆ operator delete() [2/3]

void mrpt::kinematics::CVehicleVelCmd_Holo::operator delete	(	void *	memory,
		void *	ptr
	)

inlinenoexcept

Definition at line 23 of file CVehicleVelCmd_Holo.h.

◆ operator delete() [3/3]

void mrpt::kinematics::CVehicleVelCmd_Holo::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 23 of file CVehicleVelCmd_Holo.h.

◆ operator delete[]()

void mrpt::kinematics::CVehicleVelCmd_Holo::operator delete[] ( void * ptr )

inlinenoexcept

Definition at line 23 of file CVehicleVelCmd_Holo.h.

◆ operator new() [1/3]

void* mrpt::kinematics::CVehicleVelCmd_Holo::operator new	(	size_t	size,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 23 of file CVehicleVelCmd_Holo.h.

◆ operator new() [2/3]

static void* mrpt::kinematics::CVehicleVelCmd_Holo::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 23 of file CVehicleVelCmd_Holo.h.

◆ operator new() [3/3]

void* mrpt::kinematics::CVehicleVelCmd_Holo::operator new ( size_t size )

inline

Definition at line 23 of file CVehicleVelCmd_Holo.h.

◆ operator new[]()

void* mrpt::kinematics::CVehicleVelCmd_Holo::operator new[] ( size_t size )

inline

Definition at line 23 of file CVehicleVelCmd_Holo.h.

◆ readFromStream()

void CVehicleVelCmd_Holo::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)

overrideprotectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

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 error, see CStream::ReadBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 104 of file CVehicleVelCmd_Holo.cpp.

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

◆ 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::utils::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 89 of file CSerializable.h.

◆ writeToStream()

void CVehicleVelCmd_Holo::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const

overrideprotectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters

out	The output binary stream where object must be dumped.
getVersion	If nullptr, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions

std::exception On any error, see CStream::WriteBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 116 of file CVehicleVelCmd_Holo.cpp.

References dir_local, ramp_time, rot_speed, and vel.

Member Data Documentation

◆ _init_CVehicleVelCmd_Holo

mrpt::utils::CLASSINIT mrpt::kinematics::CVehicleVelCmd_Holo::_init_CVehicleVelCmd_Holo

staticprotected

Definition at line 23 of file CVehicleVelCmd_Holo.h.

◆ className

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

static

Definition at line 23 of file CVehicleVelCmd_Holo.h.

◆ dir_local

double mrpt::kinematics::CVehicleVelCmd_Holo::dir_local

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

0 means forward.

Definition at line 29 of file CVehicleVelCmd_Holo.h.

Referenced by mrpt::nav::CPTG_Holo_Blend::directionToMotionCommand(), getVelCmdElement(), readFromStream(), mrpt::kinematics::CVehicleSimul_Holo::sendVelCmd(), setToStop(), setVelCmdElement(), and writeToStream().

◆ ramp_time

double mrpt::kinematics::CVehicleVelCmd_Holo::ramp_time

: Blending time between current and target time.

Definition at line 31 of file CVehicleVelCmd_Holo.h.

Referenced by mrpt::nav::CPTG_Holo_Blend::directionToMotionCommand(), getVelCmdElement(), readFromStream(), mrpt::kinematics::CVehicleSimul_Holo::sendVelCmd(), setToStop(), setVelCmdElement(), and writeToStream().

◆ rot_speed

double mrpt::kinematics::CVehicleVelCmd_Holo::rot_speed

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

Definition at line 34 of file CVehicleVelCmd_Holo.h.

Referenced by cmdVel_limits(), mrpt::nav::CPTG_Holo_Blend::directionToMotionCommand(), getVelCmdElement(), isStopCmd(), readFromStream(), mrpt::kinematics::CVehicleSimul_Holo::sendVelCmd(), setToStop(), setVelCmdElement(), and writeToStream().

◆ runtimeClassId

const mrpt::utils::TRuntimeClassId mrpt::kinematics::CVehicleVelCmd_Holo::runtimeClassId

staticprotected

Definition at line 23 of file CVehicleVelCmd_Holo.h.

◆ vel

double mrpt::kinematics::CVehicleVelCmd_Holo::vel

speed(m / s)

Definition at line 26 of file CVehicleVelCmd_Holo.h.

Referenced by cmdVel_limits(), cmdVel_scale(), mrpt::nav::CPTG_Holo_Blend::directionToMotionCommand(), getVelCmdElement(), isStopCmd(), readFromStream(), mrpt::kinematics::CVehicleSimul_Holo::sendVelCmd(), setToStop(), setVelCmdElement(), and writeToStream().

Detailed Description

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ CVehicleVelCmd_Holo() [1/2]

◆ CVehicleVelCmd_Holo() [2/2]

◆ ~CVehicleVelCmd_Holo()

Member Function Documentation

◆ _GetBaseClass()

◆ asString()

◆ clone()

◆ cmdVel_limits()

◆ cmdVel_scale()

◆ Create()

◆ CreateObject()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ getVelCmdDescription()

◆ getVelCmdElement()

◆ getVelCmdLength()

◆ isStopCmd()

◆ operator delete() [1/3]

◆ operator delete() [2/3]

◆ operator delete() [3/3]

◆ operator delete[]()

◆ operator new() [1/3]

◆ operator new() [2/3]

◆ operator new() [3/3]

◆ operator new[]()

◆ readFromStream()

◆ setToStop()

◆ setVelCmdElement()

◆ writeToMatlab()

◆ writeToStream()

Member Data Documentation

◆ _init_CVehicleVelCmd_Holo

◆ className

◆ dir_local

◆ ramp_time

◆ rot_speed

◆ runtimeClassId

◆ vel